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Reach integration

Reach supports RTK-enhanced coordinates output to Edge flight controller using ERB (Emlid Reach Binary protocol).

Protocol description is available here.

Requirements

ERB support is included to ArduPilot starting with the following versions:

  • ArduCopter 3.4
  • ArduPlane 3.5.0
  • APMrover 3.1

The setup we recommend goes as follows:

  • Edge with Emlid Edge image (v1.3 or higher)
  • Base station is a Reach or Reach RS unit connected to PC via USB
  • GCS is a laptop with QGroundControl (v3.2.4-edge-2.2 or higher)
  • Alfa Wi-Fi adapter is plugged in the laptop and connected to Edge's Wi-Fi network
  • Rover Reach unit is mounted on a drone and connected to Edge via the GST-to-DF13 wire. This connection type will solve three problems at once: power Reach, allow ArduPilot to pass base corrections and allow Reach to pass RTK solution back.

The following guide will show how to configure both Edge and Reach to work in this setup. If you wish alter to this workflow, it should be fairly easy to do so, as every part of the system is independent of others.

Connecting Reach to Edge

Connect Reach's upper DF13 port with Edge's SER1-I2C port.

Connecting Reach M+ to Edge

Connect Reach's JST-GH port with Edge's SER1-I2C port.

Configuring Reach to work with Edge

Base setup

Configure Base mode

  • Select Serial connection type
  • Select USB-to-PC device
  • Choose the desired baud rate (38400 for default)
  • Hit Apply button to save settings

Connect base Reach to PC via USB-microUSB cable.

Rover setup

Note

The serial connection is used to accept base corrections and send solution at the same time.

Start with configuration base correction input:

  • Select Correction input tab
  • Select Serial
  • Choose UART as the device
  • Choose the desired baud rate (38400 for default)
  • Choose RTCM3 as base corrections format
  • Hit Apply button to save settings

Now configure position output:

  • Select Position output tab
  • Select Serial
  • Choose UART as the device
  • Choose the desired baud rate (38400 for default)
  • Choose ERB as position output format
  • Hit Apply button to save settings

Note

ERB is a custom protocol, used to send location data to the autopilot.

Configuring ArduPilot to accept Reach solution

ArduPilot configuration will require setting GPS parameters via QGroundControl:

  • Open QGroundControl
  • Go to Vehicle Setup menu
  • Open Parameters list on the left.

Tip

To find the desired parameter more quickly, use a search box on top of the list.

  • Set GPS_TYPE2 parameter to "AUTO". This will enable the second GPS input.
  • Then press Tools button on the left upper corner and select Reboot Vehicle

After everything is done vehicle GPS switches to RTK mode. The new mode is displayed in the GPS status icon