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Switching the Positioning Source

Note: 1. The MID360 version supports LiDAR positioning and RTK positioning, and you can switch between them as needed. 2. To control related demos using MID360 positioning, swit…

3 min read · English documentation
Note:
1. The MID360 version supports LiDAR positioning and RTK positioning, and you can switch between them as needed.
2. To control related demos using MID360 positioning, switch the positioning source to MID360. Follow the positioning-source switching procedure below.
3. To control related demos using RTK positioning, switch the positioning source to RTK. Follow the positioning-source switching procedure below.
When controlling related demos with MID360 positioning, start the MID360 positioning script before clicking Connect.
Note:
An RTK battery level below 50% may affect positioning quality. Charge it in advance.

MID360 Positioning

  1. Click Connect in the ground station.
  2. Click Feature Scripts.
  3. Under Feature Scripts, click P600_MID360 Positioning (right-click a blank area of the ground station software, select Positioning Source Switch, then select MID360 Positioning).
  • The onboard command is: /home/amov/p600_experiment/src/p600_experiment/scripts/mid360_location.sh
  1. A feedback message appears indicating that the corresponding feature demo has started.
  2. Check whether onboard LiDAR positioning started normally.
  3. Check the driver data and start the LiDAR data.

image.png

Check the Data

1: The positioning source has switched to MID360. 2: Blue status is normal. Red indicates an abnormality; restart positioning and check the data. 3: Data initialization is complete and the values are close to 0. image.png

RTK Positioning

  • Power on the RTK base station.
  • Power on the aircraft and remote controller.
  • After the aircraft and remote controller are powered on and the ground station connects to the aircraft, the aircraft and RTK base station automatically switch to RTK positioning. The aircraft emits a prompt tone during switching; the tone stops after switching succeeds.

Charge the RTK

  • Insert the RTK base station charging cable into the charging port and connect the other end to a power supply. The green indicator flashes while charging. The number of flashes indicates the battery level: 1–4 flashes correspond to 25%, 50%, 75%, and 100%, respectively.

image.png Prepare the RTK

  • After securing the RTK to the tripod, install the antenna on the port shown below.

image.png

  • Press and hold the RTK base station power button. After it powers on, the red indicator illuminates and the green indicator flashes. The number of flashes indicates the battery level: 1–4 flashes correspond to 25%, 50%, 75%, and 100%, respectively.

  • After power-on, the RTK base station and aircraft communicate as shown in the video. A flashing purple indicator means that the RTK is operating. After the aircraft and remote controller are powered on, they connect to the RTK base station automatically. The aircraft emits a prompt tone during the connection process; the tone stops after the connection succeeds.

Check the Data

  1. Initial position data close to 0 is normal.
  2. An initial position-data error greater than 0.5 is abnormal. This is generally caused by an initial data-fusion error or an accumulated error after multiple flights.

Normal RTK Positioning

image.png

Note:
1. The following two scripts, ekf2 stop and ekf2 start, reinitialize EKF2 fusion of the flight controller's position data when the initial data is abnormal or the error is excessive under UAV RTK positioning.
2. Use these scripts only while checking data before the aircraft takes off. Never click or use them during flight, as loss of positioning could cause the UAV to crash. A future update will prevent accidental activation; refer to the official release notes for the applicable version.