This project was written to take raw serial RTCM streams from a SparkFun RTK Express kit and send it along to a PixHawk wrapped in MavLink packets. This gets rid of the need to use Mission Planner RTK/Inject screen or other ground station to pass along your RTCM packets from your base station.
Only handle GPS RTCM packets. Filter out other messages. Current code is going to try to stuff everything into MavLink and that will be bad if there is stuff that shouldn't be there.
Handle only 4 f ragmented packets on MavLink. Dump them if they wont fit.
Optionally enable wifi and connect to NTRIP server to pull RTCM packets. Replaces need for ground station in the middle.
Two cables coming out of the ESP32. One for the RTCM coming in from the Sparkfun Kit. And the other going to the LoraSerial transmitter.
The ESP32 I chose to use since it really only needs two serial ports.
The GPS antenna mounted for my base. I know the mountain is blocking some of the back but thats all I could do. Seems to work great anyhow.
The car with the beta ESP32 and rough wiring to make sure everything worked in the code. Have since removed the ESP32 and placed it in the same cabinet as the base is transmitting from. Only the LoraSerial remains.
My Traxxas F-150 High Edition truck with a purple cube and a Hero4 GPS. Works amazing!
