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dakejahl
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Oct 9, 2025
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/px4-dev-call-oct-15-2025-team-sync-and-community-q-a/47650/1 |
dakejahl
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Jan 14, 2026
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needs a rebase |
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Updated with the rebase. I've not updated the submodule yet, hence this is still a draft. Once the PX4 GPS-Driver module has been merged I will update the submodule. |
wrsolichin
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I apologize for not testing the submodule after rebasing, but I have made a mistake in the constructor initialization, and the PR for the fix is here: PX4/PX4-GPSDrivers#196. |
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dakejahl
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Jan 21, 2026
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… Fix Improvements (#25720) * Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement * update gps submodule --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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… Fix Improvements (PX4#25720) * Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement * update gps submodule --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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… Fix Improvements (PX4#25720) * Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement * update gps submodule --------- Co-authored-by: Julian Oes <julian@oes.ch> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com> Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
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Solved Problem
When using the u-Blox RTK F9P with the PX4-Autopilot, I found that it will get RTK Fix, but it often drops to other fix mode. I have been reading about this issue, and encountered the following artcles: https://mowerproject.com/2020/07/06/an-even-better-rtk-fix/ and https://discuss.cubepilot.org/t/here-does-not-hold-rtk-fixed-status-reliably-help-please/1056, which mentions that increasing the
CFG-NAVSPG-INFIL_MINCNOfrom the default 10 to 15 deg, andCFG-NAVSPG-INFIL_MINELEVfrom 6 dBHz to 35 dBHz ouputs a more reliable RTK Fix.Potentially fixes #21555 by improving the RTK fix reliability issue if there is no RTCM drop out but RTK fix changes to other fix mode, although this will not handle RTCM drop outs and it's a separate issue.
In addition, we can configure the RTCM timeout before it switches to 3D Lock by modifying the GPS_UBX_DGNSS_TO, extending the duration of the RTK Fix.
Solution
Note: This PR needs the GPS Driver submodule to be merged to main before merging this PR to main.