APM 3.5 requires the Green Cube. Are you fpvsteve using the green Cube or Pixhawk Cube 2.1? Could you please explain your statement about having full support of all RTK features? What would I be missing out on by using my original Solo Pixhawk 2 Cube on APM 3.3-dev?
Here you go. All steps apply for the Drotek RTK as well as for the Here+ RTK along with Solo.
- ensure that you have the latest version of Mission Planner installed
- AC 3.5 is required on Solo. Don't use a 3.5-dev version, go for the officially release (currently 3.5.2) There is plenty of documentation available on how to install and the prerequisites for Solo
- Ensure that the rtk gps board is properly shieled inside Solo (V2 shield, ferrite ring applied)
- ensure that you have the ublox 1.3 or 1.4 firmware installed on the rover and base RTK unit. Some older units may still come with 1.2 preinstalled. Directions on how to update using the u-center software can be found in the ublox forums
- run a survey in process in Mission Planner (2 meters accuracy is sufficient as starting point). Ensure that you have a valid position recorded in MP and save it.
- ensure that Solo has a gps lock the HUD should display a GPS 3D lock status in MP
- now connect with Mission Planner and initiate the RTK injection
- in the RTK screen, you should see green status indicators for Base, GPS and Glonass.
- the HUD should state now RTK-float
- after some flying around the gps status should switch to RTK-fixed after a few minutes
Again, the setup and the prerequisites are basically the same as for the Drotek or the Here+.
The setup for RTK is not really plug and play and it took me some time to get it working but the Drotek support worked always fine for me, Kevin usually responds within the same or following couple of days.