add Datagnss-gem1305-rtk

Co-Authored by: H.Wurzburg <hwurzburg@yahoo.com>

common/source/docs/common-appendix.rst

@@ -36,7 +36,6 @@ the wiki.
 [site wiki="planner"]
     Archived - Recording and Playing Back Missions<common-recording-and-playing-back-missions>
     Archived - Loading ChiBios Firmware Onto Pixhawk<common-loading-chibios-firmware-onto-pixhawk>
-    Mission Planner – Proposed Table Of Contents (TOC) <mission-planner-toc-planning>
 [/site]
 
 [site wiki="plane"]

common/source/docs/common-datagnss-gem1305-rtk.rst

@@ -0,0 +1,203 @@
+.. _common-datagnss-gem1305-rtk:
+
+==================================
+GEM1305 RTK receiver with antenna
+==================================
+GEM1305 is a RTK receiver with antenna designed and manufactured by `DATAGNSS <https://www.datagnss.com/>`__. 
+
+GEM1305 is based on the new generation Allystar dual-core GNSS SoC. It supports RTK functionality with a maximum data update rate of 5Hz. 
+
+.. image:: ../../../images/gem1305/datagnss-gem1305-02.png
+    :target: ../_images/gem1305/datagnss-gem1305-02.png
+    :width: 45%
+
+.. image:: ../../../images/gem1305/datagnss-gem1305-03.png
+    :target: ../_images/gem1305/datagnss-gem1305-03.png
+    :width: 45%
+
+.. note:: GEM1305/NANO RTK Receiver doesn't support Moving Base mode.
+
+GEM1305 also has a version with a casing.
+
+.. image:: ../../../images/gem1305/GEM1305-with-case.png
+	:target: ../_images/gem1305/GEM1305-with-case.png
+
+Where to Buy
+============
+- `DATAGNSS website <https://www.datagnss.com/>`_
+
+Key Features
+============
+- Full constellation, multi-frequency GNSS satellite receiver
+- Support RTK
+- Standard UART serial interface
+- Lightweight only 50g or 26g(NANO RTK receiver)
+- High performance antenna
+
+Frequencies
+===========
+   -  GPS/QZSS: L1 C/A, L5C
+   -  GLONASS: L1OF
+   -  BEIDOU: B1I, B2a
+   -  GALILEO: E1, E5a
+
+GNSS
+====
+   - Allystar CYNOSURE IV GNSS SOC
+   - Dual core
+   - 3D accuracy: **1.5m** CEP
+   - RTK accuracy: **2cm** +1PPM(H), 3cm+1PPM(V)
+
+Interface
+=========
+   - UART, 230400bps default
+   - SMA connector for antenna
+   - Output rate 5Hz default
+   - Main power supply,4.7~5.2V
+
+Protocol
+========
+   - NMEA-0183 output
+   - RTCMv3 input/output
+
+Environment
+===========
+   - Operating temp. -20~85℃
+
+Dimession and weight
+====================
+   - 55*55*12mm
+   - 50g (GEM1305) 26g (NANO with Helix)
+
+Pin definition
+==============
+The board is connected to the autopilot via UART interface.
+
+.. image:: ../../../images/gem1305/GEM1305-connector.png
+    :target: ../_images/gem1305/GEM1305-connector.png
+
+The 1.25mm pitch 6P connector (from Left PIN1 to PIN6) :
+
+   -  1: GND
+   -  2: NC
+   -  3: PPS
+   -  4: Rx
+   -  5: Tx
+   -  6: 5V
+
+Please note that the board only includes RTK and doesn't include compass.
+
+If using the GEM1305 with a case, you can directly insert the connector into the GPS2 port.
+
+.. image:: ../../../images/gem1305/GEM1305-with-case.png
+    :target: ../_images/gem1305/GEM1305-with-case.png
+
+ArduPilot Setup
+===============
+For example, if GEM1305 is connected to the autopilot's SERIAL4 port, set:
+
+- :ref:`SERIAL4_PROTOCOL <SERIAL4_PROTOCOL>` = 5
+
+Configuration
+=============
+RTK technology can greatly improve the accuracy of positioning.
+
+RTK technology requires a base and a rover, with the base placed on the ground, which is referred to as the rover on the drone.The data from the base needs to be transmitted to the drone via telemetry radio and inputted into the RTK receiver on the rover.
+
+.. image:: ../../../images/gem1305/setup-rtk-00.png
+    :target: ../_images/gem1305/setup-rtk-00.png
+
+Base station setup
+==================
+We suggest using the NANO RTK Receiver as the configuration for the base station(ground base station), which is more convenient and user-friendly.
+
+.. image:: ../../../images/gem1305/nano-rtk-rcv-helix.png
+    :target: ../_images/gem1305/nano-rtk-rcv-helix.png
+    :width: 45%
+
+.. image:: ../../../images/gem1305/nano-rtk-rcv-patchAnt.png
+    :target: ../_images/gem1305/nano-rtk-rcv-patchAnt.png
+    :width: 45%
+
+- Connect the NANO RTK Receiver to your Laptop via USB.
+
+Setup the NANO RTK Receiver as a base station, and it is recommended to use Satrack software.
+
+- `Download Satrack <https://wiki.datagnss.com/images/e/ee/Satrack.zip>`_
+
+1. Open Satrack, then choose the com port, baud rate then connect the nano-rtk-rcv.
+
+   .. image:: ../../../images/gem1305/satrack-connect-device.png
+      :target: ../_images/gem1305/satrack-connect-device.png
+
+2. Enable RTCMv3 output
+
+   .. image:: ../../../images/gem1305/satrack-rtcm-output.png
+      :target: ../_images/gem1305/satrack-rtcm-output.png
+
+3. Disable NMEA data output
+
+   .. image:: ../../../images/gem1305/satrack-disable-nmea.png
+      :target: ../_images/gem1305/satrack-disable-nmea.png
+
+4. Config output rate to 1Hz
+
+   In base station mode, the RTCM data output rate must be set to 1Hz.
+
+   .. image:: ../../../images/gem1305/satrack-outputrate-1hz.png
+      :target: ../_images/gem1305/satrack-outputrate-1hz.png
+
+5. Config the base station fixed coordinates
+
+   There are two methods to set the coordinates of the base station:
+
+   5.1 According to the diagram below, Input the known coordinates.
+
+   Press ``Get now``, and modify the coordinates to the known values, then ``Send`` to apply the fixed coordinates.
+
+   .. image:: ../../../images/gem1305/satrack-cfg-fixedecef.png
+       :target: ../_images/gem1305/satrack-cfg-fixedecef.png
+
+   5.2 or, using the ``CFG-SURVEY`` meassage, config ``miniDuration`` and ``AccLimit``, then automatically calculate the average before proceeding with the setup.
+
+   .. image:: ../../../images/gem1305/satrack-cfg-survey.png
+       :target: ../_images/gem1305/satrack-cfg-survey.png
+
+   After completing the above operation, you can save the current configuration with ``CFG-SAVE`` message. 
+
+6. After completing the above configuration, open Mission Planner and finish the configuration on this page:
+
+.. image:: ../../../images/gem1305/mp-connect-base.png
+    :target: ../_images/gem1305/mp-connect-base.png
+
+Rover station (Aircraft) setup
+==============================
+For vehicles, NANO RTK Receiver or GEM1305 can be chosen as the Rover for RTK.
+
+Whether you choose NANO RTK Receiver or GEM1305, you need to confirm in the Satrack software that all RTCM data outputs are disabled and all NMEA outputs are enabled.
+
+In Rover mode, the output rate must be set to 5Hz.
+
+.. note:: NANO RTK Receiver and GEM1305 do not support safety switch, so :ref:`BRD_SAFETY_DEFLT<BRD_SAFETY_DEFLT>` needs to be set to 0 or a separate safety switch should be connected to the flight controller.
+
+After completing the above settings, you can write parameters to the flight controller.
+
+Package List
+============
+
+- GEM1305 RTK Receiver
+- DG-6P-C01,GH-1.25mm-6P cable
+
+Resource
+========
+   - `GEM1305 2D drawing file <https://wiki.datagnss.com/index.php/GEM1305>`__
+   - `NANO RTK Receiver 2D drawing file <https://wiki.datagnss.com/images/3/31/EVK-DG-1206_V.2.0.pdf>`__
+   - `DATAGNSS WiKi <https://wiki.datagnss.com>`__
+
+More information
+================
+
+   - `NANO RTK Receiver <https://www.datagnss.com/collections/evk/products/tau951m-1312-tiny-evk>`__
+   - `HELIX Antenna for RTK <https://www.datagnss.com/collections/rtk-antenna/products/smart-helix-antenna>`__
+   - `RTK Antenna AGR6302G <https://www.datagnss.com/collections/rtk-antenna/products/antenna-agr6302g>`__
+   - `AT400 RTK Antenna <https://www.datagnss.com/collections/rtk-antenna/products/at400-multi-band-antenna-for-rtk>`__

common/source/docs/common-gps-ardusimple.rst

@@ -51,6 +51,6 @@ For GPS-for-Yaw, please refer to :ref:`GPS-for-Yaw <common-gps-for-yaw>`, but Ar
 
 `simpleRTK3B instructions <https://www.ardusimple.com/ardupilot-simplertk3b-heading-configuration/>`__
 
-.. note:: ArduPilot does not currently configure UBlox F9P GPS constellations. User must assure that the GPS is properly configured for his region and application. See :ref:`common-gps-ublox-firmware-update`
+.. note:: ArduPilot does not currently configure UBlox F9P GPS constellations. User must assure that the GPS is properly configured for their region and application. See :ref:`common-gps-ublox-firmware-update`
 
 

common/source/docs/common-positioning-landing-page.rst

@@ -55,6 +55,7 @@ These GPS can incorporate real time kinematic data, either internally generated
     CUAV C-RTK 9Ps RTK Receiver <https://store.cuav.net/shop/c-rtk-9ps/>
     CUAV C-RTK2 PPK and RTK receiver<common-cuav-c-rtk2>
     CUAV C-RTK2 HP  Heading and RTK receiver<common-cuav-c-rtk2-hp>
+    DATAGNSS GEM1305 RTK Receiver<common-datagnss-gem1305-rtk>
     Emlid Reach RTK Receiver <common-reach-rtk-receiver>
     CubePilot HERE 3/3+ DroneCAN RTK GPS/IMU/Compass <https://docs.cubepilot.org/user-guides/here-3/here-3-manual>
     CubePilot HERE 4 DroneCAN RTK GPS/IMU/Compass (see note below) <https://docs.cubepilot.org/user-guides/here-4/here-4-manual>

common/source/docs/common-zeroonex6.rst

@@ -5,6 +5,9 @@ ZeroOneX6
 =========
 The ZeroOne X6 is a flight controller manufactured by ZeroOne, which is based on the open-source FMU v6X architecture and Pixhawk Autopilot Bus open source specifications.
 
+.. image:: ../../../images/ZeroOneX6.png
+     :target: ../_images/ZeroOneX6.png
+
 Features:
 =========
 

plane/source/docs/automatic-takeoff.rst

@@ -226,7 +226,7 @@ momentary switch, such as the trainer switch), or the channel's ``RCx_OPTION`` t
 autopilot will check if you have configured the :ref:`TKOFF_TDRAG_ELEV <TKOFF_TDRAG_ELEV>` and
 :ref:`TKOFF_TDRAG_SPD1 <TKOFF_TDRAG_SPD1>` parameters. If they have been set to non-zero
 values then the elevator will be controlled in FBWA in an identical
-manner to how it is controller for an AUTO takeoff. The elevator will go
+manner to how it is controlled for an AUTO takeoff. The elevator will go
 to the :ref:`TKOFF_TDRAG_ELEV <TKOFF_TDRAG_ELEV>` value (usually 100% for a tail dragger) as
 soon as that RC channel goes high, and will stay there until the
 aircraft reaches an airspeed (if airspeed sensor is used) or groundspeed (if airspeed sensor is not used) of :ref:`TKOFF_TDRAG_SPD1 <TKOFF_TDRAG_SPD1>` meters per second.
@@ -242,4 +242,4 @@ Since control effectiveness varies with airspeed, ArduPilot automatically scales
 
 Catapult Launch without an Airspeed Sensor
 ==========================================
-Taking off without an airspeed sensor using a catapult may cause less than maximum throttle to be used due to high initial climb rates. For heavy vehicles, this may result in a stall due to the long time constants used in TECS to adjust throttle after the initial launch. The parameter :ref:`TKOFF_THR_MAX_T<TKOFF_THR_MAX_T>` can be used to force maximum throttle for a time, irrespective of climb rates from an initial catapult launch to allow the vehicle to obtain sufficient speed.
+Taking off without an airspeed sensor using a catapult may cause less than maximum throttle to be used due to high initial climb rates. For heavy vehicles, this may result in a stall due to the long time constants used in TECS to adjust throttle after the initial launch. The parameter :ref:`TKOFF_THR_MAX_T<TKOFF_THR_MAX_T>` can be used to force maximum throttle for a time, irrespective of climb rates from an initial catapult launch to allow the vehicle to obtain sufficient speed.