Serial Forwarding of RTK Base Station Data

Functional Overview

The RTCM data from the base station is transmitted via UART2 of the ground VDLink R30 to the UART2 interface of the air-side R30, enabling RTK differential high-precision positioning.

Wiring method:

Taking the OneRTK UM982 as an example:

For the base station: connect the base station's TX to the R30's RX, and GND to GND. An external 5V UBEC is required to power the RTK module, or you can use a Type-C power supply, in which case the DP and DM signal lines on the Type-C cable must be disconnected (since UART2 and the Type-C interface share the same serial port on the OneRTK UM982).

For the rover: connect the rover's RX to the R30's TX, and GND to GND. The module communicates with the flight controller via CAN.

RTK Base Station Configuration:

For example, when using the OneRTK UM982 as a base station to output RTCM data, configure UART2 of the module to a baud rate of 115200. The detailed tutorial is as follows:
https://portal.helplook.net/content/266977

RTK Rover Configuration:

The serial baud rate of the RTK rover also needs to be configured to 115200. For example, the OneRTK UM982 has UART2 set to 115200 by default.

VDLink R30 Configuration:

For example, the IPs are as follows: the destination address in each case is the VDLink R30 on the opposite end, and is independent of the host computer's IP.
Ground unit IP: 192.168.1.11
Air unit IP: 192.168.1.12

Ground Unit AT Configuration

Connect to the R30 via the Ethernet port and access the web interface. Navigate to [Debug & Diagnostics] → [AT Debug], enter the following commands. After the commands take effect, the execution result will display ok.
AT^UARTIPFUN3=1
AT^UARTIP3="B115200",0,1,1,9002,"192.168.1.11",9001,"192.168.1.12"


For the AT command described above, on Board A, the local IP is 192.168.1.11, the local port is 9002, the remote IP is 192.168.1.12, and the remote port is 9001.
This AT command encapsulates UART2 data into UDP network packets with a source port of 9002, source IP of 192.168.1.11, destination port of 9001, and destination IP of 192.168.1.12, using a serial baud rate of 115200.

Air Unit AT Configuration

Connect to the R30 via the Ethernet port and access the web interface. Navigate to [Debug & Diagnostics] → [AT Debug], enter the following commands. After the commands take effect, the execution result will display ok.
AT^UARTIPFUN3=1
AT^UARTIP3="B115200",0,1,1,9001,"192.168.1.12",9002,"192.168.1.11"


For the AT command described above, on Board B, the local IP is 192.168.1.12, the local port is 9001, the remote IP is 192.168.1.11, and the remote port is 9002.
This AT command encapsulates UART2 data into UDP network packets with a source port of 9001, source IP of 192.168.1.12, destination port of 9002, and destination IP of 192.168.1.11, using a serial baud rate of 115200.