Pole length whit tilt

[APOS80]

Subject of the issue

When using tilt and a 0m pole length in the app(SW or Surpad) it will be a 115mm error.
The only way to get it right is to set -0,115 pole length in the app.

It would be preferred if the NMEA sent the same elevation it would if it was a levelled pole and no tilt.

Your workbench

• What version of RTK firmware are you running?
  1.3beta
• What radios are you using:
  Bluetooth
• Are there any additional details that may help us help you?

Steps to reproduce

Tell us how to reproduce this issue. Please post any log files from serial output that may have been generated.

Expected behavior

Same result as without tilt

Actual behavior

I need to set polehight to -0.115

[APOS80]

If the code just adds the club-length to the tilt corrected elevation before sending the NMEA message it would be great.

[APOS80]

I tried to make a pull request but GitHub says I can’t because something is missing

[nseidle]

Thank you for attempting to create a PR! That's immensely helpful.

I'm sorry I can't help troubleshoot git. The repo is public and you should be able to submit PRs against it.

I've been thinking about this feature and am open to the idea but we need to take into account the HAE and other settings associated with base setups. Additionally, we need to think carefully about how this feature is deployed: if it is enabled by default, users who upgrade will see their altitudes drop by the default length of the pole. This could be very disruptive.

[APOS80]

I’ve made a fork and pushed the change there in tilt.ino:

  // Remove the undulation from the IMU's altitude and adjust hight to normal
    float orthometricHeight = tiltSensor->getNaviAltitude() - undulation + settings.tiltPoleLength + present.antennaReferencePoint_mm / 1000.0;

It’s not that complicated it’s seems.

I would say that changing pole hight to negative 0.115 meters is disruptive and very strange.

With other rover with tilt as for example the Trimble R12i you do not need to change pole hight because you go to tilt.

[APOS80]

It’s also strange that it says “orthometricHeight” as it shouldn’t be a geoid hight.

[APOS80]

Hello?

[nseidle]

Hi, I look forward to reviewing your PR. I reiterate the fact that this feature will need the ability to be disabled by default and enablable by a user.

[APOS80]

I’m having trouble with getting the PR to be sent.

[APOS80]

I do consider it a fix, not a “feature”, as it would make it work like the other tilt enabled rovers on the market.

I’ve worked as a construction surveyor for 18 years and had had a Trimble R12i for 3 years.

If you fix the tilt issue I will help you sell it!

[nseidle]

• Menu added to allow tip altitude reporting
• Removed poleLength in place of antennaHeight_mm setting
• Added NMEA injection for three scenarios (tilt enabled+tip altitude, tilt enabled+device altitude, tilt disabled+tip altitude)

Please give the RC a try. You can follow the commits here.

[APOS80]

Can’t upgrade to it via terminal for some reason.

Worked with RTK Firmware uploader

Settings via phone and WiFi doesn’t work well.
Missing settings as NMEA messages. Pole length and arp is null in the web menus even though I set it up over serial.

[APOS80]

Update!

Tested it today.

Tilt doesn’t work at all.

[nseidle]

Tilt doesn’t work at all.

This is a bit confusing. To clarify, are you able to enter tilt compensation mode by rocking the unit back and forth on a 1.8m pole? What specifically fails?

Using RC June 27, everything is working well for me. I wonder if you had the pole length setting (now called Antenna Height) set to 0.0m in the firmware? When I did that, tilt mode could be entered, but any tilt translated to large changes in the position (obviously).

Above, we see the position and altitude remain nearly identical before and after tilt is activated. There's 12mm of change but my pole is not in a calibrated state.

[nseidle]

I also recommend a factory reset of the device after a firmware update just to be sure the state the device is in.