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140 lines
8.2 KiB
Markdown
140 lines
8.2 KiB
Markdown
# Septentrio mosaic-go
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The Septentrio mosaic-go receivers are evaluation kits for their mosaic-X5 and mosaic-H receiver modules.
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Because of their small size and low weight, they are ideal for autopilot applications.
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The available variants are the [mosaic-go](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-go-evaluation-kit)
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and [mosaic-go heading](https://www.septentrio.com/en/products/gnss-receivers/gnss-receiver-modules/mosaic-h-evaluation-kit).
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Their features include the following:
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- High update rate (>100 Hz) and low latency, both crucial for control systems of autonomous applications
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- Reliable centimetre-level positioning
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- Full L2 support via P(Y) code
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- Size: 71 x 59 x 12 mm ± 1mm
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- Weight: 58g ± 1g
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## Purchase
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The mosaic-go kit is available on Septentrio's [official store](https://web.septentrio.com/l/858493/2022-04-19/xgrnz):
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- [mosaic-go heading GNSS module evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrp9)
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- [mosaic-go GNSS module receiver evaluation kit](https://web.septentrio.com/l/858493/2022-04-19/xgrpd)
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Other PX4 supported devices from Septentrio:
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- [AsteRx OEM with Robotics Interface Board](../gps_compass/septentrio_asterx-rib.md)
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## mosaic-go Evaluation Kit Contents
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- 1 mosaic-H or mosaic-X5 module soldered on an interface board inside a metallic housing.
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- 1 USB cable
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- 6-pin COM1 open-ended cable
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- 4-pin COM2 open-ended cable
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- Help user guide card
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## Physical Interfaces
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| Type | Label | Use |
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| --------------- | ------------ | ---------------------------------------- |
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| USB Micro-B | USB | USB communication and power |
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| RSV USB Micro-B | RSV | Reserved and should not be used |
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| SMA | RF-IN\{1,2\} | Main (and auxiliary) antenna connections |
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| 6-pin JST | Serial | Serial communication and power |
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| 4-pin JST | Serial | Serial communication |
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| microSD | TF CARD | Serial communication |
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> Dual-antenna is only available on mosaic-H-based receivers.
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### 6-pin Connector
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_Connector type: GH connector, 1.25mm pitch, 6 way. Mating connector housing: GHR-06V-S._
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| Pin Name | Direction | Level | Description | Comment |
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| -------- | --------- | ---------- | ------------------------- | ----------------------------------------------------------------- |
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| VCC | PWR | 4.75V-5.5V | Main power supply | |
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| GND | | 0 | Ground | |
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| TXD1 | Out | 3V3_LVTTL | Serial COM1 transmit line | Directly connects to TXD1 of internal mosaic |
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| RXD1 | In | 3V3_LVTTL | Serial COM1 receive line | Directly connects to RXD1 of internal mosaic |
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| PPS | Out | 3V3_LVTTL | PPSoutput | PPSO from mosaic converted to 3.3V |
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| EVENT | In | 3V3_LVTTL | Event timer input | Connects to EVENTA of mosaic through a 3V3to 1V8 level translator |
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### 4-pin Connector
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_Connector type: GH connector, 1.25mm pitch, 4way. Mating connector housing: GHR-04V-S._
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| Pin Name | Direction | Level | Description | Comment |
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| -------- | --------- | --------- | ------------------------- | ----------------------------------------------- |
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| NRST | In | 3V3_LVTTL | Reset input | Directly connects to nRST_IN of internal mosaic |
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| TXD2 | Out | 3V3_LVTTL | Serial COM2 transmit line | Directly connects to TXD2 of internal mosaic |
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| RXD2 | In | 3V3_LVTTL | Serial COM2 receive line | Directly connects to RXD2 of internal mosaic |
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| GND | | 0 | Ground | |
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## PX4 Configuration
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PX4 configuration is covered in [Septentrio GNSS Receivers](../gps_compass/septentrio.md).
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## Hardware Connection Example Pixhawk 4
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1. Make sure the receiver is powered with at least 3.3V. You can use the USB Micro-B connector or the 6-pin JST connector.
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2. Connect one or two GNSS antennas to the RF-IN ports on the mosaic-go.
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3. Connect the 6-pin connector (COM1) to the Pixhawk's _GPS MODULE_ port.
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This will provide power to the mosaic-go and with this single connection it will be able to send single and dual-antenna
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information to the Pixhawk 4.
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::: warning
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Make sure the JST cable is wired correctly since this is not a standard cable:
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:::
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### Dual-Antenna
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The attitude (heading/pitch) can be computed from the orientation of the baseline between the main and the aux1 GNSS antennas.
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To enable multi-antenna attitude determination, follow the following procedure:
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1. Attach two antennas to your vehicle, using cables of approximately the same length.
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The default antenna configuration is as depicted in the figure.
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It consists in placing the antennas aligned with the longitudinal axis of the vehicle, main antenna behind AUX1.
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For best accuracy, try to maximize the distance between the antennas, and avoid significant height difference between the antenna ARPs.
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2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the longitudinal axis of the vehicle.
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This leads to offsets in the computed attitude angles.
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These can be compensated for with the heading parameters provided by the Septentrio driver in PX4.
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::: info
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For optimal heading results, the two antennas should be separated by at least 30cm / 11.8 in (ideally 50cm / 19.7in or more).
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For additional configuration of the dual antenna setup, please refer to our [Knowledge Base](https://support.septentrio.com/l/858493/2022-04-19/xgrqd) or the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrql).
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:::
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### Web App
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mosaic-H GPS/GNSS receiver module with heading comes with fully documented interfaces, commands and data messages.
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The included GNSS receiver control and analysis software [RxTools](https://web.septentrio.com/l/858493/2022-04-19/xgrqp) allows receiver configuration, monitoring as well as data logging and analysis.
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The receiver includes an intuitive web user interface for easy operation and monitoring allowing you to control the receiver from any mobile device or computer.
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The web interface also uses easy-to-read quality indicators ideal to monitor the receiver operation during the job at hand.
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## LED Status
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| LED Color | Powered | SD card mounted | PVT Solution | Logging enabled |
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| ------------- | :-----: | :-------------: | :----------: | :-------------: |
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| Red | ✓ | | | |
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| Green | ✓ | ✓ | | |
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| Blue | ✓ | ✓ | ✓ | |
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| Purple | ✓ | | ✓ | |
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| Purple + Blue | ✓ | ✓ | ✓ | ✓ |
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| Red + Green | ✓ | ✓ | | ✓ |
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:::tip
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For more detailed information about the mosaic-go and its module, please refer to the [hardware manual](https://web.septentrio.com/l/858493/2022-04-19/xgrrd) or the [Septentrio Support](https://support.septentrio.com/l/858493/2022-04-19/xgrrl) page.
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:::
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