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Overview

The MB parameter group (specifically MB_CAN_PORT) configures the GPS Moving Baseline subsystem.

Moving Baseline is an advanced RTK technique where two GPS receivers on the same drone (a "Base" and a "Rover") calculate a precise relative position vector between each other. This vector provides an extremely accurate Yaw (Heading) source that is immune to magnetic interference.

Key Concepts

1. Inter-Receiver Communication

The two GPS units must talk to each other to exchange raw measurement data.

  • MB_CAN_PORT: Selects the CAN bus port used for this inter-GPS communication if you are using DroneCAN GPS units (like the Here3+ or F9P CAN).

Developer Notes

  • Library: libraries/AP_GPS.
  • Requirement: Requires two RTK-capable GPS receivers (e.g., u-Blox F9P).
  • Benefit: Allows flying in high-interference areas (near metal roofs, power lines) where a standard compass would fail.

MB_CAN_PORT

Default 0

MB_CAN_PORT: Moving Baseline CAN Port option

Description

Autoselect dedicated CAN port on which moving baseline data will be transmitted.

Values

Value Meaning
0 Sends moving baseline data on all ports
1 Auto select remaining port for transmitting Moving baseline Data
  • Default: 0

Description

This parameter manages the routing of high-bandwidth RTK "Moving Baseline" data between two GPS units (typically for GPS-based Yaw).

  • 0 (Broadcast): The moving baseline correction data is sent out on all active CAN interfaces. This is the simplest configuration but consumes more bus bandwidth.
  • 1 (Auto-Select): The system attempts to find a specific, dedicated CAN port to send the data on, keeping the other ports free for other traffic. This is useful on devices with multiple CAN buses to segregate the heavy RTK traffic.

Source Code

ardupilot/Tools/AP_Periph/Parameters.cpp

View Source
Maximum Control Limits (MAX) Minimum Threshold Configuration (MIN)