Chapter 21: RTK

【call flow】

You can check the flowchart on the official website, which gives the corresponding call logic for different RTK types.

Here is the address: https://developer.dji.com/doc/mobile-sdk-tutorial/cn/tutorials/rtk.html

【FAQ】

Here is where some frequently asked questions and corresponding answers will be added, and users can go through the search keywords in this article to query the desired content.

Q:How can I know that an aircraft is using RTK data or can take off using RTK data?

A:The RTKSystemStateListener provides the user with the system state of the RTK at this time (RTKSystemState). The rtkHealthy contained in the state indicates exactly whether the aircraft is using RTK data or not.  The true means it is.

Q:How will the aircraft behave when there is RTK disconnection during waypoint flight?

A:The performance may vary between models, the different performance of Mavic 3 Enterprise and M300 RTK under RTK disconnection is given below:

• Enable RTKMaintainAccuracy：
  1. the aircraft is not disconnected from the remote control, RTK is disconnected, the aircraft uses RTK data to maintain for 10min and then switches to GPS data, and then continues to fly;
  2. the aircraft is disconnected from the remote control, RTK is disconnected, and the waypoint lost control action is executed in priority. The aircraft will use RTK data to maintain for 10min and then switch to GPS data, and then continue to fly.
• Disable RTKMaintainAccuracy：
  1. the aircraft is not disconnected from the remote control, RTK is disconnected, the aircraft uses RTK data for 1min and then switches to GPS data, then the aircraft exits the waypoint mission;
  2. the aircraft is disconnected from the remote control and the RTK is disconnected, the priority is to execute the lost control action. If the action is to continue to execute the mission, the aircraft will use RTK data to maintain for 1min and then switch to GPS data, and then continue to fly.

Q:What interface is used to switch on the accuracy maintenance function？

A：setRTKMaintainAccuracyEnabled pass true to turn on accuracy maintenance and vice versa pass false to turn it off.

Q:How can I know when the aircraft is in accuracy maintenance mode?

A：The RTK positioning information (RTKLocationInfo) can be obtained through RTKLocationInfoListener. rtkLocationInfo.rtkLocation.positioningSolution can obtain the RTK positioning solution result. When it is equal to FLOAT it indicates that the aircraft is in accuracy maintenance mode.

FIXED indicates that the aircraft has the best positioning solution accuracy. It should be noted that a FIXED solution does not mean that the aircraft is using RTK data.

Q:What is the difference between RtkLocation and Real3DLocation given by RTKLocationInfo?

A：

RtkLocation gets the location of RTK module, the altitude will be the absolute altitude, the latitude and longitude indicate the location of RTK module, for example, RTK antenna No.4 of M300 RTK and M350 RTK.

Real3DLocation gets the data after the fusion of RTK module and flight control module, in this case the altitude will be the relative altitude, and the latitude and longitude indicate the geometric centre of the aircraft.