How to configure Quectel LC29HBS

[jupiter9595]

Waveshare has refered RTKBase in their LC29HBS board description https://www.waveshare.com/wiki/LC29H(XX)_GPS/RTK_HAT

Looks like their configuration was successful but they did not show Main Service configuration details.

Has anyone successfully configure this GNSS unit?

RTKBase does not detect this unit.
How to correctly configure this unit?
Are Base coordinates fill in automatically when unit is detected?
I put the following coordinates: 49.208601 19.072489 1050 and RTKBase says format is not correct.

Please help to configure RTKBase unit

[jupiter9595]

Coordinates format I've figured out myself by looking at input fields defined pattern. Altitude should have at least 2 decimal places 1050.00 in this case

[deece]

LC29H(BS) Initial Configuration:
Connect to the unit using QGNSS. In the console, data input, Advanced, select: Text format: ASCII, Checksum Type: NMEA, Suffix: CRLF

In Data Input, enter the following (as per Quectel_LC29HBS_GNSS_Protocol_Specification_V1.1-1.pdf):

Check firmware version:
$PQTMVERNO*

Enable MSM7 messages
$PAIR432,1*

Enable Station Reference Message 1005
$PAIR434,1*

Enable Ephemeris messages
$PAIR436,1*

Crank the baud rate up (Could also go 3000000)
$PAIR864,0,0,921600*

Enable NMEA GGA Time, position, and fix related data
$PAIR062,0,1*

Enable NMEA GLL Position data: position fix, time of position fix, and status
$PAIR062,1,1*

Enable NMEA GSA GPS DOP and active satellites
$PAIR062,2,1*

Enable NMEA GSV Satellite information
$PAIR062,3,1*

Enable NMEA RMC Position, velocity, and time
$PAIR062,4,1*

Enable NMEA VTG Track made good and speed over ground
$PAIR062,5,1*

Enable NMEA ZDA UTC day, month, and year, and local time zone offset
$PAIR062,6,1*

Enable NMEA GRS GRS range residuals
$PAIR062,7,1*

Enable NMEA GST Position error statistics
$PAIR062,8,1*

Save parameters
$PQTMSAVEPAR*

Power cycle the unit, reconnect at the new baud rate

Start Survey-in (1 day duration)
$PQTMCFGSVIN,W,1,86400,15,0,0,0*

You will see PQTMSVINSTATUS repeating, when the third field=2, the survey-in is complete. Fields 8, 9 & 10 are the mean ECEF coordinates. Convert these to lat/long/elevation above ellipsoid to enter into RTKBase. You may have to prune some places after the decimal point for height before the parser will accept it:

import numpy as np

# Constants
a = 6378137.0  # WGS-84 Earth semimajor axis (m)
f = 1 / 298.257223563  # WGS-84 flattening
e2 = f * (2 - f)  # Square of eccentricity

# Input ECEF coordinates (X, Y, Z)
X, Y, Z = -123456789.0000, 1263456789.000, -123456789.1234

# Calculate longitude
longitude = np.arctan2(Y, X)

# Iterative calculation of latitude and height
p = np.sqrt(X**2 + Y**2)
lat = np.arctan2(Z, p * (1 - e2))  # Initial guess for latitude
lat_prev = 0
h = 0

# Iterate until convergence
while abs(lat - lat_prev) > 1e-12:
    lat_prev = lat
    N = a / np.sqrt(1 - e2 * np.sin(lat)**2)  # Prime vertical radius of curvature
    h = p / np.cos(lat) - N
    lat = np.arctan2(Z, p * (1 - e2 * N / (N + h)))

# Convert latitude and longitude to degrees
latitude = np.degrees(lat)
longitude = np.degrees(longitude)

latitude, longitude, h

When complete, save parameters
$PQTMSAVEPAR*

[deece]

For detection:
$PQTMVERNO*

returns:
$PQTMVERNO,LC29HBSNR11A01S,2023/02/13,10:14:06*

The pertinent information to detect this is:
LC29HBS

[jupiter9595]

@deece - thanks a lot for this comprehensive guide! Have you ever got RTK fix status with this board? I read in internet, people get RTK float only.

[deece]

I only got my base station functional tonight, I probably won't be at a point where I have rover for months.

[deece]

@jupiter9595 Care to give this PR a try? #432

You can find the full tree here: https://github.com/deece/rtkbase/tree/lc29hbs

[benpeterson40]

What would be command to install the lc29hbs branch.

I did get the lc29hbs and LG290P working with rtkbase but was interested in checking out your more automated install process.

[Waqasop]

@jupiter9595 hey were you able to get rtk fix with this module as i am kinda stuck at float

[RaptorSDS]

Please add this Module to rtkbase , @deece or comit your tree to oginal master
i got now rdkbase also work with LC29H but only RCTM3 , didnt see NMEA or position on first page ,

please can someone show all setting of rdkbase for LC29H BS

[MinimumDowntime]

Just wanted to add to this great write up by @deece, whether it's on Windows or Linux (raspberry pi). I've had to have the LC29H-BS connected via USB to issue commands and receive a response I can actually read. Whereas if I manually send the commands over I2C on the Pi, responses come back delayed and garbled. But to be clear, if its running on I2C the proposed pull request #432 seems to handle this behind the scenes.

@RaptorSDS - if i had to wager a guess (but I could be wrong as a lot of this is new to me as well), it sounds like you need to manually register the configure_gps.service to get the device to start outputting data as the service sends the commands above on boot since they are not saved to the device's flash memory.

[RaptorSDS]

Just wanted to add to this great write up by @deece, whether it's on Windows or Linux (raspberry pi). I've had to have the LC29H-BS connected via USB to issue commands and receive a response I can actually read. Whereas if I manually send the commands over I2C on the Pi, responses come back delayed and garbled. But to be clear, if its running on I2C the proposed pull request #432 seems to handle this behind the scenes.

@RaptorSDS - if i had to wager a guess (but I could be wrong as a lot of this is new to me as well), it sounds like you need to manually register the configure_gps.service to get the device to start outputting data as the service sends the commands above on boot since they are not saved to the device's flash memory.

Thank you after edit settings.conf and use configure_gps.services (chmod +x) now it works
be aware in setting you have to set Quectel LC29HBS as name , in Webinterface this name ist not possible red field

the garbage can be the rtcm3 messages , and then the nmea message , that also produce delays

[MinimumDowntime]

Thanks for confirming my steps @RaptorSDS 😃

[ezequielchan]

Hey @deece, really appreciate your work — totally deserves a merge 😄. Finally not stuck with just Null Island coords!

[erok26]

@deece great work on updating the LCH29BS. I'm able to use the base and get into RTK Fixed state on my rover, however, I'm seeing a behavior where when in DGPS and RTK Float, it is off by .00015 in latitude and .00001 in longitude. I've rebuilt the base 6 or so times and have changed coordinates a few times in the base to try and adjust for the off coordinates. I cannot see any reason that each time I rebuild it, I am still off by some 10 to 40 meters. I'm also struggling with similar issues as others where in the status page, I see the satellites signal quality graph, but in the bottom the base coordinates are not being detected. Could this be the reason? Is anyone able to list out the steps required to properly configure the base using the LCH29BS? I'm trying to survey my property lines using a known coordinate for the base, but I'm stuck being that when in RTK Fixed its is pushing my rover off by several meters.

[RaptorSDS]

I done the survey in by disconnect the base , connect my rover to the fixed base antenne used another base in my near to have trk fix for this position wait 10min to see the avarage and use the now found position for base antenna .
after that switching back to base chip+antenna and iput this in the base coordinate .
after many other problems with wlan driver in rasberry debian linux i now switch to another box with openwrt and str2str