> For the complete documentation index, see [llms.txt](https://agamrobotics.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://agamrobotics.gitbook.io/docs/gnss-and-rtk-systems/agam-gnss-base-rtk/setup-instructions.md).

# Setup Instructions

The Agam Base RTK can be used as a Base as well as Rover depending on the requirements. It connects to QGroundControl over USB-C, and QGC forwards the RTCM corrections to the vehicle over MAVLink. Another RTK Rover on the UxV uses those corrections to achive centimeter-level precision.

#### Connection Diagram <a href="#connection-diagram" id="connection-diagram"></a>

First, Twist the provided 4 pin CAN cables as this will cancels out electromagnetic interference (noise) and reduces crosstalk by ensuring external fields affect both wires equally, allowing receivers to filter it out, leading to cleaner signals, better reliability, and efficient data transmission in noisy environments. It also helps manage physical aspects like stability, preventing tangles, and ensuring even stress distribution.&#x20;

{% hint style="info" %}

### Both modules are interchangeable as Rover(Drone) or Base.

{% endhint %}

#### Mounting  <a href="#px4-configuration" id="px4-configuration"></a>

Mounting the GNSS Base RTK on top of a tripod or away from all the noise would be better. Ensure once the Base is connected, not to move or the convergence will take time.&#x20;

#### Setting Up the Base RTK <a href="#setting-up-the-base-station" id="setting-up-the-base-station"></a>

* One GNSS Base RTK module can be connected to a laptop/Computer/Tablet to GCS like QGroundControl(QGC) through the USB-C cable provided.
* By default QGC should detect the unit as RTK Base and you will start noticing the Satellite count reaching 20 Sats and starts RTK Streaming.
* Based on your Telemetry setup(which is not explained in this setup), one connects to the above laptop/Computer/Tablet to GCS. The other telemetry module will be on the rover/Drone.
* The RTK Base corrections are sent over the telemetry to the drone and you will see the RTK streamed Data by the status changing to RTK Fixed.

#### PX4 Configuration for RTK Rover <a href="#px4-configuration" id="px4-configuration"></a>

* Take the other module, Plug the 6 pin JST-GH cable to GNSS module and the other side to GPS2 Port.
* if only one GNSS is connected, then GPS\_1\_CONFIG needs to be set to GPS2.
* Reboot
* Set SER\_GPS2\_BAUD to AUTO