Seagull GPK2 User manual

Seagull #GPK2
User Manual
Product: Seagull #GPK2
Released: 2020-06-02
FW: 1.0

© 2020 Seagull UAV All Rights Reserved. 2
CONTENTS
GENERAL INFORMATION ...........................................................................................................................................................................................3
CONFIGURING #GPK2................................................................................................................................................................................................4
GENERAL.......................................................................................................................................................................................................................... 4
SETTINGS AND VALUES TABLE .................................................................................................................................................................................5
FLIGHT CONTROLLER INTEGRATION.........................................................................................................................................................................6
PIXHAWK /PIXRACER /ARDUPILOT BASED FC ............................................................................................................................................................ 6
PORT / PIN DEFINITIONS ...........................................................................................................................................................................................7
TROUBLESHOOTING ..................................................................................................................................................................................................8
TECHNICAL SPECIFICATIONS....................................................................................................................................................................................8

© 2020 Seagull UAV All Rights Reserved. 3
GENERAL INFORMATION
*** Please read this manual thoroughly before connecting and configuring Seagull #GPK2 ***
Seagull #GPK2 is a dual-band professional grade GNSS receiver which can be utilized in various applications where high precision
positioning is required. Typical precision that can be achieved with #GPK2 in RTK mode is - 1 centimeter!
Receiver is capable of tracking and decoding the following satellite signals - GPS L1C/A - L2C, GLONASS L1OF - L2OF, GALILEO E1-
B/C - E5b, BEIDOU B1I - B2I. #GPK2 modules can operate as ROVER or BASE –in Real Time Kinematic / Post Processed Kinematic /
Moving Baseline modes.
The modules support internal data logging of RAW data for post processing and in LATITUDE/LONGITUDE/ALTITUDE formats. #GPK2
features an onboard EVENT PIN –which can be used to log precise co-ordinates based on camera shutter feedback or other.
#GPK2 features:
•Precise UAV Navigation and data logging!
•Multiple modes –Real Time Kinematic, Post Processed Kinematic, Moving Baseline
•High refresh rate –up to 10Hz MB, 20Hz RTK, 25Hz PPK, 25Hz PVT GNSS
•High position accuracy –up to 1 cm!
•4 Concurrent GNSS constellations supported!
•Two operational modes –BASE / ROVER
•EVENT logging - such as shutter release
•On-board logging of GNSS data!

© 2020 Seagull UAV All Rights Reserved. 4
CONFIGURING #GPK2
GENERAL
#GPK2 can be configured by “Seagull-GPK2-Config.exe” that can be downloaded via the following link:
https://www.seagulluav.com/seagull-gpk2-support/
Please use the C USB Port on #GPK2 to configure.
Seagull #GPK2 Configurator example photo

© 2020 Seagull UAV All Rights Reserved. 5
SETTINGS AND VALUES TABLE
SETTING NAME
SETTINGS
RANGE
DEFAULT
DESCRIPTION
GENRAL SETTINGS
GPS Function
MANUAL / BASE
/ ROVER
n/a
BASE
This setting defines the #GPK2 functionality whether
it should be established as BASE, ROVER or
MANUALLY configured by the user.
Navigation Type
RTK / PPK / MB
n/a
RTK
GNSS module navigation type whether its Real Time
Kinematic, Post Processed Kinematic or Moving
baseline.
Satellites
GPS/GLONASS/
BEIDOU/GALILEO
n/a
GPS/GLNS
/BDS/GAL
It is recommended to use 4 satellite systems. User
can adjust accordingly to the region.
GPK Baudrate
Value
1200 -
960000
460800
Baudrate used for communicating with devices that
are connected to #GPK2. Reflects to X2 and FC
ports.
COM Baudrate
Value
1200 -
960000
115200
Baudrate used for inputting RTCM corrections to
#GPK2 for Real Time Kinematic navigation.
Navigation Frequency
1 –10Hz / AUTO
n/a
AUTO
Navigation rate set for the GNSS receiver. Typically,
it is set to AUTO - so #GPK2 will set the navigation
rate to the maximum rate depending on the
navigation type set.
FEEDBACK SETTINGS
Sync Feedback
DISABLE /
ENABLE
n/a
DISABLE
Enables EVENT PIN logging –only possible when
unit is functioning as ROVER.
Type of Logs
PPK / LLA /
BOTH
n/a
PPK
User can choose what type of log should be
generated –whether Post Processed Kinematic,
LAT/LONG/ALT or both.
IMG Name Prefix
n/a
n/a
DSC
User can define what name should be before
numbering of the logged co-ordinates, only valid for
LLA based logs.
BASE RTK SETTINGS
Survey Type
AUTO / FIXED
n/a
AUTO
Defines whether the BASE should AUTO survey its
location based on accuracy entered or FIXED if user
knows the co-ordinates of the BASE’s location.
Survey Time
Value in seconds
0 <> *a lot
(9e+15)
300
Auto survey for base lock time frame –will wait and
try to lock precise coordinate for the timeframe set
out to survey for.
Survey Accuracy
Value in meters
0 <> *a lot
(9e+15)
1
Desired auto survey accuracy for the base. Will keep
surveying until the precision is achieved.
BASE FIXED POSITION
Latitude
Value in degrees
0 <> *a lot
(9e+15)
0
(disabled)
Known fixed position needs to be entered for
ultimate precision.
Longitude
Value in degrees
0 <> *a lot
(9e+15)
0
(disabled)
Known fixed position needs to be entered for
ultimate precision.
Altitude
Value in meters
0 <> *a lot
(9e+15)
0
(disabled)
Known fixed altitude needs to be entered for
ultimate precision.
Accuracy
Value in meters
0 <> *a lot
(9e+15)
0
(disabled)
Enter how accurate the coordinates provided are
Latitude + Longitude

© 2020 Seagull UAV All Rights Reserved. 6
FLIGHT CONTROLLER INTEGRATION
PIXHAWK / PIXRACER / ARDUPILOT BASED FC
Connect the #GPK2 module that is operating in ROVER mode to Pixhawk1, Pixhawk2, Pixracer or other ArduPilot / PX4 based flight
controllers directly into the GPS marked ports. There is no need to setup any extra configuration, because all the necessary modes are
set by #GPK2.

© 2020 Seagull UAV All Rights Reserved. 7
PORT / PIN DEFINITIONS
PORT
DEFINITION
PINS
X2
Port for connecting to #X2 or
other loggers
VIN (3.9 -12V)
TX (3.3V)
RX (3.3V)
GND
COM
RTCM data input port
PURPLE FOR BASE
GREEN FOR ROVER
VIN (3.9 -12V)
TX (3.3V)
RX (3.3V)
GND
FC
Port for connecting to Flight
Controllers
VIN FC (typically 5V do
not exceed 3.9 –12V
limits)
RX (3.3V)
TX (3.3V)
GND
SYNC
EVENT PIN for internal /
external data logging
SIGNAL PIN
ACTIVATED LOGIC 0V
N / C
(NOT CONNECTED)
GND
GND
Internal logging START/STOP
button.
MCX style antenna connection
port.
Recommended to use
3.3V dual band active
antenna with LNA.
Controller USB - config adjust
and firmware update port
The unit can be
powered via USB 4.4 –
12V useful when
operating as a BASE
GNSS USB - for updating
firmware and manual setting
adjustment via U-center

© 2020 Seagull UAV All Rights Reserved. 8
TROUBLESHOOTING
To determine the current state of Seagull #GPK2 - simply read the output of the LEDs' and reference it to the table below:
TECHNICAL SPECIFICATIONS
•Ublox ZED-F9P GNSS receiver
•Following signals supported: L1C/A - L2C, L1OF - L2OF, E1-B/C - E5b, B1I - B2I (GPS/GLONASS/GALILEO/BEIDOU)
•Refresh rate: up to 10Hz Moving Baseline, 25Hz Real Time Kinematic, 25Hz RAW (Post Processed Kinematic), 25Hz PVT
(UBX Binary)
•Supply voltage: 3.9 –12v (5v recommended –do NOT exceed 12v!)
•Current draw: 140mA AVERAGE
•Dimensions: 44.2mm x 46.6mm x 10mm
•Weight: 20g (without misc. cables, antenna etc.)
SD CARD
ACTION
Blinking
Micro SD card - is not present
Flashing rapidly
Micro SD card initialization error –please check format!
Fading
Micro SD card has been initialized and waiting for log to start
Solid on
Micro SD card –logging has been activated
GNSS LOCK
ACTION
Solid on
GNSS lock has been established
Off
No GNSS lock
RTK LOCK
ACTION
Blinking
RTK FLOAT
Solid on
RTK FIXED
Off
No RTK lock