Point One Polaris Client for MAVLink

This application uses the polaris library to interface with Point One's GNSS corrections service and send RTCM corrections via MAVLink.

You must first create a PointOne account and copy your API key to the config file.
https://app.pointonenav.com/

The config.toml file is used to configure the program settings.

polaris-client-mavlink/config.toml

Lines 1 to 2 in cfc8b5a

	connection_url = "udp://:14550"
	polaris_api_key = "your_api_key_goes_here"

Behavior

The application waits for a MAVSDK connection and once connected the Polaris client is created and runs asynchronously. The received GPS_RAW_INT mavlink messages from the flight controller are converted from WSG to ECEF and sent to the Polaris server in order to begin receiving corrections. The corrections are binary RTCM3 and are published as GPS_RTCM_DATA MAVLink messages.

Build

Pre-requisites

sudo apt install libssl-dev libgflags-dev libgoogle-glog-dev libboost-all-dev

Install MAVSDK if you haven't already, the latest releases can be found at https://github.com/mavlink/MAVSDK/releases

sudo dpkg -i libmavsdk-dev_2.4.1_debian12_arm64.deb

Build

make

Run

./build/polaris-client-mavlink

Issues

Some areas service is not available? I couldn't receive corrections for a Swiss or Alaskan location.