This feature allows users to insert the default raw data into the main data stream of the RTK application, often using this feature to insert broadcast data or remote control data (from Base to Rover). The insert processing will be done automatically to ensure the main data stream will not be interrupted.
It can be applied on both Basestation and Rover, they include:
- ESPrtk Basestation RTK - NTRIP.
- ESPrtk Basestation RTK - MQTT.
- ESPrtk Basestation RTK - Radio.
- ESPrtk Rover RTK - NTRIP.
- ESPrtk Rover RTK - MQTT.
- ESPrtk Rover RTK - Radio.
On ESPrtk 3.0.0, the maximum insert size is 500 Bytes for Basestation RTK and 500 Bytes for Rover RTK. For Rover RTK Repeater, the total size is 1000 Bytes.
Configuration on WEB Configure.
The configuration for this feature is hidden in the "System" tab, visit http://192.168.4.1/system to go to the configuration page.
Insert and Cycle:
RAW data insertion is always guaranteed by ESPrtk to keep the main data stream inserted safely (without interrupting them).
If RAW data cannot be recognized, by default it will be inserted at the beginning or end of a complete data block.
The insertion cycle is counted in seconds, with a value range from 0 to 10000 seconds. If the cycle is set to 0, ESPrtk will insert every time (equal to the update rate of the data stream).
This tool supports HEX input checking, finding errors, printing error locations and error correction suggestions.
The input text format is HEX numeric:
- • Allow character: 0123456789abcedfABCDEF and White Space
- • Cannot contain newline character ( Enter ).
- • Each hex value must be separated by a space.
- • A Byte Hex must contain at least 1 characters (and no more than 2 characters).
- • Irrespective of uppercase and lowercase letters.
For example, all four ways below are valid and have the same output:
- • Hex 1 = 01 02 0F 07 00 0D
- • Hex 2 = 1 2 F 7 0 D
- • Hex 3 = 1 2 f 7 0 d
- • Hex 4 = 01 2 f 07 0 d
All of the four Hex codes above have a unique output:
- • Hex = 01 02 0F 07 00 0D
For RTK Rover.
If data insertion is enabled on the Base to insert RAW_A, all Rover will receive stream data + RAW_A insert data.
If data insertion is enabled on Rover for RAW_B insertion, TX Rover output will output stream data + RAW_B insert data.
If data insertion is enabled on both Base and Rover, TX Rover output will output stream data + RAW_A insert data + RAW_B insert data.
For NTRIP Rover, if the data insertion function needs to be enabled on the Rover, the Base needs to send (insert) 30 Bytes of synchronization word.
Insert RTCM 1008 and other RTCM messages.
ESPrtk will automatically detect the type of data that the user enters, it will automatically reorganize them and insert them into the RTCM stream in the most reasonable way according to the RTCM flow standards.
Can insert more than 1 type of RTCM message, paste it consecutively into the input data frame, just make sure the total size does not exceed 500 Bytes (1000 characters).
For example: The empty message frame RTCM 1008 (total 13 Bytes) is:
The RTCM 1074 (total 59 Bytes) message frame is :
The final text will be:
Check result insert on U-Center :