PX4设置教程
通过串口通信
目前，RTK Ultra通过CAN通信还不能输出gps yaw航向数据给飞控；
检查固件是否兼容的方法：飞控连接QGroundControl，在参数配置界面检查有参数【SEP_PORT1_CFG】表示兼容的。
目前X6系列飞控在qgc在线烧录的固件还未兼容，请联系零一飞行技术提供兼容的飞控固件。
参数配置
假设RTK ULtra的UART连接飞控的GPS2接口，RTK Ultra作为主GPS使用，则按以下参数配置
- SEP_PORT1_CFG设置成GPS2
- gps_1_config 设置成disabled
- SEP_YAW_OFFS设置偏航角度，若主天线在前方，则将航向偏移设置为0。角度按顺时针增加，因此如果主天线在车辆右侧，副天线在左侧，则将偏移设置为90度。
RTK航向确认
在Analyze Tools的mavlink 监测界面检查GPS_RAW_INT的yaw数据，和飞控机头指向一致则表示GPS_YAW_OFFSET设置正确。
GLOBAL_POSITION_INT的hdg数值和GPS_RAW_INT的yaw数值一致表示飞机航向用RTK的方向数据.
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