In addition to providing precise position information, the MB-Two can estimate heading angle (it has dual-antenna support). This is useful for situations where a compass cannot provide reliable heading information, for example when flying close to metal constructs.
Required Firmware Options
The following firmware options need to be selected when buying the device:
- [X]  [N] [G] [W] [Y] [J] for 20Hz position updates and RTK support, 1cm horizontal and 2cm vertical position accuracy
- [L] LBAND
- [D] DUO - Dual Antenna Heading
- [B] BEIDOU + [O] GALILEO, if needed
Antennas and Cable
The antenna connector type on the device is MMCX. Suitable cables for the above antennas (SMA connector) can be found here:
Wiring and Connections
The Trimble MB-Two is connected to a UART on the flight controller (GPS port) for data.
To power the module you will need a separate 3.3V power supply (the maximum consumption is 360mA).
The module cannot be powered from a Pixhawk.
The pins on the 28-pin connector are numbered as shown below:
|6||Vcc 3.3V||Power supply|
|14||GND||Connect to power the supply and GND of the Autopilot|
|15||TXD1||Connect to RX of the Autopilot|
|16||RXD1||Connect to TX of the Autopilot|
For heading estimation the two antennas need to be on the same level and at least 30 cm apart from each other. The direction that they are facing does not matter as it can be configured with the GPS_YAW_OFFSET parameter.
The MB-Two has problems with baudrate auto-detection. The baudrate must be configured manually by setting SET_GPS1_BAUD to 115200.
To activate heading fusion for the attitude estimation, set the EKF2_AID_MASK parameter to enable GPS yaw fusion.