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ArduPilot is the most popular, full-featured and reliable open source autopilot software. It provides a
"RTK/GPS injection" method of using only one pair of radio for sending RTK base correction data and
Mission Planner data. Items needed for building a complete RTK system are shown below.
Figure 6-17
Since Mission Planner expects RTCM format base data, user must configure the Alpha RTK base to
output in RTCM as described in section 6-3-5.
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