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Technical Reference

Deep dive into RTK Base system internals and technical specifications.

Available Documentation

Architecture

Software architecture overview:

  • Module descriptions
  • State machines
  • LED indicators
  • Connectivity modes
  • Error handling

View Architecture →

ZED FSM

ZED GNSS module state machine:

  • State definitions and transitions
  • Error handling and recovery
  • Timing and accuracy requirements
  • Survey-in flow diagrams

View ZED FSM →

Fast SVIN

Fast survey-in technical details:

  • How Fast SVIN works
  • Configuration parameters
  • Query/response protocol
  • Performance optimization

View Fast SVIN →

Task Priorities

RTOS task configuration:

  • Task list and priorities
  • CPU affinity
  • Stack usage
  • Monitoring

View Task Priorities →

TCP API

Direct TCP socket interface:

  • Connection details
  • Protocol support
  • Usage examples
  • Troubleshooting

View TCP API →

System Specifications

Hardware

  • Main Processor: ESP32 dual-core @ 240MHz
  • GNSS Module: ZED-F9P or ZED-F20
  • Memory: 4MB Flash + 8MB PSRAM
  • Connectivity: WiFi, Ethernet, 4G (optional)
  • Power: 12V DC input

Software

  • Framework: ESP-IDF v5.3.1
  • RTOS: FreeRTOS
  • Protocols: HTTP, MQTT/TLS, TCP, UDP
  • GNSS Protocols: NMEA, UBX, RTCM 3.x

Performance

  • Position Accuracy: <2cm (RTK)
  • Survey-in Time: ~90s (Fast SVIN)
  • Update Rate: 1Hz default, up to 10Hz
  • Latency: <100ms typical

Development

Building

See Build & Flash Station

Debugging

  • Console access via UART
  • Web interface diagnostics
  • MQTT debug topics
  • Log retrieval

Contributing

  • Follow existing code style
  • Test on hardware
  • Update documentation
  • Submit merge requests

References