LC29H(XX) GPS/RTK HAT

Ich wollte nur einige Tests mit dem GPS mit einem ESP32 und NTRIP durchführen, aber ich konnte keine Firmware finden, die stabil genug wäre. Daher bleibt die Raspberry Pi-Lösung mit RTKBase, da dies wahrscheinlich die einfachste Testmöglichkeit ist – zumindest denke ich das, da ich in diesem Bereich keine Erfahrung habe.

Ich habe auch über diese App nachgedacht, um das GPS in Bewegung zu testen:
How to use Ardusimple products with SW Maps on Android smartphones/tablets
 
Hello everyone,

A short report on the LV29HEA RTK GPS, which promises 10Hz, but I couldn't achieve RTK-Fix at that rate. However, at 5Hz, I was able to achieve it, and it seems stable.

Here’s a configuration that worked successfully in my tests. I’m sharing it here to help others as well.

1740839995462.png

Not all settings are necessary, but for testing, I had to enable a few things to make sure the communication worked as expected.

Since I couldn't find an easy solution online for testing, I wrote a program for an ESP32 that communicates with my phone via Bluetooth. This was necessary because the LC29HEA only works at 460800 baud rate...
  • GPS → ESP32 @ 460800 baud rate
  • ESP32 → Phone @ 115200 baud rate
The ESP32 can also communicate via UART, but I still need to refine that version.

1740840037643.png1740840043039.png

On iPhone, I used the SW MAPS application.
On Android, I used the GNSS Master application.

So far, my experience shows that this GPS is suitable for use in a rover at 5Hz.
For NTRIP, I used Centipede, as it provided the most stable connection.

1740840089873.png1740840317415.png


The repeatability accuracy I observed is between 2-3 cm.
 

Attachments

Videos showing the performance of the module:

indystry.cc

How to use LC29H - the cheapest GPS RTK module - Indystry.cc

RTK is a cool technology but it's also very expensive. As always with time as the adoption of the technology is growing the prices go lower and lower. The same happened with GPS RTK, these days (in 2025) you can buy LC29H from WasveShare for just $60...
indystry.cc indystry.cc

discuss.ardupilot.org

RTK gps on a budget (Quectel LC29HEA)

I’ll send you the latest firmware via DM. Flash, and set the update rate to 5Hz with the $PQTMCFGFIXRATE command (on the module, that is). How exactly, you need to find out yourself since nobody here has gotten their hands on the actual module yet 🙂 In Ardupilot 5Hz should already be the...
discuss.ardupilot.org discuss.ardupilot.org

rtklibexplorer.wordpress.com

Configuring the Quectel LC29HEA receiver for real-time RTK solutions

This is a follow up to my previous post in which I describe my first experience with the Quectel LC29H receiver. In this post I will go over the details on how I configured the rover and base recei…
rtklibexplorer.wordpress.com rtklibexplorer.wordpress.com

github.com

GitHub - phryniszak/lc29h: Local RTK solution for LC29H

Local RTK solution for LC29H. Contribute to phryniszak/lc29h development by creating an account on GitHub.
github.com github.com
 
RD123 said:
Videos showing the performance of the module:

indystry.cc

How to use LC29H - the cheapest GPS RTK module - Indystry.cc

RTK is a cool technology but it's also very expensive. As always with time as the adoption of the technology is growing the prices go lower and lower. The same happened with GPS RTK, these days (in 2025) you can buy LC29H from WasveShare for just $60...
indystry.cc indystry.cc

discuss.ardupilot.org

RTK gps on a budget (Quectel LC29HEA)

I’ll send you the latest firmware via DM. Flash, and set the update rate to 5Hz with the $PQTMCFGFIXRATE command (on the module, that is). How exactly, you need to find out yourself since nobody here has gotten their hands on the actual module yet 🙂 In Ardupilot 5Hz should already be the...
discuss.ardupilot.org discuss.ardupilot.org

rtklibexplorer.wordpress.com

Configuring the Quectel LC29HEA receiver for real-time RTK solutions

This is a follow up to my previous post in which I describe my first experience with the Quectel LC29H receiver. In this post I will go over the details on how I configured the rover and base recei…
rtklibexplorer.wordpress.com rtklibexplorer.wordpress.com

github.com

GitHub - phryniszak/lc29h: Local RTK solution for LC29H

Local RTK solution for LC29H. Contribute to phryniszak/lc29h development by creating an account on GitHub.
github.com github.com
Click to expand...


Hi,


What you shared is very good, but it's not entirely accurate. The module in the first link is not really recommended, because it spends more time in RTK float than in RTK fix, and it's only capable of 1Hz, which is very low.


The modules in the 2nd and 3rd links are the same ones I shared as well (LC29HEA). These are capable of achieving stable RTK fix at 5Hz. However, I uploaded a configuration that really makes it work stably. With the configs provided in those links, I couldn't reach the stability I needed.


The module in the 4th link is also not suitable for RTK fix — at least not stably. When in motion, it stays in RTK float, and getting it back to RTK fix is nearly impossible.


There are many versions of the LC29H, but only the ones ending in EA can achieve stable RTK fix at 5Hz. (Since then, I’ve made some modifications and got it working quite stably even at 7Hz.)
 
Hey,
i am trying to connect my Quetzel LC29HEA board with an esp32. Unfortunately every time i wanted to print everything the module is printing i got nothing. I know sounds a bit stupid. but i tried al lot (baud rate, tx/rx pins). i tested my module in qgnss, (a quetzel gnss software) and it worked perfectly (baud 460800). (i tested every time without rtk-correction, but i also want the esp32 + module to give me anything at first) anyone with experience in such case? sorry for my bad english
 
Hi.
I don't have acces to NTRIP ,because no base station near my house.
So.
I test actually one config with:
1 LC29HBS as base station connected to esp32 Lora dev kit (correction data are send over LORA).
1 LC29HEA as rover connected to another esp32 lora (correction are receive over lora).

Nothing is inside the mower and i test inside my house,but i can have rtk float and rarely fix if i put antenna outdoor, so it's OK.
Antenna i receive from Ali is not good actually, and i have order another one.

For LC29HEA you need to put the esp32 baudrate to 460800 (console and serial) and upload a basic sketch to redirect all data to serial port.

here the basic sketch to test the module (ESP32 work as ftdi).
Change the 2 pin RX and TX according your wiring.

Code: 
// ESP32 UART2 (RX = GPIO16, TX = GPIO17) connecté au module LC29HEA
HardwareSerial GNSS(2);

void setup() {
  Serial.begin(460800);                        // USB <-> PC
  GNSS.begin(460800, SERIAL_8N1, 17, 13);      // UART2 : RX=GPIO16, TX=GPIO17
  Serial.println("Passerelle série bidirectionnelle active (LC29HEA <-> PC)");
}

void loop() {
  // ↠ Module GNSS → PC
  while (GNSS.available()) {
    Serial.write(GNSS.read());
  }

  // ↞ PC → Module GNSS
  while (Serial.available()) {
    GNSS.write(Serial.read());
  }

ALSO TAKE CARE ABOUT the 2 switchs on the board : To use UART adjust them up in direction of usb connector.
Invert RX and TX if it's not OK.
 
Last edited:
adamant said:
Hello everyone,

A short report on the LV29HEA RTK GPS, which promises 10Hz, but I couldn't achieve RTK-Fix at that rate. However, at 5Hz, I was able to achieve it, and it seems stable.

Here’s a configuration that worked successfully in my tests. I’m sharing it here to help others as well.

View attachment 1804

Not all settings are necessary, but for testing, I had to enable a few things to make sure the communication worked as expected.

Since I couldn't find an easy solution online for testing, I wrote a program for an ESP32 that communicates with my phone via Bluetooth. This was necessary because the LC29HEA only works at 460800 baud rate...
  • GPS → ESP32 @ 460800 baud rate
  • ESP32 → Phone @ 115200 baud rate
The ESP32 can also communicate via UART, but I still need to refine that version.

View attachment 1805View attachment 1806

On iPhone, I used the SW MAPS application.
On Android, I used the GNSS Master application.

So far, my experience shows that this GPS is suitable for use in a rover at 5Hz.
For NTRIP, I used Centipede, as it provided the most stable connection.

View attachment 1809View attachment 1810


The repeatability accuracy I observed is between 2-3 cm.
Click to expand...
very interestig post, can you be more dtailed on correct environment to build code for esp32 ? and, if I can, version that use serial port is at good point ? thank you, in advance if you can reply...
 
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