Swift Navigation Support

Introduction

This article explains how to use Skylark, the Swift Navigation cloud-based GNSS corrections, on the Skydio X10 drone to improve computed position accuracy.

Skydio X10 with RTK/PPK attachment is compatible with Skylark variant:

Skylark Nx RTK

Preparation and Tips

To use Skylark corrections on the Skydio X10 drone, the following is required:

1. Skydio X10 drone (VT300-L sensors recommended) with RTK/PPK attachment. Drone firmware version needs to be v37.2.64 or newer.

2. Skydio drone controller with Internet access. Controller with either a built-in LTE modem or with an external Wi-Fi hotspot can be used. Controller firmware version needs to be v37.2.28 or newer.

3. Skylark account (if you don't have an account go to Skylark Sign Up).

4. An open space with a clear view of the sky. Positioning performance (accuracy and convergence time) will be degraded if the drone's GNSS antenna is obstructed by buildings, trees, vehicles or humans, or by radio interferences from devices like computers, other GNSS receivers, radio towers, etc.

The procedure outlined below has been tested using the Skydio X10 drone with firmware v37.2.64 and controller firmware v37.2.28.

Skydio X10 Drone Connections

The Skylark GNSS corrections are distributed over the Internet using a NTRIP protocol. The Skydio drone controller includes the NTRIP client software and it needs to be connected to the Internet to receive corrections. A reliable Internet connection is required for good navigation performance. Corrections received by the controller are passed via a local radio link to the drone for the GNSS receiver to compute an accurate location of the drone.

Refer to the Skydio drone documentation for connection and operation details.

A typical X10 drone setup to use Skylark corrections is depicted below.

Skydio X10 Drone Connections Diagram

Skydio X10 Setup Example

X10 Drone Setup Example

Setting Up X10 Drone

1. For the optimal performance it's recommended for the drone and controller to use the latest firmware. Follow the steps in How to update Skydio X10 to update your system.

2. Install RTK/PPK attachment (for details refer to How to install your RTK/PPK attachment) and power system up.

Using Skylark Corrections

1. Obtain Skylark NTRIP client credentials (if you don't have a Skylark account go to Skylark Sign Up) and choose the corrections variant. The X10 RTK/PPK attachment GNSS receiver works with Skylark Nx RTK corrections.

2. In the X10 controller menu Attachments select RTK/PPK attachment or click Setup RTK when the attachment is discovered.

3. Click RTK Kinematics Type.

4. Enter the NTRIP Host for your region per the table below.

Region	Address
Europe	eu.all-freq.skylark.swiftnav.com
North America	na.all-freq.skylark.swiftnav.com
Asia / Pacific	ap.all-freq.skylark.swiftnav.com

Host address is not case sensitive.

5. Enter Port Number 2101.

6. Enter the NTRIP Username and Password as received from Swift.

7. Click on Mount Point and select desired Skylark corrections stream from the displayed list. Examples of commonly used mountpoints:

Mount point	Skylark Stream
NXRTK-MSM5	Skylark Nx RTK with ITRF2020 (current epoch) reference frame
NXRTK-NAD83-MSM5	Skylark Nx RTK with NAD83(2011) reference frame (US only)
NXRTK-WGS84-MSM5	Skylark Nx RTK with WGS84(G1762) reference frame

Refer to the NTRIP Client Configuration for Skylark Corrections for a full list of available mountpoints, including regional reference frames (datums).

8. Click the Connect to Base Station button.

Verifying Corrections Usage

1. X10 should start receiving corrections shortly (within a few seconds) after enabling the NTRIP client. Successful connection is indicated by the appearance of Disconnect from Base Station button.

2. Shortly after receiving corrections, the GNSS receiver on the drone should start using them to improve computed position accuracy. The RTK operation is indicated in the controller's status bar.

The RTK status may read:

Fix - corrections are received and a highest accuracy RTK solution is computed

Float - corrections are received and a lower accuracy RTK solution is computed

Off - corrections are not received

3. Additional information is provided on the health status page.

The RTK Base Station health status should read Good and the Last Correction value should not exceed 5 seconds. Gaps in the corrections stream and a long delays will degrade RTK performance.