Configuring a high-precision GNSS receiver for UAV applications goes far beyond powering it on and waiting for a fix. Professionals deploying Septentrio-based receivers-whether for drone mapping, autonomous navigation, or anti-jamming operations-rely on two powerful desktop applications: RxTools and RxControl. These tools transform a raw GNSS module into a finely tuned positioning instrument with tailored update rates, correction streams, logging profiles, and output protocols.
This guide walks through everything a UAV integrator needs to know about configuring Septentrio receivers using RxTools and RxControl. From initial connection and firmware updates to advanced settings like RTK correction input, NMEA message tuning, and data logging for post-processing, consider this your manual for getting the most out of a mosaic-X5 or mosaic-G5 based receiver.
What Are RxTools and RxControl?
Septentrio provides two complementary software packages for receiver configuration and monitoring, each serving a distinct role in the workflow.
RxTools – The Configuration Suite
RxTools is a cross-platform desktop application (Windows, Linux, macOS) designed for deep receiver configuration. It connects via USB, serial, Ethernet, or Wi-Fi and provides full access to the receiver’s command set, including SBF (Septentrio Binary Format) output configuration, correction input setup, antenna parameters, and logging controls. RxTools is the primary tool for one-time setup and field configuration.
RxControl – The Monitoring and Visualization Tool
RxControl is a real-time monitoring application that displays satellite skyplots, signal-to-noise ratios, position accuracy metrics, and receiver status. While RxTools handles configuration, RxControl is the window into what the receiver is actually seeing and doing. It supports the same connection methods and can run alongside RxTools on the same machine.
Both tools communicate with the receiver using Septentrio’s proprietary SBF protocol and the standardized NMEA 0183 protocol, giving integrators flexibility in how they interact with the hardware.
Installing and Connecting to Your Receiver
Before any configuration can happen, the receiver must be recognized by your system and connected through the appropriate interface.
Step 1: Download and Install
RxTools and RxControl are available from Septentrio’s support portal. The installer includes both applications along with USB drivers for Windows systems. On Linux, a .deb package is available for Debian-based distributions, and macOS users get a standard .dmg installer. After installation, launch RxTools from the Start menu or Applications folder.
Step 2: Physical Connection
Septentrio receivers like the mosaic-X5 and mosaic-G5 support multiple connection interfaces:
| Interface | Typical Use Case | Max Baud Rate |
|---|---|---|
| USB (Virtual COM) | Initial setup, firmware updates | 921600 bps |
| UART (Serial TTL) | Embedded integration | 460800 bps |
| Ethernet (TCP/IP) | Networked receivers, remote access | 100 Mbps |
| Wi-Fi (Access Point) | Field configuration via tablet/laptop | 54 Mbps |
For most UAV integrators, USB is the most straightforward method. Connect the receiver to your computer, open Device Manager (Windows) to identify the COM port number, then in RxTools go to File ? Connect, select the correct COM port, and set the baud rate to 115200 for initial handshake. RxTools will auto-detect the receiver model and jump to the correct rate after connection.
Step 3: Verify Connection
Once connected, the RxTools status bar should display the receiver model, firmware version, and current satellite tracking status. You can immediately see how many GPS, GLONASS, Galileo, BeiDou, and QZSS satellites are being tracked.
Essential Configuration Tasks for UAV Applications
Here are the most common configuration adjustments UAV integrators make when setting up a Septentrio receiver.
Setting the Update Rate
UAV applications often require higher update rates than standard surveying. A mapping drone might need 10 Hz position updates, while an autonomous navigation system for a robot dog might benefit from 20 Hz or more. In RxTools, navigate to Configuration ? Position Output and adjust the SBF message rate for the PosCart or PVTGeodetic message types. The mosaic-X5 supports up to 100 Hz position output with RTK corrections applied.
Higher rates consume more bandwidth and processing power. At 100 Hz, a single SBF log file can grow to several gigabytes per hour. Choose the rate that matches your application’s control loop frequency rather than maxing out the setting unnecessarily.
Configuring RTK Correction Input
To achieve centimeter-level accuracy, the receiver needs RTK correction data. RxTools makes this straightforward:
- Go to Configuration ? Correction Input
- Select the correction source: NTRIP (over IP), Serial, or TCP Client/Server
- For NTRIP: enter the caster hostname, port (usually 2101), mount point, username, and password
- Set the correction format to RTCM 3.x (the standard for most RTK networks)
- Verify correction reception in RxControl’s status panel
If you’re using a base station, connect it via serial and select “ROVER” mode in the receiver settings. The base station transmits RTCM corrections through its own serial or radio link.
Customizing Output Messages
UAV autopilots (ArduPilot, PX4) expect specific NMEA or SBF message types at defined intervals. In RxTools, navigate to Configuration ? Output ? SBF/NMEA and enable the messages your flight controller needs. Common configurations include:
| Message | Purpose | Typical Rate |
|---|---|---|
| NMEA GGA | Position, altitude, fix quality | 5-10 Hz |
| NMEA RMC | Speed, course, date | 5 Hz |
| NMEA GST | Position accuracy statistics | 1-5 Hz |
| SBF PVTGeodetic | Full position, velocity, time | 10-100 Hz |
| SBF AttEuler | Heading, pitch, roll (dual-antenna) | 10-20 Hz |
Enable only the messages your system actually uses. Each extra message adds processing overhead and data bandwidth, particularly over serial connections at limited baud rates.
Advanced Configuration with RxTools
Beyond basic setup, RxTools provides several advanced features that professional integrators should know about.
Firmware Updates
Septentrio regularly releases firmware updates that add new features, improve tracking performance, and fix bugs. In RxTools, go to Tools ? Firmware Update and browse for the .bin file provided by Septentrio. The update process takes about 3-5 minutes and preserves your existing configuration settings. Always verify the receiver model matches the firmware file before proceeding.
Notable recent firmware additions include enhanced AIM+ anti-jamming algorithms, improved Galileo HAS decoding, and expanded BeiDou B1C/B2a support.
Data Logging for Post-Processing
For high-accuracy survey applications or post-mission analysis, RxTools can log raw GNSS observations directly to SBF files. Configure logging via Configuration ? Data Logging. Select the measurement types to record (code pseudorange, carrier phase, Doppler, CN0) and set the logging interval. A typical configuration logs at 1 Hz for static surveys or 10 Hz for kinematic applications.
Logged SBF files can be post-processed with Septentrio’s PP-SDK or third-party software like RTKLIB or Waypoint Inertial Explorer. This allows you to achieve centimeter-level absolute positioning even without real-time corrections, provided you have a nearby base station’s RINEX data.
Serial Port Configuration
The mosaic-X5 and mosaic-G5 receivers have multiple serial ports (COM1, COM2, COM3 on the standard pinout). Each port can be configured independently for different tasks:
- COM1: Primary output to flight controller (NMEA at 115200-460800 bps)
- COM2: Correction input from RTK base or radio modem (RTCM at 38400-115200 bps)
- COM3: Debug/auxiliary (SBF logging at 921600 bps)
In RxTools, configure each port’s baud rate, data bits, parity, stop bits, and the message types flowing through it. This multi-port capability is one of the key advantages of Septentrio receivers for complex UAV integrations.
Monitoring Receiver Performance with RxControl
RxControl provides real-time visual feedback that is invaluable for troubleshooting and performance validation during field operations.
Skyplot and Signal Analysis
RxControl displays a skyplot showing satellite positions by constellation, color-coded by signal strength. Weak signals (below 30 dB-Hz) appear in red, medium in yellow, and strong (above 40 dB-Hz) in green. This is particularly useful when evaluating antenna placement on a UAV-a quick glance at the skyplot tells you if the airframe or payload is shadowing satellites in a specific direction.
The signal-to-noise ratio (CN0) histogram provides another quality metric. A healthy GNSS environment shows CN0 values clustered between 38-52 dB-Hz across all tracked satellites. Persistent low values across multiple satellites in the same sky quadrant suggest a physical obstruction rather than RF interference.
Position Accuracy Metrics
RxControl displays real-time position accuracy estimates including the standard deviation in north, east, and up components. For RTK-fixed solutions, these values should be in the 1-3 cm range horizontally and 2-5 cm vertically. If the receiver is in float RTK or standalone mode, the accuracy estimates will be significantly worse (decimeter to meter level), indicating that corrections are not being applied correctly.
Interference Monitoring
Receivers equipped with AIM+ (Advanced Interference Mitigation) technology display interference metrics in RxControl. The “interference level” indicator shows the current jamming environment from “Clear” to “Severe.” This feature is critical for UAV operations in contested electromagnetic environments or near communications infrastructure.
Automating Configuration with Command Scripts
For production deployments where multiple receivers need identical configuration, RxTools supports command-line scripting via Septentrio’s SBF command set. You can create a .txt file with a series of commands and execute them all at once through RxTools’ Tools ? Send Commands feature.
A typical configuration script might include:
setPositionVelocityOutput, COM1, 5, PVTGeodetic
setNMEAOutput, COM1, 5, GGA
setNMEAOutput, COM1, 1, RMC
setCorrectionInput, NTRIP, rtk.example.com, 2101, /my_mountpoint, user, pass
setLogging, internal, SBF, all, 1
saveConfigThis scripting capability allows integrators to flash dozens of receivers with identical settings in minutes, reducing human error and ensuring consistent performance across a fleet.
Frequently Asked Questions
How do I update the firmware on my Septentrio mosaic-X5 module?
Connect the receiver via USB, launch RxTools, go to Tools ? Firmware Update, select the .bin firmware file from Septentrio, and click Update. The process takes approximately 3-5 minutes and preserves your existing configuration. Always verify the firmware file matches the receiver model before proceeding.
What baud rate should I use between a Septentrio receiver and a Pixhawk flight controller?
For most UAV integrations, set the UART connection to 460800 bps (8 data bits, no parity, 1 stop bit). This provides enough bandwidth for 10 Hz NMEA position output without saturating the serial link. If you need higher update rates (20-100 Hz), increase to 921600 bps or switch to Ethernet for the primary data link.
Can I use RxTools to configure my receiver remotely over a network?
Yes. The mosaic-X5 and mosaic-G5 support TCP/IP connections. In RxTools, select TCP Client from the connection menu, enter the receiver’s IP address and port (default 28784), and connect. This is particularly useful for receivers installed on ground vehicles or fixed-wing UAVs that return to a base station.
How do I verify that RTK corrections are being applied correctly?
Open RxControl and check the fix status indicator. A green “RTK Fixed” label with horizontal accuracy under 3 cm confirms corrections are applied. You can also inspect the Correction Input panel in RxTools to verify RTCM message counts are incrementing, and check the age of corrections-anything under 10 seconds indicates a healthy link.
What’s the difference between saving configuration to RAM vs flash memory in RxTools?
Saving to RAM applies the configuration immediately but loses it on power cycle-useful for testing settings temporarily. Saving to flash (using the saveConfig command or clicking “Save to Flash” in RxTools) writes the configuration permanently. For production UAV deployments, always save to flash after finalizing settings so the receiver boots with the correct configuration on every power-up.
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