# GPS RTK Zed F9P Access

**URL:** <https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523>\
**Category:** development\
**Created:** [May 14, 2025, 7:02pm UTC](https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523 "2025-05-14T19:02:46Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![marcosabel](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/marcosabel/32/336_2.png) [@marcosabel](https://discourse.farm-ng.com/u/marcosabel)\
**Post date:** [May 14, 2025, 7:02pm UTC](https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523/1 "2025-05-14T19:02:46Z")

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Similar to [this post](https://discourse.farm-ng.com/t/choosing-a-gnss-rtk-for-precision-ag-the-right-move-or-a-mistake/501), @saeedanas and I want to be able to use our own GPS RTK instead of RTK over IP as is provided by the Brain apps.

We have a base station already and want to be able to access the Zed F9P board that’s inside to be able to run a ROS2 node that manages RTK and publishes out to a topic. Before I go browsing the device tree and looking for where the RTK boards are connected to, I wanted to get any guidance on your thoughts about how I should be going about this. Maybe someone has gone through the exercise of using the RTK boards already.

Perhaps @MScatolin or @LourenK have some thoughts?

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**Author:** ![MScatolin](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/mscatolin/32/312_2.png) [@MScatolin](https://discourse.farm-ng.com/u/MScatolin)\
**Post date:** [May 15, 2025, 6:49pm UTC](https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523/2 "2025-05-15T18:49:45Z")

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You could potentially stop the GPS service and re-write code to configure a new service for the f9p board, but the problem there would be that, currently, the GPS service is actually the `farmng-amiga.service` which also handles the cameras and teh recorder. In other words… too much work 🙂

Since you are using ROS2 and handling navigation from there (not using our filter), I would just connect another module and write your service from scratch, which shouldn’t be difficult.

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**Author:** ![marcosabel](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/marcosabel/32/336_2.png) [@marcosabel](https://discourse.farm-ng.com/u/marcosabel)\
**Post date:** [May 15, 2025, 10:37pm UTC](https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523/3 "2025-05-15T22:37:32Z")

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Yeah that makes sense. That’s along the lines of what we were thinking.  
The question I have is if I need to reflash the F9P board because it isn’t configured properly to communicate with our RTK base, how would I go about doing that?  
Is there any guidance on where it’s connected to and how I can flash from within the Brain (since it’s unable to be disconnected.

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**Author:** ![MScatolin](https://yyz1.discourse-cdn.com/flex031/user_avatar/discourse.farm-ng.com/mscatolin/32/312_2.png) [@MScatolin](https://discourse.farm-ng.com/u/MScatolin)\
**Post date:** [May 16, 2025, 4:22pm UTC](https://discourse.farm-ng.com/t/gps-rtk-zed-f9p-access/523/4 "2025-05-16T16:22:20Z")

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It will be mounted to `/dev/ttyACM0`.

and your base station will be providing corrections over something that is not internet? A lot of base stations give you the option to run a NTRIP server that you can connect to using internet or a local network.