H520e-RTK stuck on 3D Fix with own RTK base — RTCM data received but no RTK convergence

[TomEnde]

Hi,


I've built a custom RTK base station (Raspberry Pi 5 + u-blox F9P) and connected it to my H520e-RTK via ST16E ground station over WiFi.


Setup:

• NTRIP server: 192.168.4.1:2101/BASE0
• RTCM output: 1004, 1005/1006, 1012, 1019, 1020, 1033, 1077, 1087, 1097, 1127, 1230
• Throughput: ~300-400 bytes/sec (stable)
• ST16E: NTRIP connected, shows "receiving RTCM"
• Drone GPS: 31 satellites, good signal

Problem:
Drone remains at 3D Fix. No RTK Float or Fixed achieved, even after 5+ minutes of stable RTCM stream.


Questions:

1. Does H520e-RTK require specific RTCM message types beyond standard?
2. Any known antenna height / ARP offset settings needed?
3. Should I use TCP (5016) instead of NTRIP (2101)?

Any pointers appreciated.