Build Guideintermediate

TinkerNav RTK Rover and Base Station Firmware

Official open-source firmware for TinkerNav RTK GNSS boards, enabling both RTK rover and base station modes with WiFi, LoRa, and NTRIP correction data support via ESP32-S3 and SkyTraq PX1125R.

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Boards:ESP32-S3RP2040
Firmware:Arduino
Use Cases:GPS TrackingRobotics
GitHub

Overview

The TinkerNav firmware is the official open-source software for Tinkerbug Robotics' TinkerNav RTK GNSS base board. It transforms the TinkerNav hardware into either an RTK rover or base station, providing centimeter-level GPS positioning accuracy.

Key Features

  • Dual Mode Operation: Configure as either an RTK base station (generating RTCM corrections) or rover (receiving corrections for precise positioning)
  • Multiple Communication Methods: Supports WiFi, LoRa, ESPNow, and cellular (SIM7000) for transmitting correction data
  • NTRIP Support: Connect to internet-based NTRIP casters for correction data
  • Arduino IDE Compatible: Flash firmware using Arduino IDE via USB-C
  • Auto-Configuration: The PX1125R GNSS receiver configures automatically through binary messages from the ESP32-S3
  • Web Interface: Access rover status through a built-in web server on any WiFi-enabled device

Hardware

  • TinkerNav base board (ESP32-S3 + SkyTraq PX1125R/PX1122R GNSS receiver + RP2040)
  • GNSS antenna (L1/L2/L5 multi-band)
  • Optional: TinkerSend LoRa, TinkerSend Mobile, TinkerCharge battery module

Getting Started

  1. Download the firmware from the GitHub repository
  2. Open in Arduino IDE (1.8.x or 2.x)
  3. Install dependencies (AdaFruit NeoPixel, Tinkerbug libraries)
  4. Connect TinkerNav via USB-C and flash

Resources

GitHub Repository

Source code & project files