> For the complete documentation index, see [llms.txt](https://docs.rtkdata.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.rtkdata.com/integration-hub/ntrip-clients-and-field-software/mavproxy-ntrip.md). # MAVProxy NTRIP Setup: ArduPilot Companion Computer RTK Send RTKdata NTRIP corrections to ArduPilot rovers, boats and drones with the MAVProxy ntrip module on a companion computer: setup, GGA, autostart, checks. The MAVProxy `ntrip` module connects an ArduPilot vehicle to RTKdata from a companion computer on the vehicle, for example a Raspberry Pi or an NVIDIA Jetson with LTE or Wi-Fi. At the MAVProxy prompt, run `module load ntrip`, set `caster` to the RTKdata host for your region (`rtk.rtkdata.com` for North America, `eu.rtkdata.com` for Europe or `aus.rtkdata.com` for Australia), `port` to `2101`, `mountpoint` to `AUTO`, and `username` and `password` to the values from [RTK Credentials](https://rtkdata.com/my-account/rtk-credentials/), then run `ntrip start`. MAVProxy sends the vehicle's position to RTKdata as NMEA GGA and passes the RTCM corrections to the flight controller, which writes them into the GNSS receiver. This guide was written for MAVProxy 1.8.75, the current release on PyPI in October 2026. Commands, settings and messages follow the source code of the open-source [MAVProxy](https://github.com/ArduPilot/MAVProxy) (GPLv3), whose `ntrip` module (`mavproxy_ntrip.py` and `lib/ntrip.py`) is the same in release 1.8.75 and on the master branch. The module connects with NTRIP version 1 over a plain TCP connection on port `2101`; RTKdata works with NTRIP version 1 and 2. ArduPilot parameter names follow the current ArduPilot source code and wiki. This guide covers MAVProxy on Linux. It works for any ArduPilot vehicle, including rovers and boats that carry their own internet connection and do not depend on a ground station with internet. ## Requirements * **ArduPilot vehicle** (Rover, including boats, Copter or Plane) with an **RTK-capable GNSS receiver**, connected over serial or DroneCAN * A **Linux companion computer** on the vehicle, for example a Raspberry Pi or an NVIDIA Jetson, connected to the flight controller's **TELEM2** port or USB * **MAVProxy 1.8.71 or newer** (current release: 1.8.75) * **Internet on the vehicle**, for example LTE or Wi-Fi, with outbound TCP on port `2101` * **RTK credentials** from *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/) (the username starts with `rtk`) * **One data stream per vehicle** that is connected at the same time, see [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices) * **A GPS 3D fix outdoors:** MAVProxy opens the NTRIP connection only after the vehicle reports a 3D fix * **RTKdata coverage** where the vehicle works: check the [coverage map](/get-started/coverage-map.md) {% hint style="info" %} Don't have an RTKdata.com account yet? [Start 30-day Free Trial](https://rtkdata.com/try-rtk-corrections-free-for-30-days/) or [View Pricing](https://rtkdata.com/pricing/) {% endhint %} ## How do you set up the MAVProxy ntrip module with RTKdata? Connect the companion computer to TELEM2 on the flight controller, enable its serial port, install MAVProxy 1.8.71 or newer, start MAVProxy with the port and baud rate of that link, enter the RTKdata values for your region with `ntrip set` and run `ntrip start`. {% stepper %} {% step %} ### Connect the companion computer to the flight controller Connect the serial port of the companion computer to **TELEM2** on the flight controller, or use USB. For TELEM2, set `SERIAL2_PROTOCOL` = `2` (MAVLink 2, the default) and `SERIAL2_BAUD` = `921` (921600 baud), then reboot the flight controller. Power the companion computer from its own 5 V supply: the ArduPilot wiki does not recommend supplying it through the TELEM port. {% endstep %} {% step %} ### Enable the serial port On a Raspberry Pi, run `sudo raspi-config`, open **3 Interface Options** > **I6 Serial Port**, answer **No** to "Would you like a login shell to be accessible over serial?" and **Yes** to "Would you like the serial port hardware to be enabled?", then reboot. The port to use: | Computer | Port for the flight controller | | ------------------------------------------- | ------------------------------------------------------------------------------------- | | Raspberry Pi 3, 4, Zero 2 W | `/dev/serial0` | | Raspberry Pi 5 | `/dev/ttyAMA0` (GPIO 14 and 15; on the Pi 5, `/dev/serial0` points to the debug UART) | | NVIDIA Jetson on the ARK Jetson PAB Carrier | `/dev/ttyTHS1` (TELEM2) or `/dev/ttyACM0` (USB) | | {% endstep %} | | {% step %} ### Install MAVProxy Raspberry Pi OS Bookworm and later only allow `pip` inside a Python virtual environment. Install MAVProxy into one, add your user to the `dialout` group and reboot: ```bash sudo usermod -a -G dialout $USER python3 -m venv ~/mavproxy-venv source ~/mavproxy-venv/bin/activate pip install MAVProxy mavproxy.py --version ``` The last command prints `MAVProxy Version:` with the installed version. Use 1.8.71 or newer. On 64-bit systems, MAVProxy 1.8.75 also installs large map and 3D packages (vtk, opencv-python, matplotlib), so leave enough space on the SD card. After the reboot, run `source ~/mavproxy-venv/bin/activate` in every new terminal before you start `mavproxy.py`. {% endstep %} {% step %} ### Start MAVProxy ```bash mavproxy.py --master=/dev/serial0 --baudrate 921600 --aircraft MyRover ``` Replace `/dev/serial0` with the port from the table above. `--baudrate` has to match `SERIAL2_BAUD` (`921` means `921600`). If MAVProxy only shows `Waiting for heartbeat from /dev/serial0`, the port, the baud rate or `SERIAL2_PROTOCOL` does not match. When the link works, MAVProxy prints `Detected vehicle` and `online system`, and the prompt changes from `MAV>` to the vehicle's flight mode, for example `MANUAL>` on a rover. `--aircraft MyRover` names the folder from which MAVProxy reads its start script, see [autostart](#how-do-you-start-mavproxy-and-ntrip-automatically). {% endstep %} {% step %} ### Enter the RTKdata settings At the MAVProxy prompt (`MAV>`, or the flight mode such as `MANUAL>` once the vehicle is connected), load the module and enter the values for your region. Replace `rtkUSERNAME` and `PASSWORD` with the values from [RTK Credentials](https://rtkdata.com/my-account/rtk-credentials/) and keep the double quotes around the password. {% tabs %} {% tab title="North America" %} ``` module load ntrip ntrip set caster rtk.rtkdata.com ntrip set port 2101 ntrip set mountpoint AUTO ntrip set username rtkUSERNAME ntrip set password "PASSWORD" ntrip start ``` * **Host (domain):** `rtk.rtkdata.com` * **Host (IP fallback):** `13.56.117.10`, only if the vehicle's network cannot resolve the hostname * **Port:** `2101` * **Username / Password:** from *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login (the username starts with `rtk`) * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014` {% endtab %} {% tab title="Europe" %} ``` module load ntrip ntrip set caster eu.rtkdata.com ntrip set port 2101 ntrip set mountpoint AUTO ntrip set username rtkUSERNAME ntrip set password "PASSWORD" ntrip start ``` * **Host (domain):** `eu.rtkdata.com` * **Host (IP fallback):** `3.73.41.96`, only if the vehicle's network cannot resolve the hostname * **Port:** `2101` * **Username / Password:** from *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login (the username starts with `rtk`) * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014` {% endtab %} {% tab title="Australia" %} ``` module load ntrip ntrip set caster aus.rtkdata.com ntrip set port 2101 ntrip set mountpoint AUTO ntrip set username rtkUSERNAME ntrip set password "PASSWORD" ntrip start ``` * **Host (domain):** `aus.rtkdata.com` * **Host (IP fallback):** `54.206.56.130`, only if the vehicle's network cannot resolve the hostname * **Port:** `2101` * **Username / Password:** from *RTK Credentials* in your [account dashboard](https://rtkdata.com/my-account/rtk-credentials/), not your website login (the username starts with `rtk`) * **Mountpoint (ALL CAPS):** `AUTO` (recommended), or `AUTO_WGS84`, `AUTO_ITRF2020`, `AUTO_ITRF2014` {% endtab %} {% endtabs %} * Enter the host without `http://` and without `:2101`; the port has its own setting. * Put the password in double quotes. If MAVProxy does not accept your password, contact . * Type `AUTO` in capital letters. Alternatives: `AUTO_ITRF2020`, `AUTO_ITRF2014`, `AUTO_WGS84`. * MAVProxy prints nothing when a value is accepted and `Unknown setting` when the name is wrong. `ntrip set` without a name lists all values, including the password. {% endstep %} {% step %} ### Start the NTRIP connection With a 3D fix, `ntrip start` prints `NTRIP started`. Without one, it prints `Start delayed pending position` and connects on its own as soon as the vehicle reports a 3D fix. MAVProxy reads the settings only at `ntrip start`: after a change, run `ntrip stop` and then `ntrip start`. {% endstep %} {% step %} ### Check corrections and RTK Fixed Run `ntrip status`. Once corrections arrive, it lists one line per RTCM message type with a counter, for example 1005 and the MSM4 messages 1074, 1084, 1094, 1114, 1124 and 1134, and a summary line with packets and bytes/sec. Then run `status GPS_RAW_INT`: `fix_type` 5 is RTK Float and 6 is RTK Fixed. If the RTK receiver is the second GPS, run `status GPS2_RAW`. On a computer with a display, the MAVProxy GUI console (`--console`, needs wxPython) shows `GPS: OK6` for RTK Fixed. ``` ntrip status status GPS_RAW_INT status GPS2_RAW ``` {% endstep %} {% endstepper %} ## How do you start MAVProxy and NTRIP automatically? Put the RTKdata NTRIP commands into `MyRover/mavinit.scr` and start MAVProxy with `--aircraft MyRover` from the directory that contains the `MyRover` folder, for example as a systemd service with `--daemon --non-interactive`. Save the commands for your region as `~/MyRover/mavinit.scr`, which matches `WorkingDirectory=~` in the service below. This example uses the Europe host: ``` # RTKdata NTRIP module load ntrip ntrip set caster eu.rtkdata.com ntrip set port 2101 ntrip set mountpoint AUTO ntrip set username rtkUSERNAME @ntrip set password "PASSWORD" ntrip start ``` * MAVProxy prints every line of the file to its output, which a systemd service writes to the journal. The `@` at the start of the password line stops that for the password. * `ntrip start` in the file is safe: the connection waits for a 3D fix. * If MAVProxy prints `no script MyRover/mavinit.scr`, it was started from another directory and the module is not loaded. * Use the file in the `MyRover` folder rather than `~/.mavinit.scr`: MAVProxy runs `~/.mavinit.scr` at every start, so a second MAVProxy session would open a second NTRIP connection with the same credentials. Example service file `/etc/systemd/system/mavproxy.service`. Replace `pi` with your user name and the port with the one for your computer: ```ini [Unit] Description=MAVProxy with RTKdata NTRIP Wants=network-online.target After=network-online.target [Service] User=pi WorkingDirectory=~ Environment=PYTHONUNBUFFERED=1 ExecStart=/home/pi/mavproxy-venv/bin/mavproxy.py --master=/dev/serial0 --baudrate 921600 --aircraft MyRover --daemon --non-interactive Restart=on-failure RestartSec=5 [Install] WantedBy=multi-user.target ``` Enable and start it with `sudo systemctl enable --now mavproxy.service`, and read the output with `journalctl -u mavproxy.service`. `PYTHONUNBUFFERED=1` makes messages such as `NTRIP restart` appear in the journal right away. `RestartSec=5` gives a USB flight controller time to appear after boot. ## How does MAVProxy send GGA to RTKdata? MAVProxy sends GGA on its own; there is no setting for it. It takes the vehicle's position from the MAVLink messages `GPS_RAW_INT` and `GPS2_RAW` once they report a 3D fix, sends a first GGA right after RTKdata accepts the request, and then a new one with the current position about every 2 seconds while corrections arrive. This lets `AUTO` select the nearest reference station and hand off to a closer one while the vehicle moves. MAVProxy versions before 1.8.47 send the position only once per connection; use 1.8.71 or newer. Without a position, RTKdata sends no corrections, see [What Happens When GGA Is Not Sent](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md#what-happens-when-gga-is-not-sent). MAVProxy avoids this case because it opens the connection only once the vehicle reports a 3D fix. ## Which corrections reach the receiver? MAVProxy forwards the RTCM 3 messages unchanged to the flight controller, which writes them into the GNSS receiver; MAVProxy does not filter message types. RTKdata sends RTCM 3.2 with the MSM4 messages 1074, 1084, 1094, 1114, 1124 and 1134 and the message 1005. RTKdata streams carry L5, E5a and B2a where the base station tracks them; some older base stations send L1 and L2 only. RTCM 1230 (GLONASS code-phase biases) comes from the base station, and most RTKdata base stations do not send it. Without it, a receiver from another manufacturer than the base station cannot fully resolve the GLONASS ambiguities, so GLONASS does not contribute to the fix. GPS, Galileo and BeiDou are not affected. Check in the receiver documentation that it accepts RTCM 3 MSM4 messages as input. ## Which ArduPilot parameters matter for NTRIP? For RTKdata corrections from MAVProxy, check the GPS type, `GPS_INJECT_TO`, `GPS_AUTO_CONFIG`, `GPS_AUTO_SWITCH` for a second receiver and the settings of the TELEM2 port: | Parameter | Value | | -------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `GPS1_TYPE` (`GPS_TYPE` up to ArduPilot 4.5) | `1` (AUTO) for a serial receiver or `9` (DroneCAN) for a CAN receiver, as in the ArduPilot RTK guide. Some receivers need a specific type, see the receiver's guide. Reboot the flight controller after a change | | `GPS_INJECT_TO` | `127` (send to all), the default | | `GPS_AUTO_CONFIG` | `1` (the default): ArduPilot configures serial receivers automatically. With `0`, a receiver configured elsewhere may ignore the corrections | | `GPS_AUTO_SWITCH` | `1` (UseBest, the default) if the RTK receiver is the second GPS | | `SERIAL2_PROTOCOL` / `SERIAL2_BAUD` | `2` / `921` for a companion computer on TELEM2 | ## How do you use MAVProxy NTRIP on ArduPilot rovers and boats? ArduPilot rovers and boats use the same MAVProxy NTRIP setup with RTKdata: the Rover firmware drives both, with `FRAME_CLASS` = `1` for a rover and `2` for a boat. With MAVProxy and LTE on board, RTKdata corrections keep arriving beyond the range of the telemetry radio, because the vehicle does not depend on a ground station with internet. * **Ground station NTRIP instead:** Mission Planner and QGroundControl can send corrections over the telemetry link while the ground station runs with internet. Mission Planner reports the vehicle's planned home location to RTKdata, not its live position, see [How do RTK corrections reach a robot?](/integration-hub/robotics.md#how-do-rtk-corrections-reach-a-robot). * **Boats at sea level:** the ArduPilot boat configuration lists sea-level GPS filtering (`GPS_NAVFILTER` = `5`, Sea) and notes that it is not intended for water bodies at elevation, such as lakes or rivers in the mountains. * **GPS heading with two receivers (moving baseline):** leave `GPS_INJECT_TO` at `127`. ArduPilot then skips the moving baseline rover receiver and sends the corrections to the other receiver. * **Boats with a Blue Robotics Navigator and BlueOS,** such as the BlueBoat: ArduPilot runs on the Raspberry Pi itself, so the TELEM2 wiring and serial port steps on this page do not apply there. Run only one NTRIP client on the vehicle. ## Which mountpoint should an ArduPilot vehicle use: AUTO or AUTO\_WGS84? Use the RTKdata mountpoint `AUTO` when your waypoints and survey points are in your region's datum, and `AUTO_WGS84` or `AUTO_ITRF2020` when they are in WGS 84; keep one mountpoint for the whole project. `AUTO` delivers your region's datum, for example NAD83(2011) in the USA, ETRS89 in Europe and GDA2020 in Australia; the datum for every region is listed in [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md). Positions recorded on `AUTO` and waypoints from a global mountpoint sit in different frames and do not line up, see [Which RTKdata mountpoint fits a robot's maps and waypoints?](/integration-hub/robotics.md#which-rtkdata-mountpoint-fits-a-robots-maps-and-waypoints). A constant offset of 50 cm to 1 m against your waypoints or local survey control usually means a datum mismatch, see [Why Your Coordinates May Be Offset](/get-started/coordinate-systems-and-datums.md#why-your-coordinates-may-be-offset). RTKdata delivers ellipsoidal heights, see [Understanding Heights](/get-started/understanding-heights.md). ## Troubleshooting | What you see | Likely cause | What to do | | ------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `ntrip: Not started` after `ntrip start` | The vehicle has no 3D fix yet (`Start delayed pending position`), or the caster or mountpoint is missing (`Require caster`, `Require mountpoint`) | Move the antenna under open sky and check `status GPS_RAW_INT` for `fix_type` 3 or higher. MAVProxy connects on its own once the fix is there | | `ntrip: no data` | MAVProxy reached no server, or RTKdata did not accept the request. MAVProxy hides the reason by default | Run `set moddebug 1`. `Mount point does not exist` or `Unauthorized request`: check `AUTO` in capital letters, the username (starts with `rtk`) and the password. No message: check that the host has no `http://` and no `:2101`, try the IP fallback, allow outbound TCP on port `2101` and check that the site is covered on the [Coverage Map](/get-started/coverage-map.md) | | A changed setting has no effect | MAVProxy reads the settings only at `ntrip start` | Run `ntrip stop`, then `ntrip start` | | `Unknown command` for `ntrip` | The module is not loaded, for example because MAVProxy did not find `MyRover/mavinit.scr` | Run `module load ntrip`, or start MAVProxy from the directory that contains the `MyRover` folder | | Only `Waiting for heartbeat from /dev/serial0` | Wrong port, `--baudrate` does not match `SERIAL2_BAUD`, or `SERIAL2_PROTOCOL` is not `2` | Check the port for your computer and use `--baudrate 921600` with `SERIAL2_BAUD` = `921` | | Login fails although the credentials are right | The password was cut off at a space or another character | Put the password in double quotes. If MAVProxy still does not accept it, contact | | Corrections arrive, but no RTK Fixed | The receiver does not use the corrections, the RTK receiver is the second GPS, or the sky is blocked | Keep `GPS_INJECT_TO` = `127` and `GPS_AUTO_CONFIG` = `1`, check `status GPS2_RAW` for a second receiver, check the receiver's RTCM input in its documentation and move to open sky | | `NTRIP restart` again and again | No corrections for 15 seconds, for example after a mobile data dropout or because another device uses the same credentials | Check the vehicle's internet connection and disconnect every other device that uses the same credentials | | Fix keeps cycling between FIX, FLOAT and SINGLE | A second NTRIP client uses the same credentials, for example on the ground station | Run only one NTRIP client per vehicle. Forward telemetry to the ground station with `--out` and leave its NTRIP off. For fleets, see [data streams for a robot fleet](/integration-hub/robotics.md#how-many-data-streams-does-a-robot-fleet-need) | | MAVProxy stops with `ERROR: Not enough free disk space for logfile` | Less than 200 MB free where MAVProxy writes its logs | Free up space, or start MAVProxy with `--no-state` so it writes no logs | For connection problems that are not specific to MAVProxy, see [Common Connection Issues](/support/common-connection-issues.md). ## Frequently asked questions ### Does MAVProxy send GGA to RTKdata? Yes. MAVProxy 1.8.47 and newer send the vehicle's current position to RTKdata as GGA about every 2 seconds while corrections arrive, so `AUTO` can follow the vehicle. There is no setting to turn it on or off. ### Can I use Mission Planner or QGroundControl together with MAVProxy? Yes, for telemetry. Start MAVProxy with `--out udp::14550` and connect the ground station to that port. Leave the ground station's NTRIP client off: one RTKdata data stream allows one connection at a time, and two clients disconnect each other. ### Which MAVProxy version do I need? MAVProxy 1.8.71 or newer for use with RTKdata. Older versions build the GGA sentence in a format that some NTRIP casters reject, and versions before 1.8.47 send the position only once per connection. `mavproxy.py --version` shows the installed version. ## Quick reference ``` Host: eu.rtkdata.com / rtk.rtkdata.com / aus.rtkdata.com Port: 2101 Mountpoint: AUTO Username: (from RTKdata dashboard, starts with "rtk") Password: (from RTKdata dashboard) GGA: sent by MAVProxy (vehicle position) ``` 1. Flight controller: TELEM2 with `SERIAL2_PROTOCOL` = `2` and `SERIAL2_BAUD` = `921`, then reboot. Keep `GPS_INJECT_TO` = `127` and `GPS_AUTO_CONFIG` = `1`. 2. Companion computer: enable the serial port, install MAVProxy 1.8.71 or newer in a virtual environment and start `mavproxy.py --master= --baudrate 921600 --aircraft MyRover`. 3. At the MAVProxy prompt: `module load ntrip`, `ntrip set caster` with the host for your region (IP fallback `13.56.117.10`, `3.73.41.96` or `54.206.56.130`), `ntrip set port 2101`, `ntrip set mountpoint AUTO`, `ntrip set username`, `ntrip set password` with the password in double quotes, then `ntrip start`. 4. Check `ntrip status` for one line per RTCM message type and `status GPS_RAW_INT` for `fix_type` 6 (RTK Fixed). 5. For autostart, put the commands into `MyRover/mavinit.scr` with `@` at the start of the password line and run MAVProxy as a systemd service. 6. Run one NTRIP client and one data stream per vehicle that is connected at the same time. ## Related Guides * [Robotics overview](/integration-hub/robotics.md): where the NTRIP client can run on a robot, data streams for fleets and the mountpoint for maps and waypoints * [Corrections through the ground station](/integration-hub/robotics.md#how-do-rtk-corrections-reach-a-robot): Mission Planner and QGroundControl as the alternative to an NTRIP client on the vehicle * [QGroundControl (PX4)](/integration-hub/ntrip-clients-and-field-software/qgroundcontrol.md): corrections for PX4 vehicles through the ground station * [ROS 2 NTRIP Client](/integration-hub/ntrip-clients-and-field-software/ros2-ntrip-client.md): the NTRIP client for ROS 2 robots * [NTRIP & GGA Essentials](/integration-hub/ntrip-clients-and-field-software/ntrip-and-gga-essentials.md): why the vehicle's position decides whether corrections arrive * [NTRIP Server Settings](/get-started/network.md): regional hosts, IP fallbacks and mountpoints * [Account & Credentials](/get-started/account-and-credentials.md#using-one-subscription-with-several-devices): one connection per data stream * [Coordinate Systems & Datums](/get-started/coordinate-systems-and-datums.md): the regional datums that `AUTO` delivers * [Coverage Map](/get-started/coverage-map.md): check the reference station coverage where the vehicle works * [Common Connection Issues](/support/common-connection-issues.md): what to check when you connect but no corrections arrive * [NTRIP Clients & Field Software](/integration-hub/ntrip-clients-and-field-software.md): all NTRIP client and field software guides ## Related Industry Solutions * [Robotics](https://rtkdata.com/robotics/) * [Drones](https://rtkdata.com/drones/) --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation by asking a question. Perform an HTTP GET request on the following URL with the `ask` and `goal` query parameters: ``` GET https://docs.rtkdata.com/integration-hub/ntrip-clients-and-field-software/mavproxy-ntrip.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is what the user is ultimately trying to achieve, the reason they need the answer. Sharing it helps GitBook give you a better, more relevant answer. A goal is most helpful when it describes the outcome the user wants rather than restating the question. For example, with `ask=how do I create an API token`, a goal like `automate deployments from our CI pipeline` lets GitBook tailor the answer to that use case. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.