Caddx walksnail ws m181 gps

ArduCopter Copter 4.4
1

Hi everyone,
I’m trying this M10 GPS instead of a BN880 and the results are disappointing (11 satellites connected out of 19 visible in Italy). I’m trying this on a complicated 4" quad (4.4.1 beta1) because it has sonar, lidar and 3s li ion, however the old BN880 positioned in the exact same position (gps stand 10cm away from disturbances) was better (in excellent condition even 25 sat). I can improve something with the parameters that were fine with the BN880 anyway?

GPS_AUTO_CONFIG,1
GPS_AUTO_SWITCH,1
GPS_BLEND_MASK,5
GPS_BLEND_TC,10
GPS_DELAY_MS,0
GPS_DELAY_MS2,0
GPS_DRV_OPTIONS,0
GPS_GNSS_MODE,69
GPS_GNSS_MODE2,0
GPS_HDOP_GOOD,140
GPS_INJECT_TO,127
GPS_MB1_TYPE,0
GPS_MB2_TYPE,0
GPS_MIN_DGPS,100
GPS_MIN_ELEV,-100
GPS_NAVFILTER,8
GPS_POS1_X,0
GPS_POS1_Y,0
GPS_POS1_Z,0
GPS_POS2_X,0
GPS_POS2_Y,0
GPS_POS2_Z,0
GPS_PRIMARY,0
GPS_RATE_MS,200
GPS_RATE_MS2,200
GPS_RAW_DATA,0
GPS_SAVE_CFG,2
GPS_SBAS_MODE,2
GPS_TYPE,1
GPS_TYPE2,0

07/10/2023 14:46:40 : u-blox 1 HW: 000A0000 SW: ROM SPG 5.10 (7b202e)
07/10/2023 14:46:25 : GPS 1: detected as u-blox at 230400 baud
07/10/2023 14:46:23 : EKF3 IMU0 MAG0 initial yaw alignment complete
07/10/2023 14:46:22 : EKF3 IMU0 tilt alignment complete
07/10/2023 14:46:22 : Frame: QUAD/X
07/10/2023 14:46:22 : IMU0: fast sampling enabled 8.0kHz/1.0kHz
07/10/2023 14:46:22 : RCOut: DS600:1-4 NeoP:5
07/10/2023 14:46:22 : KakuteF4 0029003D 4B4B500E 20313548
07/10/2023 14:46:22 : ChibiOS: 1ec9f168
07/10/2023 14:46:22 : ArduCopter V4.4.1-beta1 (720e8c26)
07/10/2023 14:46:22 : Frame: QUAD/X
07/10/2023 14:46:22 : IMU0: fast sampling enabled 8.0kHz/1.0kHz
07/10/2023 14:46:22 : RCOut: DS600:1-4 NeoP:5
07/10/2023 14:46:22 : KakuteF4 0029003D 4B4B500E 20313548
07/10/2023 14:46:22 : ChibiOS: 1ec9f168
07/10/2023 14:46:22 : ArduCopter V4.4.1-beta1 (720e8c26)

2

Just curious, is that WS-M181 GPS any good or did you scrap it?
I’m trying to replace a BE-220GPS on a plane and I want a GPS with compass. Constraints are 22x22mm footprint and <6g weight.
BE-220 gets 28-30 SATS on a clear sky and HDOP of ~0.5 even with the small 18x18mm ceramic antenna.

3

Summing Up, I exchanged a BE-220 against a WS-M181 on a ZOHD Drift. No space issues, is even a little too small for the groove and must be taped into place.

Performance is still developing, but already got 17 SATS after cold start and 10 minutes of flight.
Also checked M10050 configuration via u-center and I did not notice any difference.

After a facepalm moment, I ripped out the lock magnets of the Drifts GPS hatch and voila, compass calibration runs to 100% but never finishes anyways, so back to the magfit approach.

After yet another facepalm moment, I saw that I switched autofit to 1 “check” during MagFit and apparently MP does not WARN about wrong orientation during calibration and just starts anew forever. Final result was YAW90 100-300 mGaus Offsets on the ZOHD Drift with the magnets removed. That finalizes the upgrade.

4

I left the walksnail … also because I had little support to solve the interferences with the lidar and therefore I did not develop the quad further. However it worked but I would have expected something more from M10. I had no problems with the compass

5

I have it working, GPS has 27 Sats at ~120m altitude, 15 minutes flight time in the middle of nowhere.

Compass works great and and after a few iterations of magfit tool, Error is down to ~30 mGaus.
FC is 4cm under the MAG and a blheli_s ESC is 10cm in the back.