Can't Get GPS Yaw (Moving Baseline) to Function

ArduCopter Copter 4.5
1

I have been struggling with getting GPS Yaw to provide heading for a week with no luck. I am running a Cube Blue with ArduCopter firmware V 4.5.1 (Function.txt file indicates moving baseline is included), and two HerePros which are running the latest firmware, V 1.13.BF5E50D8 and are HW version 4.13.

The Ardu parameters have been set per the recommendations in the HerePro Manual and in the Ardupilot.org Docs GPS for Yaw (aka Moving Baseline) - Copter documentation. The HerePros are 0.567 meters apart, with the 1 unit Y-axis position set to -0.244 m and the #2 unit’s Y-axis position set to 0.323 m in the Ardupilot parameters.

The gpsyaw and gpsyaw2 values are always 0, and do not change when the test setup is rotated. The PFD window indicates GPS1: 3D Fix and GPS2: rtk Fixed.

GPS States

The attached zip file includes the parameter files for the Cube and the two HerePros.
Ardupilot Info.zip (6.7 KB)

Has anyone been able to get GPS Yaw to function without writing custom code?

2

It works and works well. Your parameters look good, and GPS2’s RTK Fixed status is a good sign.

Confirm your modules DO NOT look like the early to market alpha variants pictured here:

image
image929×593 48.4 KB

Beyond that, ensure that you are testing outside with a good, clear view of the sky. Be sure to leave your autopilot undisturbed for 5-10 minutes before conclusively deciding that something is wrong (this won’t be necessary all the time, but it’s best to leave things running undisturbed for some period while troubleshooting).

Double check your offset measurements. If they are inaccurate, yaw estimation can be problematic.

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