Cuav neo 3 pro(uavcan gps) no gps error

My devices are

Pixhawk 4 mini
Arducoptor v4.0.7
Cuav neo 3 pro gps

I changed parameters and updated ‘AP Periph’ firmware.
But there is ‘NO GPS’ error.
How can I fix it??

I refered to this.

Try BRD_BOOT_DELAY,1000 up to 5000 to see if that helps.