I have a problem with a setup here, and I’m hoping someone might be able to help me. It’s a Coax Okto with an Orange Cube+, 4.6.3 firmware, and dual HERE 4 GNSS modules. So far, we only had the issue with the modules having a defective RM3100 compass — other than that, they worked perfectly fine.
During a recent flight, the GNSS signal dropped out on both modules simultaneously. If I’m reading the log correctly, the communication to the GNSS module was also lost — but I could be wrong about that. My initial suspicion was a loose connection, but both compasses in the HERE 4 module continued recording until the very end.
Perhaps someone here has the ability to check the log — maybe I’ve overlooked something. I’d be grateful for any tips.
I wanted to give another update: shortly after that, both GPS modules failed completely and only showed white LEDs. I can’t say for sure whether this was related to the previous issue. I replaced both modules, updated them to the latest firmware, and since then everything has been working fine.
One thing that is still a bit inconvenient with the HERE4 units is that when using two of them, ArduPilot detects a total of five compasses, which seems to cause problems. So far, the only workaround I’ve found is to completely disable the compass on one of the HERE4s in the settings.
It would be great if there were a way to keep only the RM3100 enabled and disable the other compass, since that one never gives us any useful calibration values.
you will need to set COMPASS_DISBLMASK on Here4 units to disable one of the two compasses.
Set following parameters: (on the HERE4 via DroneCAN)
COMPASS_DISBLMASK: (1<<6) = 64