I am having issues getting a Dual Here3 GPS setup working with a Pixhawk CubeOrange flight controller on ArduCopter verison 4.0.7. I get the message “Err: EKF3 waiting for GPS config data” 95% of the time I try booting it up. When I unplug the second GPS unit so that there is only one on the CAN bus, it works just fine.
I followed the instructions in the CubePilot manual for assigning a distinct node_id to each GPS unit in MissionPlanner’s UAVCAN tool.
Attaching parameters here (31.5 KB)
I found a post from January this year that claimed that Arducopter did not have dual CAN GPS support yet, but I’ve seen posts since where people seem to have gotten it to work.
Does Arducopter version 4.1.0 add any support for Here3 compatibility? I saw that it fixed an issue with units swapping on reboot.
Any help is greatly appreciated. Thank you!