Ekf3 yaw estimation error at various angle

ArduCopter Copter 4.6
1

Hello everyone,

I’m working with a CubeOrange plus (HexCube+) Flight Controller, and I’ve connected HERE 3 GPS units via the CAN protocolHERE3 Manual. I’m using Mission Planner as the GCS and the latest ArduPilot firmware (version 4.5.7 Copter).

When I connect the GPS to the CubeOrange using the CAN protocol and configure the necessary parameters for CAN as per the instructions on the website, the GPS begins transferring data. However, I encounter three specific errors:

  1. EKF3 Waiting for GPS Config Data
  2. Yaw Inconsistent at Various Angles and
  3. Every time need to plug in and plug out the GPS after power the HexCube

Interestingly, when I switch to PX4 firmware, everything works as expected, and the drone flies without issue.

Has anyone experienced similar problems when using CAN-connected GPS on ArduPilot, or can you point me in the right direction for troubleshooting this?

2

You need to set the BRD_BOOT_DELAY to 5000

3

Out of curiosity and for when I started using CAN-connected sensors, would the boot delay only apply to CAN-connected GPS or does it this apply to any CAN sensor?

4

The FC will not boot for the first five seconds.

5

@amilcarlucas Thank you for the suggestion, but even after changing the BRD_BOOT_DELAY parameter to 5000, the issue persists