GPS Autoconfig with AP_Periph devices over DroneCAN (Here4 Blue)

I recognize that the Here4 is not an “Ardupilot” project, but I figured I’d get some traction here from people who have used AP_Periph.

Using a CubeOrange+ running 4.5.7, and a Here4 Blue running HW: 4.19 SW: 1.14.5AC6523C

Is DroneCAN GPS autoconfig supported from the autopilot side, passing through to the periph, and if so, what gps settings are necessary on the periph to allow the passthrough? I currently have a working setup to the point where the cube recognizes the gps and compass from the periph, but I’m noticing that I am only able to autoconfig from the DroneCAN periph params in Mission Planner, and not from the cube. On the cube, I have GPS_AUTO_CONFIG=2 and GPS_TYPE=9, and on the periph I have GPS_AUTO_CONFIG=1 and GPS_TYPE=1. I’ve experimented with GPS_TYPE=2 and GPS_AUTO_CONFIG=2 on the periph to no apparent effect.

Along these lines, using ucenter and passthrough I can see RAWX messages coming from the device, but they are not being captured in ardupilot’s log in spite of GPS_RAW_DATA being set to 1 on both the cube and the periph

@Yuri_Rage , It looks like you’ve encountered similar issues. Does this sound like a new edge case, or already a fully known issue.

Unaware of any issue here. 99% of these kinds of things are user error. Don’t get creative.

I was referring to the above conversation thread, which suggests that there were issues related to autoconfig and DroneCAN (although specifically about configuring RTK AP_Periphs, in my case it’s just one AP_Periph and not using RTK).

I’m inferring from that thread that the Here4 should have the configuration of GPS_TYPE=1 in order to allow for the Cube GPS_TYPE=9 and GPS_AUTO_CONFIG=2 to flow the rest of the GPS_ configs down to the Here4? That didn’t seem to be my experience.

I haven’t found much documentation that describes the interactions here, basically this. If there’s somewhere else I should look, besides the code, I’m happy to avoid “Getting too creative”.

Thank you for your response!

Edit: According to this looks like the raw messages aren’t currently passed through, so that answers that question. Still looking for the logic that handles the autoconfig negotiation between the main autopilot and the periph

I was wrong in that thread. The Here3 doesn’t support the feature I was trying to use.

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