GPS2 issues during VN300 Integration with Cube Orange

ArduPlane VTOL Plane
1

I am trying to integrate a VN300 Rugged with a Cube Orange as an External AHRS.

Attached is my param file, with the key parameters set as per VectorNAV External AHRS.

  • SERIAL1_BAUD 921

  • SERIAL1_PROTOCOL 36

  • AHRS_EKF_TYPE 11

  • EAHRS_TYPE 1

  • EAHRS_OPTIONS 0

  • EAHRS_RATE 400

  • GPS_TYPE1 21

  • GPS_TYPE2 21

I can see the vectornav library being loaded within messages tab of mission planner on boot and GPS1 can get a 3D fix, however GPS2 says no fix.

Checking the status of the VN300 through the vectornav control center, both GPS A and GPS B are capable of having a GPS fix.

I have reviewed the source code for the vectornav library and I’m not sure if the information from the vectornav about GPS B is actually being passed to the autopilot (my understanding could be wrong and please explain if so)

In process_packet2, the numGPS2Sats and GPS2Fix fields of VN_packet2 are never accessed. It also looks like only one GPS instance is ‘handled’.

So my main questions is: should numGPS2Sats and GPS2Fix fields of VN_packet2 be accessed at some point and handled by the autopilot?

vn300-config.param (21.0 KB)