Hi everyone,
We are currently facing an issue with our custom-built drone, which utilizes a Cube Orange Plus flight controller and a Septentrio dual GNSS system (AsteRx-m3 Pro+). This drone operates in environments with high electromagnetic interference, necessitating the use of a GNSS heading as the primary yaw source and an external magnetometer as a fallback.
After updating from a 4.3.7 Septentrio custom firmware to newer firmware versions, including the latest official ArduPilot 4.5.4, we encountered problems with the SBF dual antenna configuration. The GNSS system is configured with GPS_TYPE = 26 SBF-DualAntena, and while satellites are detected, the heading information is not available, preventing the GNSS from being used as a yaw source.
Details:
- Hardware: Cube Orange Plus, Septentrio dual GNSS (AsteRx-m3 Pro+)
- Firmware Versions:
- Old (Working): ArduPilot 4.3.7 (custom firmware by Septentrio)
- New (Problematic): ArduPilot 4.5.1 (custom firmware from Septentrio’s GitHub) and official ArduPilot 4.5.4
- Configuration:
GPS_TYPE = 26 SBF-DualAntena(attached a full parameter list as well)240709.param (18.9 KB)
Issue:
- Satellites are detected, but heading information is not available, preventing the GNSS from being used as a yaw source.
Steps Taken:
- Verified GNSS settings
- Extensive troubleshooting and testing with both the 4.5.1 custom firmware and the official 4.5.4 firmware
- Followed the integration guide provided by Septentrio for the 4.3.7 custom firmware (link to guide)
Given these steps, I am still unable to get the dual antenna heading to work. Has anyone else experienced similar issues with these firmware versions? Could there be a compatibility issue with SBF dual antenna support in these versions? Any insights or suggestions would be greatly appreciated.
Will need to clearly understand which heading source is being used and ensure that the primary option is GPS heading, with compass fallback. Additionally, it is crucial that a reliable GPS heading is acquired before allowing takeoff. Is there a way to add these to the preflight checks?
Thank you for your assistance!