HERE2 GNSS not working in latest version of Arducopter

ArduCopter Copter 4.6
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Hi!
I’ve got a Cube Black running the latest version of Arducopter and I’m trying to connect my Here2 GPS through CAN on it. I’ve followed literally every documentation known to man regarding this GPS. I had to downgrade the firmware to this: Updating Here 2 Firmware | CubePilot because the other versions which I automatically updated on the GPS from Mission Planner (through the Cube Black) didn’t publish any GPS positional data in the Inspector. The version in that article did, but I can’t seem to see any sort of GPS fix at all. I changed the GPS_Type to 9 from the start to no difference. I can post a set of parameters later if needed.

It does work because it picks up immediately on PX4 (which is not at all the aim of this project) so I know the GPS itself works. I get an error: EKF3 waiting for GPS config among with some AHRS errors. I’ll post those later.

I’d just assume at this point, it’s something that I haven’t configured right or a broken version which I’ll probably just have to revert back to.

Thanks in advance!!

2

You should have these parameters set:

BRD_BOOT_DELAY,3000
CAN_D1_PROTOCOL,1
CAN_D2_PROTOCOL,1
CAN_P1_DRIVER,1
CAN_P2_DRIVER,1
GPS_GNSS_MODE,5
GPS_SAVE_CFG,2
GPS_TYPE,9

At least start with that and let us know what happens.
You can also set LOG_DISARMED,1 to gather a .bin log without arming and flying - that’s always useful for fault-finding.

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