Mission Planner displays "No GPS" when Vectornav VN-300 connected

I am trying to use a Vectornav VN-300 on ArduCopter 4.3.6 on a Pixhawk 6X, I have set SERIAL4_PROTOCOL = 36, SERIAL4_BAUD = 115, AHRS_EKF_TYPE = 11 and EAHRS_TYPE = 1. The mag, gyro, and gps are passing data to Ardupilot, as I can see the heading and artifical horizon change in Mission Planner when I move the VN-300. The gps location shows up on the map, but the HUD still says “No GPS” and the sat count, hdop, and gps status still show zero. Is there a way to make it look like there is a gps connected?

I figured it out, I set GPS_TYPE and GPS2_TYPE to 21 for external AHRS.

My Mission Planner write:
“Failed to register gyro id …”
What could be the problem?

Mine would write the same thing in messages but would work anyways, I just ignored it. I’m not sure what causes it.

did you set only these 4 parameters? Or maybe some more?

Those are the only ones I remember