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NEO V2 Pro GPS (UAVCAN) no gpsv_acc or gpsh_acc

Hi,

Setup:

  • Cube black
  • NEO V2 PRO GPS, UAVCAN
  • Firmware version 4.0.4 rc1 and 4.0.3
  • Power and telemetry trough USB
  • Nothing else in setup

I’m a bit concerned that if no accuracy estimate is available, how autopilot will behave on poorer GNSS conditions. That accuracy value is fed to EKF to my best knowledge.

Is this a CUAV software problem or not?

Caputure from MAVLink inspector.
c173247a935a4bbe4436f30d0e95cd11cdbeb7b0

Capture from UAVCAN inspector. As you can see the position covarience values aren’t as expected.

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