Pixhawk fmuV2 gps for yaw available?

ArduCopter Copter 4.2
1

Hello,

We try to enable this feature, setup (2 F9P mounted on serial 3 and 4) works perfectly on pixhawk cube, but on old FMUV2 pixhawk original board with copter 4.2, I cant make it work…

On the message tab I get GPS[1] yaw not available:

30/05/2022 18:58:53 : PreArm: Fence requires position
30/05/2022 18:58:53 : PreArm: GPS[2] yaw not available
30/05/2022 18:58:46 : GPS: u-blox 2 saving config
30/05/2022 18:58:46 : GPS: u-blox 1 saving config
30/05/2022 18:58:41 : EKF3 IMU1 origin set
30/05/2022 18:58:41 : EKF3 IMU0 origin set
30/05/2022 18:58:32 : EKF3 IMU0 tilt alignment complete
30/05/2022 18:58:32 : EKF3 IMU1 tilt alignment complete
30/05/2022 18:58:31 : AHRS: EKF3 active
30/05/2022 18:58:31 : EKF3 IMU1 initialised
30/05/2022 18:58:31 : EKF3 IMU0 initialised
30/05/2022 18:58:30 : u-blox 2 HW: 00190000 SW: EXT CORE 1.00 (9acf11)
30/05/2022 18:58:30 : u-blox 1 HW: 00190000 SW: EXT CORE 1.00 (9acf11)
30/05/2022 18:58:23 : PreArm: Fence requires position
30/05/2022 18:58:23 : PreArm: GPS[2] yaw not available
30/05/2022 18:58:23 : PreArm: EKF attitude is bad
30/05/2022 18:58:22 : EKF3 waiting for GPS config data
30/05/2022 18:58:22 : EKF3 waiting for GPS config data
30/05/2022 18:58:15 : GPS 2: detected as u-blox at 460800 baud
30/05/2022 18:58:15 : GPS 1: detected as u-blox at 460800 baud
30/05/2022 18:58:12 : EKF3 waiting for GPS config data
30/05/2022 18:58:12 : EKF3 waiting for GPS config data
30/05/2022 18:58:08 : Frame: HEXA/X
30/05/2022 18:58:08 : RCOut: PWM:1-14
30/05/2022 18:58:08 : fmuv2 00360033 30365118 31313731
30/05/2022 18:58:08 : ChibiOS: 93e6e03d
30/05/2022 18:58:08 : ArduCopter V4.2.0 (67892169)
30/05/2022 18:58:08 : Frame: HEXA/X
30/05/2022 18:58:08 : RCOut: PWM:1-14
30/05/2022 18:58:08 : fmuv2 00360033 30365118 31313731

Maybe you can confirm that this feature is only available for board type cube and above?

Dear @rmackay9 can you confirm this point ?

2

It should be available unless you are 1mb flash board.

1 Like
3

@kuspower,

As @Mallikarjun_SE says, GPS-for-yaw (aka “GPS Moving Baseline”) is not available on the 1MB boards (see wiki here).

Many older Pixhawks do actually have 2MB of RAM so you may find that you can load the fmuv3 or better yet the Pixhawk1 firmware onto them. If using MP I think you can do this using the “All Options” link at the bottom of the Firmwrae Install screen.

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image1168×806 149 KB

4

Hello

Thank you for your reply.

Fmuv2 original pixhawk based on stm32f427 :https://www.st.com/en/microcontrollers-microprocessors/stm32f427-437.html write that there is 1mb of flash on it, but I can ensure the same 2 gps work with cube black.

Maybe there is something to disable?

With 4.2 ek3 is activated, maybe we need to try ek2 ?

I really dont understand why this no work.

5

Hello, thank you so much Randy, this worked !

Kind regards!

Envoyé de mon iPhone

1 Like