Dear Ardupilot community,
I recently completed the assembly of a quadcopter using Cube Orange+ and a Septentrio GNSS receiver that is set as heading source.
I installed Arducopter v4.3.7 from Septentrio that adds SBF heading support and configured it. In Mission Planner and on the GCS I can see all GPS-related data correctly (photo) and the vehicle icon appears accurately on the map. If the drone is manually moved the icon seems to accurately follow the UAV movements.
The problem is that, even with a reported ā3D DGPS Lockā when switching to āPosition Modeā flight mode I get stuck with the error message āPreArm: AHRS: Waiting for homeā.
I also noticed that although the indicated āGPS Yaw (deg)ā corresponds with my smartphone compass readings (pictures), and the vehicleās icon on the GCS and Mission Planner āspinsā precisely accordingly to the vehicle yaw changes when manually moved, the heading displayed on Mission Plannerās map is completely off (photo).
Iām not sure if the two issues are related one to the other, but I would greatly appreciate if anyone could help me figure out this two issues. I literally cannot wait to start flying!!!
I also uploaded a log that I hope can be useful: Log link
Wow, thatās a lightning fast feedback @Yuri_Rage ! Thank you!
We did initially try with v4.4, but didnāt seem to work. Then we downloaded from Septentrio GitHub their latest v4.3.7 and got it working.
Tomorrow morning I will try to update to v4.4 and update! Do you know āwhat is the problemā? Even in a very short description, just for my further understanding.
If we install Septentrio Arducopter firmware the GPS works just fine. Same settings.
Do you have clue why this is happening?
Are you sure that @WickedShell 's SBF-heading patch (included in the Septentrio firmware) still remains after the update?
Actually, it appears I was incorrect. That patch is still ahead of AP master and is not yet included in the ArduPilot repo or builds. I mistakenly thought that it had been merged.
The guide from ArduSimple overcomes this by using NMEA formatting, and I can confirm that it works.
@Yuri_Rage good morning!
So, last night we switched to Cube Orange (instead of Orange +), loaded the same settings and GPS+heading seems to be working correctly.
The problem weāre facing now is that the GCS running QGroundControl is not showing us any GPS data in the āGPS Statusā window. I can see from Mission planner that āsatcountā is ā0ā while āsatcount 2ā shows the right number of satellites.
Do you know how we can set āGPS2ā as the source of GPS data for system/QGroundControl?
Iām not familiar with the Septentrio modifications of the firmware, so I assume that the parameters are following the normal ArduCopter description.
I went through your parameters of both files and saw something odd with the GPS_PRIMARY. The only serial port that is configured as GPS is SERIAL4 (aka the port with label GPS2). So, I assume thatās your first (and only) detected GNSS system. However, the GPS_PRIMARY (Complete Parameter List ā Copter documentation) is set to ā1ā, the second detected GNSS system.
Can you set GPS_PRIMARY to ā0ā? Maybe this will switch the GPS and GPS2 data.
@Aldius Did you figure this out? Are you plugged into GPS 1?
Iām using a Septentrio Mosaic Go and have it plugged into GPS 1, yet I only show satellites on sat 2 and hdop2 etc. (in mission planner) and in qgroundcontrol I show 0 as well. Wondering if you figured out a solution?
