UM982 Yaw not being received

ArduPlane
1

Hi all,
I have setup a Pixhawk 4 and connected a UM982 to it. I have two antennas attached to it which is working as exptected. When having a look at UPrecise, i get heading informations as expected from the dual antenna setup.
When looking at the Mavlink data, the GPS_YAW value stays at 655,35 whereas all the other ones are valid. I am not sure what I have done wrong. The GPS_Type is set correctly to 25 (Moving Baseline Unicore) and the antenna distances are also setup correctly for now. Auto config of the gps is also enabled, nonetheless I have set the UNIHEADINGA and AGRICA in Uprecise to output also at 5 Hz.
Is there a way to debug where the issue is coming from? The logs I get from downloading don’t really show anything. I had a look at the source code but could not find any obvious mistakes on my side.
I had a look at UM982 GPS_YAW missing - #5 by johnharlow but there was no real clarification in the end.

If you need more infos, I am happy to provide those.

Best regards,

Marvin

2

Get out of UPrecise and use GPS_AUTO_CONFIG (1 for serial, 2 for CAN). Make sure GPS1_MB parameters are properly configured per the following link.

3

Hi, thanks for the reply. I changed the baud rate to 230400 and now it works but just for one moment. After restarting I do again get gpsyaw: 655,35. Changing to 460800 leads to the same. Why is it only being parsed once and not always?
I have attached my current config file

params.param (17.8 KB)

This is the log, red is GPS Yaw. There is sometimes data but most of the time the value stays at 0.

grafik
grafik1920×1004 45.6 KB