I would like to know about the ability to use 2 GPS on Arducopter 4.05, one connected to via CAN and the other to Serial4/GPS2 on a Cube Orange on a Standard Carrier board.
It seems to me that using a primary GPS via UAVCAN and a secondary via Serial4/GPS2 does not work, while a primary GPS via GPS1 and a secondary via GPS2 works fine.
My setup and what I’ve tried so far :
My goal is to have a RTK GPS (Emlid Reach M2) as a secondary GPS on Serial4/GPS2, and a Here2/3 as a primary GPS.
The reach M2 is only connected to the autopilot using its RX/TX, while its power comes from an external 5V stable power source.
A Reach RS2 base is connected to a Wifi Hotspot and sends corrections to MP via the GPS/RTK Inject tab. Corrections are then sent to the autopilot via telemetry through a UDCPI connexion to a Herelink (which is also connected to the Wifi Hotspot).
I have achieved RTK positioning on GPS2 when the M2 is connected to serial4/GPS2 and the Here2 to GPS1. Quite simply, when the Hotspot/base/rover/Herelink/GCS are set, I can quickly see GPS1 and GPS2 on MP and the RTK Fixed status.
However, when following the same setup but using a Here3 connected via UAVCAN, MP does not detect any GPS2.
Its status stays at 0, and I cannot see any RTK corrections when connecting to the M2 via ReachView.
The GPS1 works fine though.
My research :
This thread in the Emlid Community Forum suggests that I am not the only one to have seen this problem.
Also, looking through the ArduPlane release notes, you can read : “fixed use of UAVCAN primary GPS with UART secondary GPS” (in the 4.0.1 release), which looks like my question being answered, but nothing similar can be found in the Arducopter release notes.
Final question :
Am I missing something in my params in order to achieve this ?
Is this a common problem and will it be fixed in the future ?
Am I doomed to use only Serial connexion for my primary GPS (that would be sad, seeing as the CAN connexion is the future) ?
Thank you for reading, I am looking forward to discussing this topic with you all.