Hi Pavel,
I want to know Zubax_gnss_fw_v1_v2.msi GNSS FW V1 Zubax_gnss_fw_v1_v2.msi signed with Signed_with_bootloader.bin is used to burn to Zubax_gnss GNSS module of MCU or burn to my Px4 master inside?
When I use the zubax_gnss module, the Px4 master of my bootloader is directly using bootloader on PX4 GitHub?
I use the stable version of the px4fmu-v2_default.px4 firmware.
Depending on your site, Pixhawk with PX4 firmware Configuring, why do I have the zubax_gnss module successfully configured to be successful?
Prebuilt binaries are available here: files.zubax.com/products/com.zubax.gnss/ (you’re looking for those that are prefixed with “com.zubax.gnss-1.0-2.0.”)
Binaries with extension *.uavcan.bin are suitable for UAVCAN bootloading (e.g. via PX4 as described above)
Binaries with extension *.compound.bin are suitable for direct flashing e.g. via Zubax Serial Updater.
The flight control board written version of the px4fmu-v2_default.px4 firmware is stable
I use the serial updater zubax software to write the zubax_gnss_fw_v2.bin firmware
The information of the USART1 module of the zubax_gnss module is as follows:
ChibiOS/RT Shell
ch> Mag self test sample, positive, x/y/z: 257 244 257
Mag self test sample, negative, x/y/z: -253 -246 -251
CAN bit rate is fixed at 1000000 bps
GNSS init…
ublox: Trying baudrate 9600…
ublox: Trying baudrate 115200…
CAN bit rate is fixed at 1000000 bps
ublox: Trying baudrate 57600…
ublox: Trying baudrate 38400…
ublox: Baudrate match 38400
ublox: MON-GNSS supported=7 default=3 enabled=5 simultaneous=2
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
CAN bit rate is fixed at 1000000 bps
…
Could you please flash this binary: files.zubax.com/products/com.zubax.gnss/debug
then check if the problem persists, and if it does, post UART and CAN logs here again? Both logs should be collected simultaneously if possible.
USART1 output information:
Watchdog: Reset was not caused by watchdog, it’s OK
Config: Initializing defaults - Layout mismatch
Air sensor disabled
Watchdog: Global timeout set to 1000 ms
Watchdog: Global timeout set to 1100 ms
ChibiOS/RT Shell
ch> Mag self test sample, positive, x/y/z: 259 245 257
Mag self test sample, negative, x/y/z: -254 -245 -253
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
GNSS init…
ublox: Trying baudrate 9600…
ublox: Trying baudrate 115200…
ublox: Trying baudrate 57600…
ublox: Trying baudrate 38400…
ublox: Baudrate match 38400
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
ublox: MON-GNSS supported=7 default=3 enabled=5 simultaneous=2
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
Could not init CAN; status: -1, autodetect: 0, bitrate: 1000000
…
It is of course not necessary to use CAN2, but the board will refuse to initialize CAN if either interface is broken. I would suggest you to test the firmware I linked above so that we could be sure that the second interface is indeed damaged, and if it is, you could just, for example, remove its driver IC, or I could prepare a special-purpose firmware for you that will ignore the second interface.