I am working on setting up the GNSS 2 with built in barometer so that I can take advantage of having the barometer readings take place at an elevated location away from the low-pressure bubble my one aircraft. I was using the Pixhack, but as it does not support UAVCAN, I have just switched to PixHawk.
Wiring is complete, compass is calibrated, and the GPS signal strength is terrific. However, I want to be sure that the PixHawk is indeed getting it’s altitude readings from the barometer found on the GNSS 2 - instead of the internal barometer.
I have configured the GNSS 2 by setting the ‘uavcan.pubp-pres’ to a value of ‘200000’. I see the range is ‘0’ for off, and up to ‘1000000’. I assume that the value I have given is all that is needed to enable the barometer? Is the value of 200000 appropriate?
I am using the latest beta Arducopter firmware: 3.4rc1
I see there is a value in Mission Planner’s parameter list called ‘GND_PRIMARY’ which allows the user to choose the barometer they wish to use. I’ve tried setting this to ‘1’, but the altitude values I see in Mission Planner jump around a lot when I do this. I have set it back to ‘0’.
How might I verify that I am using the barometer in the GNSS 2?