Zubax gnss1 can not be used in APM: Copter v3.5-dev


#1

Hardware: Pixhawk
Firmware: Copter V3.5-dev
GPS_TYPE = 9 and BRD_CAN_ENABLE = 1
I manually set the uavcan.node_id parameter to 50
Hardware Connections I only used CAN1
Previous firmware did not BRD_CAN_ENABLE this parameter, I set the GPS_TYPE = 9 and zubax gnss1 is working, but the firmware upgrade to Copter V3.5-dev and zubax gnss1 can not work

nsh> uavcan status
Pool allocator status:
Capacity hard/soft: 500/250 blocks
Reserved: 14 blocks
Allocated: 12 blocks
UAVCAN node status:
Internal failures: 0
Transfer errors: 0
RX transfers: 0
TX transfers: 211
CAN1 status:
HW errors: 0
IO errors: 0
RX frames: 1424
TX frames: 193
CAN2 status:
HW errors: 6908
IO errors: 6916
RX frames: 0
TX frames: 176
ESC actuators control groups: sub: 0 / req: 0 / fds: 2
ESC mixer: NONE
Sensor ‘gnss’:
RX errors: 0, receiver node id: N/A

Sensor ‘mag’:
devname: /dev/mag
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor ‘baro’:
devname: /dev/baro
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Thanks,
Joey


#2

Hi, is your issue till valid ? I yes please try GPS_TYPE = 9 and BRD_CAN_ENABLE = 2.