Zubax gnss

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Pavel Kirienko April 24, 2015 at 4:18pm

This tutorial covers how to configure APM for use with Zubax GNSS.
- Randy Bachtell > Pavel Kirienko January 15, 2016 at 7:09pm
  
  Pavel, I received a GNSSv2 for evaluation from Titan Elite and it does not play well with APM. Is there any chance this will become more user friendly? I can't see trying to sell any quantities of these if they require hacking just to get them to work. I love your product in theory but I have to have them "Plug and Play"
  
  Randy Bachtell
Pavel Kirienko March 18, 2015 at 12:42pm
It seems like I'm late with my answer, but anyway.

UAVCAN is supported in APM as follows:
- in ArduPilot since v3.2.1
- in ArduCopter's master (hopefully it will be part of the v3.3 release)
And of course, PX4 stack fully supports UAVCAN as well.
- Randy Bachtell > Pavel Kirienko April 15, 2015 at 5:01am
  
  Pavel, the APM developers say that the Zubax is supported with arducopter 3.3 rc1 but no word on how to set it up. I wired it in and get led blinking on the zubax but no gps signal. Evidently Tridge tested the zubax in 3.3 with positive results
  
  Thanks, Randy
  - Pavel Kirienko > Randy Bachtell April 15, 2015 at 5:09am
    
    Hi Randy,
    
    The question is more related to APM rather than to Zubax. Both use the same standard bus; APM doesn't need to know that there's a Zubax device connected, its only task is to receive messages. Hence, APM doesn't need to support Zubax, it only needs to support certain standard UAVCAN messages. So the question is specific to APM, and I'm not sure I can immediately answer it. I see two options:
    
    Ask ArduCopter developers about how to enable UAVCAN
    
    Look at the code
    
    I can help you with the latter if the former didn't work out.
    
    Pavel.
    - Randy Bachtell > Pavel Kirienko April 15, 2015 at 8:39pm
      
      Still not a word from APM but I did check LED status on the Zubax and they indicate CAN1 activity and GPS lock exactly as the QGC PX4. I just need the APM to access the CAN Bus.
      
      RB
      - Pavel Kirienko > Randy Bachtell April 17, 2015 at 11:16am
        
        Hi Randy,
        
        Clearly this is an APM issue. Could you please provide a link to the discussion where you expect to receive the answer from the dev team? Maybe it would make sense to escalate it up to a Github issue.
        
        Pavel.
        
        Randy Bachtell > Pavel Kirienko April 17, 2015 at 12:26pm
        
        Thank you for helping me out on this. I think that once the APM side get to use the Zubax it will make a difference.
        
        Perfect, what are the parameter changes needed? RB
        
        Hope this link works, let me know if you need any other info.
        
        Randy Bachtell > Randy Bachtell April 23, 2015 at 7:41am
        
        Pavel,
        
        parameter GPS_TYPE set to 9 and UAVCAN responds to traffic. Very short test flight this morning with Zubax installed and all works as expected. Thanks for your help and I will do some comparison testing soon and get the word out.
        
        RB
        
        Pavel Kirienko > Randy Bachtell April 23, 2015 at 9:31am
        
        That's great! Glad it works for you now. I'm going to add a short tutorial to docs.zubax.com explaining how to configure APM for use with Zubax GNSS.

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Zubax gnss

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