# ARK TESEO GPS

The ARK TESEO GPS is a [DroneCAN](https://docs.px4.io/main/en/dronecan/) GNSS module built around the [ST Teseo-LIV4F](https://www.st.com/en/positioning/teseo-liv4f.html) L1/L5 multi-constellation receiver. It also carries an IIS2MDC magnetometer, BMP390 barometer, and ICM-42688-P IMU.

{% embed url="<https://docs.px4.io/main/en/dronecan/#gps>" %}

## Firmware

Follow the steps for updating the firmware through the flight controller. The firmware will automatically update the LIV4F GPS module firmware on first boot if the embedded version differs from what is on the chip.

{% embed url="<https://docs.px4.io/main/en/dronecan/#firmware-update>" %}

See the latest firmware below.

{% file src="/files/EhFKwFKvXMDBpI7whqtD" %}
ARK Teseo GPS Firmware
{% endfile %}

{% file src="/files/OezQjboIWjBNPyzHdpXg" %}
ARK Teseo GPS Bootloader
{% endfile %}

## Release Notes

* 86-1.16.c93582f2 - 2026-5-5
  * Fix NMEA parsers eating first char of each first field. Observable on the RMC timestamp (hhmmss.sss): UTC hours 10-19 appear as 00-09 and 20-23 as 00-03.
* 86-1.16.3c45b562 - 2025-9-26
  * Migrate to build server
  * Improve NMEA decoder
  * platforms: Serial new dedicated writeBlocking method [#25537](https://github.com/PX4/PX4-Autopilot/pull/25537)
  * Update to STA8041\_LIV4F\_PVT\_STD\_4\_6\_8\_5\_11\_UPG [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html)
* 86-1.15.b4c24e95 - 2025-6-13
  * Update to STA8041\_LIV4F\_PVT\_STD\_4\_6\_8\_5\_10\_UPG [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html)
* 86-1.15.6616d230 - 2025-2-26
  * Update to STA8041\_LIV4F\_PVT\_STD\_4\_6\_8\_5\_9\_UPG [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html)
  * Add TESEO\_\* parameters to configure constellations
  * Default to GPS + GLONASS + BeiDou + Galileo
    * Note that only 4 constellations can be enabled at a time
* 86-1.15.1895b31a - 2025-2-12
  * Disable mag bias estimator by default
* 86-1.15.14443827 - 2025-2-5
  * Update to STA8041\_LIV4F\_PVT\_STD\_4\_6\_8\_5\_8\_UPG [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html)
  * Fix speed accuracy reporting
  * Fix EPH reporting
* 86-1.15.37fb6452 - 2024-11-11
  * Update to STA8041\_LIV4F\_PVT\_STD\_4\_6\_7\_5\_7\_UPG [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html)
  * Implement automatic LIV4F updating within the driver
  * Fix speed accuracy reporting

## 3D Model

Find 3D models and case files at <https://github.com/ARK-Electronics/ARK_TESEO_GPS>

## Pinout

#### CAN - 4 Pin JST-GH

<table><thead><tr><th width="134">Pin Number</th><th width="237">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>5V</td><td>5.0V</td></tr><tr><td>2</td><td>CAN_P</td><td>5.0V</td></tr><tr><td>3</td><td>CAN_N</td><td>5.0V</td></tr><tr><td>4</td><td>GND</td><td>GND</td></tr></tbody></table>

#### CAN - 4 Pin JST-GH

<table><thead><tr><th width="134">Pin Number</th><th width="237">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>5V</td><td>5.0V</td></tr><tr><td>2</td><td>CAN_P</td><td>5.0V</td></tr><tr><td>3</td><td>CAN_N</td><td>5.0V</td></tr><tr><td>4</td><td>GND</td><td>GND</td></tr></tbody></table>

#### I2C + Timepulse - 5 Pin JST-GH

<table><thead><tr><th width="134">Pin Number</th><th width="237">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>5.0V Out (500mA)</td><td>5.0V</td></tr><tr><td>2</td><td>I2C2_SCL</td><td>3.3V</td></tr><tr><td>3</td><td>I2C2_SDA</td><td>3.3V</td></tr><tr><td>4</td><td>TIMEPULSE</td><td>3.3V</td></tr><tr><td>5</td><td>GND</td><td>GND</td></tr></tbody></table>

{% hint style="info" %}
The **I2C2 SCL/SDA lines on this connector are currently unused** by the firmware.

The TIMEPULSE pin outputs a PPS signal that the flight controller can use to accurately timestamp incoming PVT solutions.
{% endhint %}

#### Debug - 6 Pin JST-SH

<table><thead><tr><th width="153">Pin Number</th><th width="210">Signal Name</th><th>Voltage</th></tr></thead><tbody><tr><td>1</td><td>3.3V</td><td>3.3V</td></tr><tr><td>2</td><td>USART2_TX</td><td>3.3V</td></tr><tr><td>3</td><td>USART2_RX</td><td>3.3V</td></tr><tr><td>4</td><td>FMU_SWDIO</td><td>3.3V</td></tr><tr><td>5</td><td>FMU_SWCLK</td><td>3.3V</td></tr><tr><td>6</td><td>GND</td><td>GND</td></tr></tbody></table>


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