ARK TESEO GPS

Please read through the PX4 Documentation for DroneCAN GPS parameter configuration.

DroneCAN | PX4 Guide (main)docs.px4.io

PX4 EKF Parameters

The ST Teseo-LIV4F can report slightly higher speed accuracy values than the default EKF2_REQ_SACC parameter, causing PX4 to reject GPS fusion. The default is 0.5m/s. Increasing this to 1.5-2.0m/s is recommended.

Firmware

Follow the steps for updating the firmware through the flight controller. The firmware will now automatically update the LIV4F GPS module firmware.

DroneCAN | PX4 Guide (main)docs.px4.io

See the latest firmware below.

708KB

86-1.16.3c45b562.uavcan.bin

Open

ARK Teseo GPS Firmware

10KB

ark_teseo-gps_canbootloader.bin

Open

ARK Teseo GPS Bootloader

Release Notes

• 86-1.16.3c45b562 - 2025-9-26

  • Migrate to build server

  • Improve NMEA decoder

  • platforms: Serial new dedicated writeBlocking method #25537

  • Update to STA8041_LIV4F_PVT_STD_4_6_8_5_11_UPG Teseo Firmware

• 86-1.15.b4c24e95 - 2025-6-13

  • Update to STA8041_LIV4F_PVT_STD_4_6_8_5_10_UPG Teseo Firmware

• 86-1.15.6616d230 - 2025-2-26

  • Update to STA8041_LIV4F_PVT_STD_4_6_8_5_9_UPG Teseo Firmware

  • 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

  • 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

  • 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

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

CAN - 4 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5V	5.0V
2	CAN_P	5.0V
3	CAN_N	5.0V
4	GND	GND

I2C + Timepulse - 5 Pin JST-GH

Pin Number	Signal Name	Voltage
1	5.0V Out (500mA)	5.0V
2	I2C2_SCL	3.3V
3	I2C2_SDA	3.3V
4	TIMEPULSE	3.3V
5	GND	GND

Debug - 6 Pin JST-SH

Pin Number	Signal Name	Voltage
1	3.3V	3.3V
2	USART2_TX	3.3V
3	USART2_RX	3.3V
4	FMU_SWDIO	3.3V
5	FMU_SWCLK	3.3V
6	GND	GND