ARK TESEO GPS

The ARK TESEO GPS is a DroneCAN GNSS module built around the ST Teseo-LIV4F L1/L5 multi-constellation receiver. It also carries an IIS2MDC magnetometer, BMP390 barometer, and ICM-42688-P IMU.

DroneCANPX4 Autopilot

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.

DroneCANPX4 Autopilot

See the latest firmware below.

708KB

86-1.16.c93582f2.uavcan.bin

Open

ARK Teseo GPS Firmware

10KB

ark_teseo-gps_canbootloader.bin

Open

ARK Teseo GPS Bootloader

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

  • 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

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.

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