ArduPilot Instructions
Single GPS Configuration
Connect the ARK TESEO GPS to the flight controller's CAN port using a standard 4-pin JST-GH cable.
Flight Controller Parameters
Required
CAN_P1_DRIVER
1
Enable CAN port 1 driver
CAN_D1_PROTOCOL
1
Set protocol to DroneCAN
GPS1_TYPE
9
DroneCAN
GPS_AUTO_CONFIG
1
Enable auto-config for serial GPSes only
Do not set GPS_AUTO_CONFIG to 2. The GPS_AUTO_CONFIG=2 setting only works with GPS modules running AP_Periph firmware (e.g., the ARK RTK GPS). The TESEO runs PX4-based cannode firmware and handles its own GPS configuration internally via the TESEO_* parameters. Setting this to 2 causes ArduPilot to attempt a parameter handshake with the CAN node that fails silently, blocking all GPS data from being processed.
Reboot the flight controller. The GPS should appear as a DroneCAN node and begin reporting position data. The on-board IIS2MDC magnetometer will appear as an additional DroneCAN compass and can be enabled via the standard COMPASS_* parameters.
CAN Node Parameters
Set the following on the GPS and reboot the node. CAN node parameters can be configured using either:
QGroundControl — each CAN node appears as a separate Component X entry under Vehicle Settings > Parameters.
The DroneCAN GUI Tool.
Required
CANNODE_PUB_MAG
1
Publish magnetometer messages on the CAN bus
Optional
CANNODE_TERM
Set to 1 if this is the last node on the CAN bus
CANNODE_PUB_BARO
Set to 1 to publish barometer messages on the CAN bus
CANNODE_PUB_IMU
Set to 1 to publish RawIMU messages on the CAN bus
TESEO_FWUPD
Set to 1 to force the cannode to re-flash the embedded LIV4F firmware on the next boot. The cannode auto-updates the LIV4F whenever the embedded version differs from what is on the GPS chip — this parameter is only needed to force a re-flash without a version change. Auto-cleared back to 0 after a successful update
Constellation Selection
The Teseo-LIV4F can track up to four GNSS constellations simultaneously. Enabling more than four has no effect — pick the four that match your operating region. SBAS does not count toward this limit. Configure these on the GPS using the same method as the CAN Node Parameters above.
TESEO_GPS
1
Enable the GPS (USA) constellation
TESEO_GLONASS
1
Enable the GLONASS (Russia) constellation
TESEO_GALILEO
1
Enable the Galileo (EU) constellation
TESEO_BEIDOU
1
Enable the BeiDou (China) constellation
TESEO_QZSS
0
Enable the QZSS (Japan) constellation
TESEO_IRNSS
0
Enable the IRNSS / NavIC (India) constellation
TESEO_SBAS
1
Enable SBAS (Satellite-Based Augmentation System)
Troubleshooting
GPS NO FIX with 0 satellites — if Mission Planner shows "GPS NO FIX" with 0 sats and no position data, but the DroneCAN GUI Tool shows the GPS is publishing valid fix data on the CAN bus, check
GPS_AUTO_CONFIG. If it is set to 2, change it to 1 and reboot. See the warning above for why.Compass calibration or configuration issues — if you are having trouble calibrating or configuring the compasses, reset all
COMPASS_*parameters back to their defaults and reboot the flight controller. Perform the compass calibration only after the GPS is connected.See our GPS Placement guide for mounting best practices, interference sources, and antenna positioning.
Last updated