> For the complete documentation index, see [llms.txt](https://docs.arkelectron.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.arkelectron.com/products/gps/ark-teseo-gps/firmware.md). # Firmware The flight controller flashes the node firmware over CAN. {% embed url="" %} On boot, the node also updates the Teseo receiver's own firmware when the image embedded in the node firmware differs from the one on the chip. While it updates, the status LED blinks blue. Node firmware 1.18 and later can rewrite its own CAN bootloader: set `SYS_BL_UPDATE` to `1` on the node. The flight controller logs `bootloader updated`, `bootloader unchanged` or `bootloader update failed`, and the parameter returns to `0`. ## Downloads * [ARK Teseo GPS Firmware](https://downloads.arkelectron.com/firmware/ark_teseo-gps/latest/application.uavcan.bin) * [ARK Teseo GPS Bootloader](https://downloads.arkelectron.com/firmware/ark_teseo-gps/latest/bootloader.bin) * [All releases and SHA-256 checksums](https://downloads.arkelectron.com/firmware/ark_teseo-gps/) ## Node Parameters Set these on the GPS node, then reboot it. Use [QGroundControl](https://docs.px4.io/main/en/dronecan/#qgc-cannode-parameter-configuration), where each CAN node is a separate *Component X* under **Vehicle Settings > Parameters**, or the [DroneCAN GUI Tool](/knowledge-base/knowledge-base/dronecan-gui-tool-guide.md). | Parameter | Default | Description | | ----------------- | ------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | | `CANNODE_TERM` | 0 | Set to `1` on the last node of the CAN bus | | `CANNODE_NODE_ID` | 0 | Fixed node ID (1–125). `0` uses dynamic node allocation | | `CANNODE_PUB_MAG` | 1 | Publish magnetometer data | | `CANNODE_PUB_BAR` | 1 | Publish barometer data | | `CANNODE_PUB_IMU` | 0 | Publish `RawIMU` data. PX4 also needs `UAVCAN_SUB_IMU` set to `1` | | `TESEO_RATE` | 5 | Output rate in Hz, 1–10. Above 5 Hz with many satellites in use, the Teseo repeats its previous solution in the epochs it cannot compute, and the flight controller fuses each repeat as a new measurement | | `TESEO_FWUPD` | 0 | Set to `1` to re-flash the Teseo receiver firmware on the next boot even when it matches. Returns to `0` after a successful update | | `TESEO_SAT_INFO` | 0 | Set to `1` to enable the Teseo's satellites-in-view (GSV) output and the node's `satellite_info` | | `SYS_BL_UPDATE` | 0 | Set to `1` to rewrite the CAN bootloader from the running firmware | ### Constellations The Teseo-LIV4F tracks at most four constellations at once; enabling more has no effect. SBAS does not count toward the four. | Parameter | Default | Constellation | | --------------- | ------- | --------------------- | | `TESEO_GPS` | 1 | GPS (USA) | | `TESEO_GLONASS` | 1 | GLONASS (Russia) | | `TESEO_GALILEO` | 1 | Galileo (EU) | | `TESEO_BEIDOU` | 1 | BeiDou (China) | | `TESEO_QZSS` | 0 | QZSS (Japan) | | `TESEO_IRNSS` | 0 | IRNSS / NavIC (India) | | `TESEO_SBAS` | 1 | SBAS | ## Release Notes ### v1.18.0.2 - 2c3f7c81 - 2026-10-20 * A Teseo on ST's 4.6.8.5.11 release build now updates to the embedded 4.6.8.5.11 EB5 build on its next boot (about 35 s, status LED blinking blue). The node compares the firmware image name, which differs between the two builds, instead of the version number, which doesn't * An update interrupted by a power loss or reset resumes on the next boot * `TESEO_FWUPD`: `0` updates the Teseo when its firmware differs from the embedded one, `1` re-flashes it on the next boot * `TESEO_SAT_INFO` enables the Teseo's satellites-in-view (GSV) output and the node's `satellite_info`, off by default * `teseo_gps status` reports acquisition and post-fix position statistics * After updating the Teseo, the node reads its version at the module's new baud rate instead of reporting version 0 until the next reboot ### v1.18.0.1 - 0d10f176 - 2026-10-05 * PX4 v1.18 base * Output at 5 Hz by default, set with `TESEO_RATE`. Above 5 Hz with many satellites in use, the Teseo repeats its previous solution in the epochs it cannot compute, and the flight controller fuses each repeat as a new measurement * Check the Teseo's saved configuration on every boot and rewrite it only when it differs: a module that lost its configuration is repaired automatically, and the Teseo's flash is no longer rewritten on every boot * If the Teseo's configuration cannot be saved, keep publishing a fix from its standard NMEA output, with accuracy estimated from DOP, and log a warning every 30 s * Fix the position accuracy sent to the flight controller, which received the square root of the true value * Magnetometer scale corrected to the IIS2MDC datasheet * Fix the IMU not starting after some resets until the next power cycle * Barometer at 25 Hz, and recovers on its own after repeated read errors * Optional `RawIMU` output (`CANNODE_PUB_IMU`) and static node ID (`CANNODE_NODE_ID`) * Bootloader update from the running firmware (`SYS_BL_UPDATE`) * Embedded Teseo firmware is ST's `STA8041_LIV4F_PVT_STD` 4.6.8.5.11 EB5 build. It reports the same version as 4.6.8.5.11, so a module already on 4.6.8.5.11 keeps its firmware unless `TESEO_FWUPD` is set * Node parameters are kept on update; installing an older firmware afterwards resets all node parameters to defaults ### v1.16 - c93582f2 - 2026-05-05 * 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. ### v1.16 - 3c45b562 - 2025-09-26 * 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) ### v1.15 - b4c24e95 - 2025-06-13 * Update to `STA8041_LIV4F_PVT_STD_4_6_8_5_10_UPG` [Teseo Firmware](https://www.st.com/en/embedded-software/teseo-liv4fsw.html) ### v1.15 - 6616d230 - 2025-02-26 * 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 ### v1.15 - 1895b31a - 2025-02-12 * Disable mag bias estimator by default ### v1.15 - 14443827 - 2025-02-05 * 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 ### v1.15 - 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 --- # Agent Instructions This documentation is published with GitBook. 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