PX4 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

Set the following in QGroundControl and reboot the flight controller.

Required

Parameter	Value	Description
UAVCAN_ENABLE	2	Enable DroneCAN with dynamic node allocation
UAVCAN_SUB_GPS	1	Subscribe to DroneCAN GPS messages
UAVCAN_SUB_MAG	1	Subscribe to DroneCAN magnetometer messages
EKF2_GPS_CTRL	7	Enable GPS fusion (lon/lat + alt + 3D velocity)

Optional

Parameter	Description
UAVCAN_SUB_BARO	Set to 1 to subscribe to DroneCAN barometer messages
UAVCAN_SUB_IMU	Set to 1 to subscribe to DroneCAN RawIMU messages
EKF2_GPS_POS_X / EKF2_GPS_POS_Y / EKF2_GPS_POS_Z	GPS offset from the vehicle center of gravity (meters)

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

Parameter	Value	Description
CANNODE_PUB_MAG	1	Publish magnetometer messages on the CAN bus

Optional

Parameter	Description
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

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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.

Parameter	Default	Description
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)

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Tuning EKF2_REQ_SACC

The Teseo-LIV4F can report higher speed-accuracy values than the default EKF2_REQ_SACC threshold (0.5 m/s), causing PX4 to reject GPS fusion. Increasing EKF2_REQ_SACC to 1.5–2.0 m/s is recommended for this module.

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Troubleshooting

• See our GPS Placement guide for mounting best practices, interference sources, and antenna positioning.