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

The node publishes GPS, magnetometer and barometer data with its default parameters. To terminate the bus, fix the node ID, publish IMU data or choose constellations, see Node Parameters.

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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.