Cannot increase GPS rate above 5hz on Here4

Here GPS
1

Hello all, I’m trying to increase the rate on my Here4 units for RTK use. They run at 5hz now but should be able to go higher according to U-blox documentation. Using U-center I configured the Here4 to use GPS and GLONASS constellations, this should allow 15hz for RTK. I can configure the rate to 10hz or 15hz in U-center and it acts like it saves and I can see it’s working. The problem is as soon as I disconnect and reconnect to check it, it goes back to 5hz every time. Any ideas?

Thank you,
Brad

2

Here4 has an option inherited from the ArduPilot stack, to auto-configure the GPS module at boot.
Look for GPS_AUTO_CONFIG in the DroneCAN parameters.
You can either disable this, and continue using u-center for the config, or you can set the GPS1_RATE_MS to 100mS, so the GPS will be configured to provide a navigation message at 10Hz

3

Use GPS1_GNSS_MODE to select just the required constellations, usually only two, and GPS_SAVE_CFG,2 to save to CAN units (along with serial units).
Then set GPS1_RATE_MS to the required rate.

Get a .bin log from the vehicle (or use MissionPlanner tuning panel) to check GPA.Delta to see if the desired update rate is achieved.

4

Thank you both, I’ll try to do the updated rate through mission planner!

5

I tried both techniques without success. Not matter what I do, I can only RTK at 5hz. Is anybody having success going higher with a Here4?