I am experiencing an issue with a Here4 GNSS connected to a Pixhawk 6C Mini via DroneCAN. The Here4 itself appears to be able to obtain a GNSS position, but Mission Planner does not recognize any valid GPS data.
Hardware / Software
Flight Controller: Pixhawk 6C Mini
Flight Controller Firmware: ArduCopter 4.7.0
GNSS: CubePilot Here4
Here4 Hardware Version: 4.19
Here4 Software Version: 1.15.6C3DC6B5
Connection: DroneCAN
DroneCAN Status
The Here4 is detected correctly in the DroneCAN page of Mission Planner.
Node ID: 125
Health: OK
SW Version: 1.15.6C3DC6B5
HW Version: 4.19
Therefore, it appears that the Here4 node itself is communicating normally on the DroneCAN network.
GNSS Status
In u-center, I can obtain a 3D Fix and position information.
However, ArduCopter does not recognize any valid GPS data.
In Mission Planner, all GPS-related values are 0, and no GPS Fix is obtained.
I would appreciate any advice on what I should check next.
I am having the same issue when connecting the Here4 to the Cube Pilot Orange. The compass works fine, but I don’t get a GPS fix or any satellites in view. Sometimes just for a few seconds it starts working, then it stops again. I get the same issue on both Cube Pilot boards I have. Let me know if you find the solution!
Other than the parameters listed above,all other parameters are at their default values ,except for parameters that are automatically changed by calibration or hardware configuration (such as RC, compass, and IMU calibration values).
Is there anything incorrect or unusual in these settings?
