Hi all,
I recently purchased a Here4 GPS in order to use it as an INS with CAN. The idea is to use it with a raspberry pi for an edge application needing precise positioning. First, I wanted to test it with a Cube, and then connect it to the raspberry with a CAN hat and the lib pydronecan.
I connected the Here4 to a Cube Black autopilot, started Mission Planner, and could see the Here4 in the DroneCAN nodes.
Though, the IMU data was not published. So I tried setting the parameter IMU_SAMPLE_RATE. I assumed it was expecting a frequency in Hz, so I set it to 10 and rebooted the Here4. Once connected back, the inspector measured an almost 100Hz publication of IMU data. I tried instead to set it to 1, and it published to 58Hz. Finally, I tried my luck with a value of 5, and now the Here4 is not even detected anymore… So I cannot revert the parameter to its default of 0. The LEDs are still blinking in yellow, just as usual.
So, how could I recover the Here4 CAN communication? And what is the actual logic of IMU_SAMPLE_RATE, because the behaviour I observed makes no sense to me.
Thanks, and have a good day.