Here4/PRO height difference with Here3

Here GPS
1

Hello from Italy!

I am experiencing a strange issue with the Here4/PRO GPS compared to the Here3, which I hope some kind soul could help me with.

I connected both the Here3 and Here4 to a CubeBlack with the latest vanilla ArduPilot firmware 4.4.4, and the firmware for Here4 is also up to date. Below is a screenshot of the messages:

Cattura

#15 is Here4, #125 is Here3. The correct heights are from #125, ~28000 MSL and ~73000 WGS.
What seems strange to me is that both the ellipsoid and MSL heights of #15 are exactly the same, which doesn’t seem right.

Can someone suggest a potential solution? I use the ellipsoid data in my application for backward compatibility, so I cannot switch to using MSL.
I am experiencing the same behavior with all three of my Here4 units, as well as with the HerePRO.

Thanks in advance

2

Hi Ivan, thanks for reporting. I will look into fixing that.

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3

Hi @sidbh, do you have any news for us about this? Thx!

4

Hi @Ivan apologies for the delay, I have created a new release: Release v1.13.3 · CubePilot/GNSSPeriph-release · GitHub The ellipsoid height should be correctly set now. Please verify. Use the Here4_FW.bin and HerePro_FW.bin from GNSSPeriph.zip to update the GPS modules. I will make this as official release after few more tests and positive result on your end.

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5

Hi @sidbh, thanks for replying back. We’re testing this out on the ground and on a few flights this week. I’ll make sure to give you some good feedback soon

6

we are testing our fleet with here4 modules and the height estimations are very accurate compared with here3/3+

7

@sidbh a feedback after several flight: everything works as expected!

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