UAVCAN based GPS is not detected

@wucke13 wrote:

Hi there, I’m having trouble bringing my GNSS to life. The GNSS turns on and eventually finds a fix (indicated by green LED switching on for a few ms at roughly 1 Hz). However, it seems like the communication to the GNSS is not working at all: Even with a fix, my position as indicated by APMplanner is lat/long = 0,0. No GPS fix is indicated by Ardupilot, and of course 0 satellites are in view. Interesting enough, MissionPlanner does not show any Node in Setup/Optional Hardware/UAVCAN.

I think I set all relevant parameters for this to work:

CAN_D1_PROTOCOL,1
CAN_D1_UC_ESC_BM,0
CAN_D1_UC_NODE,10
CAN_D1_UC_SRV_BM,0
CAN_D1_UC_SRV_RT,50
CAN_D2_PROTOCOL,0
CAN_P1_BITRATE,1000000
CAN_P1_DRIVER,1
CAN_P2_DRIVER,0
CAN_SLCAN_CPORT,1
CAN_SLCAN_SERNUM,-1
CAN_SLCAN_TIMOUT,0
GPS_TYPE,9
GPS_TYPE2,0

The hardware is a Matek H743 Wing together with the Matek M8Q-CAN GNSS module. Currently I’m running Arduplane 4.0.8. The GNSS is directly wired to the FC with the included JST cable.

Any advice what else I could look at is very welcome!

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