Configure the following parameters to select the DroneCAN GNSS driver and (optionally) enable the external MS5611 barometer.
Reboot the autopilot for the changes to take effect.
If Using GPS1
If Using GPS2
CAN_P1_DRIVER
1
CAN_P2_DRIVER
1
CAN_P1_BITRATE
1000000
CAN_P2_BITRATE
1000000
CAN_D1_PROTOCOL
1
CAN_D1_PROTOCOL
1
GPS_INJECT_TO
0
GPS_INJECT_TO
1
GPS_RATE_MS
100
GPS_RATE_MS2
100
GPS_TYPE
9
GPS_TYPE2
9
GND_PROBE_EXT
4
GND_PROBE_EXT
4
After rebooting, you can use the “HWID” menu in Mission Planner to verify that the external RM3100 compass is being detected.
Configure your compass priority parameters as desired.
Firmware Update
The AP_Periph firmware on the PositionPRO can be updated over SLCAN using Mission Planner. The latest firmware releases are automatically
maintained by the Ardupilot firmware server.
Use the “SLCan Mode CAN1” (or “SLCan Mode CAN2 if appropriate)” button in Mission Planner to enter SLCan mode.
Once the CAN device corresponding to the PositionPRO appears, expand the menu and choose the “Update” option.
When prompted, click “Yes” to search the internet for an update or “No” to browse for a firmware file manually.
