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98 lines
7.9 KiB
Markdown
98 lines
7.9 KiB
Markdown
# Holybro DroneCAN M8N GPS
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The Holybro DroneCAN GPS has an UBLOX M8N module, BMM150 compass, tri-colored LED indicator.
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The GPS module uses the [DroneCAN](index.md) protocol for communication.
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DroneCAN connections are more resistant to electromagnetic interference compared to serial connection, making it more reliable.
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In addition, using DroneCAN means that the GPS and compass do not occupy any flight controller serial ports (different/additional CAN devices can be connected to the same CAN bus via a CAN splitter board).
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<img src="../../assets/hardware/gps/hb_dronecan_m8n/hb_dronecan_m8n_gps.jpg" width="400px" title="Hero diagram for the GPS module" />
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## 구매처
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Order this module from:
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- [Holybro](https://holybro.com/products/dronecan-m8n-gps)
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## Hardware Specifications
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| | DroneCAN M8N |
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| ------------------------- | -------------------------------------------------------------------------------------------------------------------------------------------------- |
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| GNSS Receiver | Ublox NEO M8N |
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| Number of Concurrent GNSS | 2 (Default GPS + GLONASS) |
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| 프로세서 | STM32G4 (170MHz, 512K FLASH) |
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| 나침반 | BMM150 |
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| Frequency Band | <p>GPS: L1C/A<br>GLONASS: L10F<br>Beidou: B1I<br>Galileo: E1B/C</p> |
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| GNSS Augmentation System | SBAS: WAAS, EGNOS, MSAS, QZSS |
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| Navigation Update | 5Hz Default(10Hz MAX) |
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| Navigation sensitivity | –167 dBm |
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| Cold starts | \~ 26s |
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| Accuracy | 2.5m |
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| Speed Accuracy | 0.05 m/s |
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| Max # of Satellites | 22+ |
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| Default CAN BUS data rate | 1MHz |
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| Communication Protocol | DroneCAN @ 1 Mbit/s |
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| Supports Autopilot FW | PX4, Ardupilot |
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| Port Type | GHR-04V-S |
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| Antenna | 25 x 25 x 4 mm ceramic patch antenna |
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| 전압 | 4.7-5.2V |
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| Power consumption | Less than 200mA @ 5V |
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| Temperature | -40\~80C |
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| Size | <p>Diameter: 54mm<br>Thickness: 14.5mm</p> |
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| 중량 | 36g |
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| Cable Length | 26cm |
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| Other | <ul><li>LNA MAX2659ELT+ RF Amplifier</li><li>Rechargeable Farah capacitance</li><li>Low noise 3.3V regulator</li><li>26cm cable included</li></ul> |
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## 하드웨어 설정
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### 장착
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The recommended mounting orientation is with the arrow on the GPS pointing towards the **front of vehicle**.
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The sensor can be mounted anywhere on the frame, but you will need to specify its position, relative to vehicle centre of gravity, during [PX4 configuration](#px4-configuration).
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### 배선
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The Holybro DroneCAN GPS is connected to the CAN bus using a Pixhawk standard 4 pin JST GH cable.
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For more information, refer to the [CAN Wiring](../can/index.md#wiring) instructions.
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### 핀배열
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### 크기
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## PX4 설정
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You need to set necessary [DroneCAN](index.md) parameters and define offsets if the sensor is not centred within the vehicle.
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The required settings are outlined below.
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:::info
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The GPS will not boot if there is no SD card in the flight controller when powered on.
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:::
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### Enable DroneCAN
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In order to use the ARK GPS board, connect it to the Pixhawk CAN bus and enable the DroneCAN driver by setting parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` for dynamic node allocation (or `3` if using [DroneCAN ESCs](../dronecan/escs.md)).
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단계는 다음과 같습니다:
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- In _QGroundControl_ set the parameter [UAVCAN_ENABLE](../advanced_config/parameter_reference.md#UAVCAN_ENABLE) to `2` or `3` and reboot (see [Finding/Updating Parameters](../advanced_config/parameters.md)).
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- Connect GPS CAN to the Pixhawk CAN.
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Once enabled, the module will be detected on boot.
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GPS data should arrive at 5Hz.
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DroneCAN configuration in PX4 is explained in more detail in [DroneCAN > Enabling DroneCAN](../dronecan/index.md#enabling-dronecan).
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### Sensor Position Configuration
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If the sensor is not centred within the vehicle you will also need to define sensor offsets:
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- Enable GPS yaw fusion by setting bit 3 of [EKF2_GPS_CTRL](../advanced_config/parameter_reference.md#EKF2_GPS_CTRL) to true.
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- Enable [UAVCAN_SUB_GPS](../advanced_config/parameter_reference.md#UAVCAN_SUB_GPS), [UAVCAN_SUB_MAG](../advanced_config/parameter_reference.md#UAVCAN_SUB_MAG), and [UAVCAN_SUB_BARO](../advanced_config/parameter_reference.md#UAVCAN_SUB_BARO).
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- Set [CANNODE_TERM](../advanced_config/parameter_reference.md#CANNODE_TERM) to `1` if this is that last node on the CAN bus.
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- The parameters [EKF2_GPS_POS_X](../advanced_config/parameter_reference.md#EKF2_GPS_POS_X), [EKF2_GPS_POS_Y](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Y) and [EKF2_GPS_POS_Z](../advanced_config/parameter_reference.md#EKF2_GPS_POS_Z) can be set to account for the offset of the ARK GPS from the vehicles centre of gravity.
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