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This tutorial shows how to connect and use Zubax GNSS 2 with Pixhawk running APM or the native PX4 firmware.

Zubax GNSS 2 can be set up for use with any other UAVCAN-enabled system in a very similar way.

Required parts

Aside from Zubax GNSS 2 itself and the Pixhawk it will be connected to, the following parts are needed:

  • UAVCAN Micro to DF13 adapter cable
  • UAVCAN Micro termination plug

The parts listed above can be purchased from Zubax distributors. Alternatively, customers can choose to manufacture the needed cables/plugs on their own in order to suit some custom needs, in which case they should refer to the relevant documentation for details.

Configuring Zubax GNSS 2

Zubax GNSS 2 will be able to auto-configure itself upon connection to the vehicle bus. However, it may be needed to enable some features that are disabled by default, such as barometer. Please refer to the doc page to learn how to alter configuration parameters.

Configuring Pixhawk with PX4 firmware

Set the configuration parameter UAVCAN_ENABLE to 2 or 3, then reboot.

Please refer to the Pixhawk documentation for extra info.

Tip

Don’t forget to perform compass calibration when done. If the autopilot reports issues with high magnetic field offsets, set the parameter mag.scaling_coef to approximately 0.6 and try calibration again

Connecting

Since Zubax GNSS 2 can be powered directly from the bus, the electrical connections are quite simple:

  1. Connect Zubax GNSS 2 with Pixhawk using the appropriate cable. In case you’re using a non-redundant CAN interface (which is the only available option for Pixhawk v1), only CAN1 must be used, leaving CAN2 empty.
  2. Terminate the CAN bus using the termination plug.

Now the setup is ready to work.