Hello i have a problem with the 1.15.2 firmware on pixhawk v6x , the ekf2 don’t use gps so i don’t have a global position !
I have tried with one gps , 2 gps, same think.
I have a here 4 on can bus 1 and M8N on gps1.
Here is the result of some command in console :
NuttShell (NSH) NuttX-11.0.0
nsh> ekf2 status
INFO [ekf2] available instances: 3
INFO [ekf2] 0: ACC: 6946842, GYRO: 6684698, MAG: 396809, healthy, test ratio: 1.0000000 (0.00000)
INFO [ekf2] 1: ACC: 2490386, GYRO: 2490386, MAG: 396809, healthy, test ratio: 1.0000000 (0.00000) *
INFO [ekf2] 2: ACC: 2752522, GYRO: 2752522, MAG: 396809, healthy, test ratio: 1.0000000 (0.00000)
ekf2:0 EKF dt: 0.0100s, attitude: 1, local position: 0, global position: 0
ekf2: EKF update: 6981 events, 1808282us elapsed, 259.03us avg, min 201us max 596us 50.927us rms
ekf2: IMU message missed: 0 events
ekf2:1 EKF dt: 0.0101s, attitude: 1, local position: 0, global position: 0
ekf2: EKF update: 6904 events, 1791771us elapsed, 259.53us avg, min 200us max 837us 68.865us rms
ekf2: IMU message missed: 0 events
ekf2:2 EKF dt: 0.0099s, attitude: 1, local position: 0, global position: 0
ekf2: EKF update: 6994 events, 1988591us elapsed, 284.33us avg, min 200us max 1288us 127.042us rms
ekf2: IMU message missed: 1 events
nsh> listener sensor_gps
TOPIC: sensor_gps 2 instances
Instance 0:
sensor_gps
timestamp: 105238102 (0.079913 seconds ago)
timestamp_sample: 0
latitude_deg: 43.564853
longitude_deg: 1.474165
altitude_msl_m: 148.230000
altitude_ellipsoid_m: 148.230000
time_utc_usec: 1738750129800000
device_id: 8748035 (Type: 0x85, UAVCAN:0 (0x7C))
s_variance_m_s: 0.02789
c_variance_rad: 113.84926
eph: 1.30616
epv: 1.44089
hdop: 0.62988
vdop: 0.97021
noise_per_ms: -1
jamming_indicator: -1
vel_m_s: 0.01615
vel_n_m_s: -0.01400
vel_e_m_s: -0.00700
vel_d_m_s: 0.00400
cog_rad: -2.67795
timestamp_time_relative: 0
heading: nan
heading_offset: nan
heading_accuracy: nan
rtcm_injection_rate: 0.00000
automatic_gain_control: 0
fix_type: 3
jamming_state: 0
spoofing_state: 0
vel_ned_valid: True
satellites_used: 26
selected_rtcm_instance: 0
rtcm_crc_failed: False
rtcm_msg_used: 0
Instance 1:
sensor_gps
timestamp: 105297323 (0.063745 seconds ago)
timestamp_sample: 0
latitude_deg: 43.564671
longitude_deg: 1.473730
altitude_msl_m: 173.331000
altitude_ellipsoid_m: 221.875000
time_utc_usec: 1738750129799614
device_id: 11010053 (Type: 0xA8, SERIAL:0 (0x00))
s_variance_m_s: 0.62000
c_variance_rad: 0.72426
eph: 2.28800
epv: 3.31700
hdop: 0.97000
vdop: 1.81000
noise_per_ms: 98
jamming_indicator: 20
vel_m_s: 0.01900
vel_n_m_s: -0.01800
vel_e_m_s: -0.00500
vel_d_m_s: -0.05200
cog_rad: 1.22292
timestamp_time_relative: 0
heading: nan
heading_offset: 0.00000
heading_accuracy: 0.00000
rtcm_injection_rate: 0.00000
automatic_gain_control: 936
fix_type: 4
jamming_state: 0
spoofing_state: 1
vel_ned_valid: True
satellites_used: 10
selected_rtcm_instance: 0
rtcm_crc_failed: False
rtcm_msg_used: 0
nsh> listener vehicle_local_position
TOPIC: vehicle_local_position
vehicle_local_position
timestamp: 308811836 (0.005206 seconds ago)
timestamp_sample: 308811156 (680 us before timestamp)
ref_timestamp: 18346367
ref_lat: 43.564697
ref_lon: 1.473864
x: -0.06257
y: -0.05199
z: 25.43194
delta_xy: [0.00000, 0.00000]
delta_z: 0.00001
vx: -0.00822
vy: -0.00588
vz: 0.13784
z_deriv: 0.31308
delta_vxy: [-0.00427, 0.00126]
delta_vz: 0.00051
ax: -0.00383
ay: -0.01078
az: -0.00159
heading: 0.56325
heading_var: 0.02261
unaided_heading: -0.02560
delta_heading: 0.00000
tilt_var: 0.00012
ref_alt: 169.89804
dist_bottom: 0.05746
eph: 0.94110
epv: 0.22027
evh: 0.34827
evv: 0.07450
vxy_max: inf
vz_max: inf
hagl_min: inf
hagl_max: inf
xy_valid: False
z_valid: True
v_xy_valid: False
v_z_valid: True
xy_reset_counter: 62
z_reset_counter: 2
vxy_reset_counter: 62
vz_reset_counter: 1
heading_reset_counter: 0
heading_good_for_control: False
xy_global: True
z_global: True
dist_bottom_valid: True
dist_bottom_sensor_bitfield: 0
dead_reckoning: True
nsh>
in local position there is dead recknoking, and global and local are 0 in ekf status…
Also i don’t know if is a probleme but my gps status show only the serial gps on gps port 1 :