Zubax GNSS 2 / UAVCAN GPS, compass and baro not working

Hi, I have a Zubax GNSS 2 connected to PX4FMU-V2. Previously I used px4 firmware 1.4.4, but there were some problems, as there was HDOP/VDOP/PDOP all 0.0 and only GPS count and course over ground seemed to work, no baro and no mag. Now I tested FW 1.5.5 and 1.6.0rc1 which do not work at all. in 1.5.5 The sensors seem to be detected (at least what the log says), but somehow not in QGC. And in 1.6.0rc1 It seems UAVCAN is not available or not working… Does someone know what could be wrong here, or how I could find the error?

With 1.6.0rc1 the boot log is:

[boot] Fault Log info File No 3 Length 3257 flags:0x01 state:1
[boot] Fault Log is Armed
sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
[i] microSD mounted: /fs/microsd
[hardfault_log] Fault Log is Armed
WARN  [param] selected parameter default file /fs/mtd_params
rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
MS5611_SPI on SPI bus 4 at 2 (20000 KHz)
WARN  [ms5611] no device on bus 4
MS5611_SPI on SPI bus 1 at 3 (20000 KHz)
WARN  [bst] no devices found
INFO  [ver] match: PX4FMU_V2
WARN  [hmc5883] no device on bus 1 (type: 2)
WARN  [lis3mdl] no device on bus 2
WARN  [hmc5883] no device on bus 2 (type: 1)
WARN  [mpu6000] no device on bus 5
WARN  [mpu9250] no device on bus 4
MPU6000 on SPI bus 1 at 4 (1000 KHz)
WARN  [mpu6000] no device on bus 5
WARN  [mpu9250] no device on bus 3
WARN  [mpu9250] no device on bus 4
L3GD20 on SPI bus 1 at 1 (11000 KHz)
LSM303D on SPI bus 1 at 2 (11000 KHz)
ERROR [meas_airspeed] no MS4525 airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
INFO  [load_mon] stack check enabled
WARN  [param] Error: Parameter UAVCAN_ENABLE not found.
INFO  [px4io] default PWM output device
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO  [mavlink] mode: OSD, data rate: 1000 B/s on /dev/ttyS2 @ 57600B
WARN  [param] Error: Parameter UAVCAN_ENABLE not found.
INFO  [ver] match: PX4FMU_V2
px4flow [200:100]
WARN  [px4flow] scanning I2C buses for device..
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
INFO  [init] Mixer: /etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1

NuttShell (NSH)
nsh> INFO  [lib__ecl] EKF aligned, (pressure height, IMU buf: 21, OBS buf: 16)
WARN  [commander] Not ready to fly: Sensors not set up correctly
WARN  [commander] PREFLIGHT FAIL: MAG #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCELS INCONSISTENT - CHECK CAL

With 1.5.5 the boot log is:

sercon: Registering CDC/ACM serial driver
sercon: Successfully registered the CDC/ACM serial driver
WARN  [param] selected parameter default file /fs/mtd_params
rgbled on I2C bus 1 at 0x55 (bus: 100 KHz, max: 100 KHz)
WARN  [px4io] CRCs match
INFO  [dataman] Power on restart, data manager file '/fs/microsd/dataman' size is 47640 bytes
MS5611_SPI on SPI bus 4 at 2 (20000 KHz)
WARN  [ms5611] no device on bus 4
ERROR [ms5611] driver start failed
MS5611_SPI on SPI bus 1 at 3 (20000 KHz)
WARN  [bst] no devices found
INFO  [ver] match: PX4FMU_V2
WARN  [hmc5883] no device on bus 2
read_reg failWARN  [lis3mdl] no device on bus 2
WARN  [hmc5883] no device on bus 1
WARN  [mpu6000] no device on bus 3
WARN  [mpu6000] no device on bus 4
WARN  [mpu6000] no device on bus 4
WARN  [mpu9250] no device on bus 4
MPU6000 on SPI bus 1 at 4 (1000 KHz)
WARN  [mpu6000] no device on bus 4
WARN  [mpu9250] no device on bus 3
WARN  [mpu9250] no device on bus 4
L3GD20 on SPI bus 1 at 1 (11000 KHz)
LSM303D on SPI bus 1 at 2 (11000 KHz)
ERROR [meas_airspeed] no MS4525 airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
ERROR [ets_airspeed] no ETS airspeed sensor connected
nsh: sf1xx: command not found
WARN  [px4io] config for RC1 rejected by IO
INFO  [px4io] default PWM output device
INFO  [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS1 @ 57600B
INFO  [mavlink] mode: OSD, data rate: 1000 B/s on /dev/ttyS2 @ 57600B
WARN  [uavcan] Node ID 1, bitrate 1000000
WARN  [uavcan] CAN driver init...
WARN  [uavcan] SW version vcs_commit: 0x00334ad7
WARN  [uavcan] sensor bridge 'gnss' init ok
WARN  [uavcan] sensor bridge 'mag' init ok
WARN  [uavcan] sensor bridge 'baro' init ok
INFO  [ver] match: PX4FMU_V2
px4flow [202:100]
WARN  [px4flow] scanning I2C buses for device..
INFO  [mavlink] mode: Config, data rate: 800000 B/s on /dev/ttyACM0 @ 57600B
INFO  [init] Mixer: /etc/mixers/quad_w.main.mix on /dev/pwm_output0
INFO  [init] Mixer: /etc/mixers/pass.aux.mix on /dev/pwm_output1
INFO  [lib__ecl] EKF IMU buffer length = 21
INFO  [lib__ecl] EKF observation buffer length = 16

NuttShell (NSH)
nsh> INFO  [lib__ecl] EKF using pressure height - commencing alignment
WARN  [mavlink] Disabling hardware flow control
WARN  [mavlink] Disabling hardware flow control
INFO  [lib__ecl] EKF alignment complete
WARN  [commander] PREFLIGHT FAIL: MAG #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION
WARN  [commander] PREFLIGHT FAIL: GPS RECEIVER MISSING
WARN  [commander] PREFLIGHT FAIL: MAG #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #0 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: GYRO #1 UNCALIBRATED
WARN  [commander] PREFLIGHT FAIL: ACCEL SENSORS INCONSISTENT - CHECK CALIBRATION

and nsh> uavcan status

Pool allocator status:
        Capacity hard/soft: 500/250 blocks
        Reserved:  2 blocks
        Allocated: 2 blocks
UAVCAN node status:
        Internal failures: 0
        Transfer errors:   0
        RX transfers:      0
        TX transfers:      61
CAN1 status:
        HW errors: 26
        IO errors: 26
        RX frames: 25
        TX frames: 41
CAN2 status:
        HW errors: 4900
        IO errors: 4900
        RX frames: 0
        TX frames: 41
ESC actuators control groups: sub: 0 / req: 0 / fds: 2
ESC mixer: NONE
Sensor 'gnss':
RX errors: 0, receiver node id: N/A

Sensor 'mag':
devname: /dev/mag
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Sensor 'baro':
devname: /dev/baro
channel 0: empty
channel 1: empty
channel 2: empty
channel 3: empty
channel 4: empty

Online nodes (Node ID, Health, Mode):