Starling 2 Max Ardupilot GPS

[wilkinsaf]

We are seeing some oddness when it comes to running Ardupilot on the Starling 2 Max.

We are unable to get really any GPS satellites, and the driver seems to be acting a bit weird.

1. We are able to get this working fine on PX4 - we run this pretty consistently. So, doesn't point to wiring

2. We tried Arducopter 4.6.3, 4.7, and 4.8 - we had the best luck on 4.7. But, even on that version weird things happen - like GPS_RAW_INT showing up with a lat and lon, but showing no visible satellite:

3. when indoors, only v_acc is updating...which feels odd: https://www.loom.com/share/3379c1aafcd74c95aa65e7f3af09a488

Any thoughts / ideas on where to look would be super. Thanks!

[wilkinsaf]

@wilkinsaf

I did the following and was able to get it

1. installed arducopter 4.7
2. disabled serial2_option for mavlink forward
3. configured compass
4. configured acceleromter
5. turned off GPS_AUTO_CONFIG
6. set SERIAL3_BAUD to 115200

https://www.loom.com/share/b96c3edd2286477ea294ddbd262dc31e

[wilkinsaf]

Update fix

Replace defaults.parm with upstream version: https://github.com/ArduPilot/ardupilot/blob/ee1e4bbf74061760826b17464383d63c1a11924c/Tools/Frame_params/ModalAI/Starling2Max.parm
Rename Starling2Max.parm to defaults.parm in /data/APM
Edit SERIAL3_BAUD=9 (in defaults.parm)
Edit GPS1_TYPE=2 (in defaults.parm)
Remove *.stg files in /data/APM
Reboot and power off the voxl2 multiple times, checking the gps driver