ARK TESEO GPS
PX4 EKF Parameters
The ST Teseo-LIV4F can report slightly higher speed accuracy values than the default EKF2_REQ_SACC parameter, causing PX4 to reject GPS fusion. The default is 0.5m/s. Increasing this to 1.5-2.0m/s is recommended.
Firmware
Follow the steps for updating the firmware through the flight controller. The firmware will now automatically update the LIV4F GPS module firmware.
See the latest firmware below.
Release Notes
86-1.15.b4c24e95 - 2025-6-13
Update to STA8041_LIV4F_PVT_STD_4_6_8_5_10_UPG Teseo Firmware
86-1.15.6616d230 - 2025-2-26
Update to STA8041_LIV4F_PVT_STD_4_6_8_5_9_UPG Teseo Firmware
Add TESEO_* parameters to configure constellations
Default to GPS + GLONASS + BeiDou + Galileo
Note that only 4 constellations can be enabled at a time
86-1.15.1895b31a - 2025-2-12
Disable mag bias estimator by default
86-1.15.14443827 - 2025-2-5
Update to STA8041_LIV4F_PVT_STD_4_6_8_5_8_UPG Teseo Firmware
Fix speed accuracy reporting
Fix EPH reporting
86-1.15.37fb6452 - 2024-11-11
Update to STA8041_LIV4F_PVT_STD_4_6_7_5_7_UPG Teseo Firmware
Implement automatic LIV4F updating within the driver
Fix speed accuracy reporting
3D Model
Find 3D models and case files at https://github.com/ARK-Electronics/ARK_TESEO_GPS
Pinout
CAN - 4 Pin JST-GH
1
5V
5.0V
2
CAN_P
5.0V
3
CAN_N
5.0V
4
GND
GND
CAN - 4 Pin JST-GH
1
5V
5.0V
2
CAN_P
5.0V
3
CAN_N
5.0V
4
GND
GND
I2C + Timepulse - 5 Pin JST-GH
1
5.0V Out (500mA)
5.0V
2
I2C2_SCL
3.3V
3
I2C2_SDA
3.3V
4
TIMEPULSE
3.3V
5
GND
GND
Debug - 6 Pin JST-SH
1
3.3V
3.3V
2
USART2_TX
3.3V
3
USART2_RX
3.3V
4
FMU_SWDIO
3.3V
5
FMU_SWCLK
3.3V
6
GND
GND
Last updated