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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.

ARK Teseo GPS Firmware

Release Notes

  • 86-1.15.b4c24e95 - 2025-6-13

  • 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

Pin Number
Signal Name
Voltage

1

5V

5.0V

2

CAN_P

5.0V

3

CAN_N

5.0V

4

GND

GND

CAN - 4 Pin JST-GH

Pin Number
Signal Name
Voltage

1

5V

5.0V

2

CAN_P

5.0V

3

CAN_N

5.0V

4

GND

GND

I2C + Timepulse - 5 Pin JST-GH

Pin Number
Signal Name
Voltage

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

Pin Number
Signal Name
Voltage

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

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