vehicle_templates/ArduCopter/X11_plus/10_gnss.param
BRD_SAFETY_DEFLT,0 # CubeOrange has no safety switch
CAN_D1_PROTOCOL,1 # set virtual driver of CAN1 to DRONECAN for Here3
CAN_P1_DRIVER,1 # Enable CAN1 bus for Here3
GPS_GNSS_MODE,5 # limit the constellations to ensure an update rate higher than 5Hz
GPS_POS1_X,0.02 # Here3 GPS antenna is little bit forward.
GPS_POS1_Y,-0.035 # Here3 GPS antenna is little bit in left.
GPS_POS1_Z,-0.09 # Here3 GPS antenna is little bit higher.
GPS_TYPE,9 # Defined in component editor
NTF_LED_TYPES,231 # Enable DRONECAN LED
SERIAL3_PROTOCOL,-1 # GNSS receiver is connected to CAN1
SERIAL4_PROTOCOL,-1 # No GNSS connected to serial4, so disable it
WPNAV_RADIUS,200 # we have a good GNSS receiver so we can afford to fly precisely