Hi, I am trying to get started with a basic Panda setup, but I am not able to get the Teensy to recognize the F9P. Any suggestions to what I am doing wrong or how to proceed? When using the Arduino IDE serial monitor it keeps giving the message “Swapping GPS ports…”.
To have the F9P talking to the teensy you must have his Uart1 outputting NMEA at the same bautrate than the teensy.
It should be 115000 but some versions since a week or two use 480000.
Follow this tread:
I recommend you to play in Ucenter with the F9P configurations, you will have full understanding how it works.
If you don’t want,you can install all from the V5.6.33 prerelease
The teensy would be loaded with “Autosteer_gps_teensy_v5_5” from TeensyModules/Firmware
The F9P would be updated to 1.32 with the .bin then loaded with 1.32 “SingleAntennaRover.txt” in Ublox F9P Configurations
@wland@Pat Thank you for the support! I finally got it working. It was a very similar problem as in the other topic. I have tried so many different setups but it was having them correct all at the same time that was the issue. I now use PotatoFarmers config file for the F9P but with the baudrate of 460800 on both the teensy and the F9P and the connection scheme as shown in my first post.
Hi, I trying to build PANDA basic GPS receiver with esp32 (BT based)
I port PANDA related part of Teensy code and its working OK.
I have one question - is it just in my case or is it in yours too - IMU and fix heading are most of the time different. Do you think it makes sense for me to just one time sync it with the VTG heading? let’s say like this :
if(vtgHeadingOK=='T' && VTG_heading < 1 && rtkfix)
// Use gameRotationVector and set REPORT_INTERVAL
AOG itself will sync the IMU heading with the actual fix heading. Once AOG figures out the offset it will blend the adjusted IMU heading with the VTG or fix-to-fix heading and use that. So the PANDA IMU heading value is raw (un-adjusted).