I have installed the Emlid Reach M+ in our vtol for PPK use. The GPS output is connected to Gps2 (serial 4) of the pixhawk cube and I have configured the M+ to give GPS output in ERB format. I only want to use this GPS signal as redundancy for GPS 1.
But I get very strange messages.
When both GPS (1 and 2) are connected, it shows the number of satellite, 3D fix, but an error message Bad GPS signal health. When I chance the protocol from ERB to nmea, the message is gone, it still shows 3dfix but the plane starts to drift.
When I disconnect gps2, all error messages are gone.
But number of satellite is always 0
Please have a look at the screen pictures: