hi all,
on a large quad, Cube 2.1 , here2 as primary GPS and Emlid reach as secondary. No blending. Emlid has a ground base antenna with lora datalink for sending real time RTK corrections. It also has a front mounted LW20/c rangefinder for proximity.
If everything is enabled, i get EKF errors, variance and so on in GPS controlled modes, at the point flight becomes VERY dangerous.
If i disable rangefinder or power off RTK base, no errors. There’s a combination of the two which screws the EKF. I will try to reproduce problem again.