Check GNSS Health possible?

Hi all!

Short question: Is it possible to check the gps health to determine if one gps on the drone is weak? We’d like to do an inflight check for the GPS modules (We have two rtk gps modules mounted on a drone) and therefore it would be nice to get the gnss health information from the pixhawk to our processor via serial port.

Would appreciate some hints!


Yes, it is possible. Ardupilot already selects the most healthy one, and you can access the information via mavlink about which one is currently selected/used. The GPS*RAW messages also contain some of the health information.