Afternoon,
I am currently developing an Ardurover (Boat) project using firmware version 4.6.0-beta4, where I intend to employ a u‑blox F9P for RTK with RTCM corrections over IP. There are occasions when cellular signal reception is poor, so I plan to utilise a second GPS—the UM980—with Galileo HAS corrections. At present, the trial is being conducted under bench test conditions with the F9P set as the primary and the UM980 as the secondary.
I have configured GPS_AUTO_SWITCH=1, so my understanding is that when the primary GPS either fails to acquire a signal or experiences an interruption in the RTCM data stream, the flight controller should switch over to GPS2. However, when I simulate an interruption in GPS1’s data stream—resulting in a reversion to a 3D DGPS fix—the flight controller does not switch to GPS2. It only reverts to GPS2 when I completely remove power from GPS1.
I would appreciate guidance on which parameters I might need to adjust to enable the desired scenario.
Additionally, a question for the developers: Is there any work in the pipeline to incorporate PPP GPS systems, and for Mission Planner to report the proper GPS status (for example, treating a 3D DGPS fix as a PPP Convergence and an RTK Float as a PPP Fix)?
Any advice or pointers would be greatly appreciated.
Thanks