Hi,
I am hoping someone can point me in the right direction for settings. For a number of reasons, I need to configure a second GPS on my drone. GPS1 is a Here3+ and GPS2 is an Emlid Reach M2 that is receiving DGPS corrections via an attached LoRa radio. I want to use GPS2 as the primary GPS (since it is RTK corrected), and then I need to send that data, via an NMEA stream, out TELEM2 which is connected to an RFD900x.
With my current configuration, I seem to have accomplished most everything, except the NMEA stream I am getting via TELEM2 seems to be sending GPS1 data, even though GPS2 is the primary.
Are there some other settings I should check to ensure the NMEA Output stream through SERIAL2 is from GPS2?
GPS Settings:
GPS_AUTO_CONFIG: 0 (Disabled)
GPS_AUTO_SWITCH: 0 (Use Primary)
GPS_PRIMARY: 1 (Second GPS)
TELEM2 Settings:
SERIAL2_PROTOCOL: 20 (NMEA Output)
SERIAL2_BAUD: 115 (115,200)
GPS2 Settings:
SERIAL4_PROTOCOL: 5 (GPS)
SERIAL4_BAUD: 115 (115,200)
GPS_TYPE2: 5 (NMEA)
GPS_RATE_MS2: 100 (10 Hz)
GPS1 Settings:
GPS_TYPE: 9 (DroneCAN)
Thanks,
Keith