Help with Diagnostics - Rover - Unhealthy GPS and GPS2 yaw prearm

ArduRover Rover 4.5
1

I’m having a couple of issues, and a bit lost in the selection and use of the web based diagnostic tools.

Problem 1: Unhealthy GPS - I have 29 satellites on both GPS’s, NTRIP alive, HDOPs of .5 (on average), clear view of the sky, and haven’t run the methodic configurator (still figuring out the install - had a breakthrough today, but FC is 20min drive).

Ask 1: Is there a plot setup in particular, or a preset that can illuminate what is causing the Unhealthy GPS flag?

Problem 2: With no configuration changes, now getting a prearm error of GPS2 yaw not available when I arm. Can still move in manual with RC xmitter.

Ask 2: Same as Ask1 wrt prearm and yaw checks

bin file here - thx for any pointers…cd

ArduRover V4.5.4 (fe4831dd)
ChibiOS: 6a85082c
Official release:
APMrover2-stable, Rover-4.5.4

Flight Controller

Pixhawk6X 0037004B 34325104 34363336

Board ID: 53 PX4_FMU_V6X

2

HW report: UnhealthyGPS.PrearmGPSyaw.hwreport.pdf - Google Drive

3

Which GPS units are you using?

An initial look at your bin long shows that your GPS modules only achieve RTK Fixed (6) for a short period before dropping back to RTK Float (5):

Screenshot from 2024-07-31 16-27-32
Screenshot from 2024-07-31 16-27-32947×454 19.2 KB

RTK Fixed is required for GPS-yaw to work correctly.

4

Hey Stephen - first, thanks for your contributions as a developer!

My radios are simpleRTK2B Budget ( u-blox ZED-F9P ) set up per the GPS yaw notes from @Yuri_Rage and others.

How can you determine from the chart the degradation? Is a “6” rtk-fixed, and a “5” rtk-float? If you can point me to any docs that explain, much appreciated. Trying not to take valuable time from ya’ll, but didn’t find in my searches…cd

5

Yes, that’s correct. The definitions of the datatypes in the logfile are over at Onboard Message Log Messages — Rover documentation

1 Like
6

Perfect - thanks for the magic decoder…cd