MY QUAD running Arducopter 4.0.4.rc3 with HERE 2 GPS via CAN .
i have planned mission for mapping at WP_speed = 12 m/s ,it was not maintained this speed as it always it goes up-to 11 m/s but not Desired speed(12 m/s).
i also noticed that HDOP on the mission planner is always near to 1 its not go below this value even my GPS got almost 23 satellite with clear sky (placed drone on center of cricket ground).
2020-08-04 13-02-29.log.param (18.4 KB)
please some review my log and give me feedback.