Holybro Pixhawk 4 I2Ca I2Cb not working

Hello everyone!
Faced such a problem. I tried to connect the IR-Lock to the I2C_a and I2C_b connectors, tried to change the parameter PLND_BUS -1,0,1 to no avail - “Bad Vision Position”. It works only when the GPS port is connected to the I2C bus. But connecting there is not very convenient.
Firmware 3.6.7 OctaQuad