Inject gps is not successful, only ublox message displayed in link status

I have used here+ in my copter and I just get RTK float result. But yesterday I get a problem. The base status, gps, glonnass, and beidou status indicator is still in red, and rtcm message in link status box is not displayed, only ublox message. What should I do to fix this problem? I also tried to revert the base and rover GPS config using u-center software but it is not resolved the error.
I use pixhawk cube 2.1, arducopter v3.6, mission planner 1.3.58, and here+ GPS

Hi … I’ve solved the problem. only by updating the firmware to the latest version