Just upgraded to 4.0 and am excited to see there is autoconfig support for the F9P. I have a USV with a Pixhawk connected to a standard GPS and a F9P via SERIAL5. I have:
- GPS_TYPE2 set to ublox
- GPS auto configure is enabled
Boat is connected via UDPCI/Bridged LAN. I can inject RTCM corrections from NTRIP or a USB/Wifi/Bluetooth GNSS using Mission Planner - it works great. In this case, I have a separate radio sending corrections to the F9P and have a fixed solution.
Anyway, the issue is, In Mission Planner, the altitude never says “0” and instead displays my msl elevation. I’ve run into this issue before when the GPS doesn’t get a 3D fix until after the arming process, but in the case it occurs even when the pixhawk is rebooted via command (GPS not reset) and the F9P is powered separate, so is always providing a fixed solution. This was not an issue in 3.5.
Does anyone have any input? Any help is greatly appreciated!
Also, as a secondary concern but worth noting the F9P is also connected to an onboard computer running U-center via USB, I’ve noticed that after the pixhawk does its autoconfig (in 3.5 and 4), U-Center is very sluggish to respond. Does anyone happen to know what settings the pixhawk changes on the F9P?