We have noticed a recent issue with our copters and I was wondering if anybody else has seen it. We have copters with an RTK gps (like Here2+) as well as a mRo Location One (flashed with AP_Periph 1.1.0). We noticed that if we leave our copter powered on and receiving RTCM corrections for long periods of time (around 120 minutes), we consistently find that the Location One disappears from ArduCopter. When we inspect the Location One with a zubax babel, we can see that it is in Maintenance mode. If we used the babel to reboot it, it will go into operational mode again and function in ArduCopter again.
In our troubleshooting, we have tried multiple aircraft and multiple combinations of GPS units. It turns out that we can keep the problem from happening all together if we set the GPS_INJECT_TO param to exclude the location one.
We’re using Mission planner to survey in and send corrections, so I’m not sure if it’s a bit of bad data that we don’t see very frequently, or the accumulation of data over a long period of time, or if the error is within AP_Periph, or the Location One in particular, or Mission Planner even.