I’m using the Here+ system in my hexacopter, but sometimes it seemed like it wouldn’t change the status to RTK float or fixed. However, by looking at the logs and then checking the telemetry during flight, it seems like my secondary GPS is getting an RTK solution instead of the primary. This doesn’t happen always, so it’s a bit difficult to reproduce the issue.
Some details of my setup:
- Pixhawk 1 (from mRobotics)
- Here+ RTK
- Primary GPS is Here+ Rover
- Secondary GPS is the original 3DR GPS (I believe it’s a ublox LEA-6H)
How could I indicate the Pixhawk the corrections are meant to be for the primary GPS? I’m using the secondary GPS as a backup in case the primary disconnects or somehow stops working, since I know it’s not going to autoswitch in a normal scenario (Here+ always gets over 12 satellites, while the other one is always under 10). Attached are my log files (0000005.BIN shows correct behavior: RTK Fix in primary GPS, 0000006.BIN shows strange behavior: RTK float in secondary GPS).
Thanks for your help,