Positioning problems in Poshold/Loiter with Emlid M2

Copter 4.0.5 with Emlid M2

Positioning problems in Poshold/Loiter with Emlid M2

the copter rocks slowly about 1 meter back and forth. It is not a toilet bowl like with bad compas calibration. The radius of the movement is despite over 20 Satelitten and HDOP 0.5 approx. 1-2 meters. Remarkable is the message warning: EK2: changed EK2_GPS_TYPE to 1.

It doesn’t matter if we set up the Emlid as primary or secondary GPS. Only if we configure the Here2 as primary GPS and switch off the Emlid M2 completely, the copter flies precisely at position. What could be the reason for this? Maybe someone can take a look at the log file?
Thanks a lot!

Solved: Today we have set the protocol from NMEA to ERB. that worked great! The copter now stands in spite of wind as nailed in the air!