Hi. I’m running ArduCopter V4.5.7 on an octocopter with a Cube Orange. I have a pretty standard dual GPS setup. I’ve observed several momentary step changes in the position estimate with no corresponding changes in either of the position estimates from GPS1 or GPS2 or any other external change that I can see (IMU etc.). I’m using GPS blending which I’m not hugely familiar with.
I see a GPS_PRIMARY_SWITCHED message at the instant in the jump but I can’t see why a switch would have occurred and I would imagine a switch when using blending would not result in a very large jerk in pitch and roll. Any help would be greatly appreciated!
