We’ve been flying with a Here on GPS1 and RTK on GPS2 (NMEA inputs). If we fly in GPS “Best” mode, RTK looks great but the quad (or hex) oscillates back and forth about 3 foot horizontally. Any one else seeing this?
We’re trying to debug, and are thinking it could be one of the following:
- we’ve got a parameter set wrong or sub-optimal
- “blending” is not working correctly
- ardupilot is confused with Here having a Compass but the RTK not
- Since we’re sending NMEA from RTK to GPS2, it might be that the EKF is not getting some piece of info, like velocity data
Any comments or suggestions?