When GPS is disabled in GPS for yaw

ArduCopter Copter 4.0
1

Hello everyone. I am using two F9P GPS to use the GPS for Yaw function.

  • GPS_TYPE = 17 (“UBlox moving baseline base”)
  • GPS_TYPE2 = 18 (“UBlox moving baseline rover”)

What I’m curious about

  1. Current’GPS_AUTO_SWITCH’ is set to 1, but how to know which GPS is used for flight
  2. Phenomenon when Base GPS becomes unavailable during flight and whether flight is possible
  3. Phenomenon when the Rover GPS becomes unavailable during flight and whether flight is possible

There is a feature to disable all GPS, but I can’t find a feature to turn off only one GPS, so ask someone you know for help.