Hello, I’m experiencing some GPS-related issues.
On my BlueBoat I currently have two GNSS systems connected:
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a high-precision Leica RTK GPS, used for position/coordinates
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the original boat GPS u-blox NEO-M9N with IST8308, from I only use the compass information
During navigation I encounter the following issue:
when I’m in Manual mode and press Play to start a mission, or when I switch to Auto mode, Cockpit shows this message:
“GPS1: not healthy”
In some cases, this also happens at the end of a mission.
What’s interesting is that I can work around the issue by arming the vehicle while still in Manual mode and then switching to Auto. When I do this, the warning usually disappears and the mission starts normally.
At this point, I’m wondering whether this is really a GPS-related problem or possibly some kind of bug or mode-transition issue.
If it were a GPS problem, I’m not sure what could be wrong, because at the same time I can see: RTK fix | EKF status OK (as shown in the attached image).
Has anyone seen similar behavior or has insight into what could cause GPS1 to be reported as “not healthy”?
The settings I am currently using are:
serial 4: ama2 | serial5: ama 3 | GPS1_type: NMEA | GPS2_type: uBox | gps_primary: firstGPS | GPS1_rate_ms : 5Hz (ms) | serial 4_baud: 115200 | serial 5_baud: 57600 | SR0_posiont: 10Hz
From the GPS external: NMEA with GGA, GSA, RMC | baud rate 115200
Thanks for any insights