Hi @PeterM,
Do you have a DVL, or some other kind of external positioning/navigation system? If not, this parameter value doesn’t make sense.
From the available forum discussions I’m yet to see truly robust surface GPS integration in ArduSub (for vehicles that actually submerge), but if you’re going to try:
- It’s been recommended to install the GPS antenna on a mast (not inside the enclosure)
- This thread has some information about the M8N (although they apparently ended up just getting a higher quality receiver)
- This comment goes over some ideas for how a surface GPS setup could be handled properly
The only reason I could think of for Navigator having different results to Pixhawk would be if the communications are getting interrupted or reconfigured by some other service (since Pixhawk doesn’t have anything else with access to its ports).
There has been a known Issue with the BlueOS ping service doing that, which is fixed in the 1.3.0 beta releases, so it might be worth updating to beta to see whether that resolves your problem.