I am running Emlid Reach M2 on a dual gps ardupilot stack. Here2 CAN gps1 and Reach gps2.
I have followed the suggested install procedure. I get rtk fixed, however, I get PreArm: GPS is not healthy. Also EK2: Changed EK2_GPS_TYPE to 1, which indicates that vertical velocity is not provided.
15.09.2021 11:39:35 : PreArm: GPS is not healthy
15.09.2021 11:39:28 : EKF2 IMU1 is using GPS
15.09.2021 11:39:28 : EKF2 IMU0 is using GPS
15.09.2021 11:39:05 : PreArm: Need 3D Fix
15.09.2021 11:39:01 : EKF2 IMU1 origin set
15.09.2021 11:39:01 : EKF2 IMU0 origin set
15.09.2021 11:38:59 : GPS 2: detected as NMEA at 57600 baud
15.09.2021 11:38:53 : EKF2 IMU1 tilt alignment complete
15.09.2021 11:38:53 : EKF2 IMU0 tilt alignment complete
15.09.2021 11:38:52 : EKF2 IMU1 initial yaw alignment complete
15.09.2021 11:38:52 : EKF2 IMU0 initial yaw alignment complete
15.09.2021 11:38:51 : EK2: Changed EK2_GPS_TYPE to 1
15.09.2021 11:38:50 : GPS 2: detected as NMEA at 115200 baud
15.09.2021 11:38:50 : GPS 1: specified as UAVCAN
If i set GPS_TYPE2 to auto, I get a configuration check failure, but at 5 NMEA it at least detects the GPS.
running the following setup:
15.09.2021 09:41:00 : CubeBlack 003D001B 34385105 30353338
15.09.2021 09:41:00 : ChibiOS: d4fce84e
15.09.2021 09:41:00 : ArduCopter V4.0.3 (ffd08628)
I have also made sure antenna is well away from interference. Wireing tx/rx to the Reach should be ok.
here2 to on can works perfect.
Any help here is appreciated! Thanks