Reach integration with Pixhawk Issues

@rrr6399 wrote:

I had a couple of questions in regards to using the Reach as a secondary GPS on the Pixhawk:

1.) It appears that the logic in the Ardupilot firmware to switch GPSes is based solely on the number of satellites

I'm using a Neo 7M GPS as my primary, which appears to always have more satellites (and lower HDOP) than the Reach so the Reach would never be used for navigation. I'm I understanding the logic correctly? Shouldn't the logic be using estimated error or at least DOP as a metric instead?

2.) I've noticed a few of meters of vertical drift with the base station and the Rover sitting stationary on the ground. The Rover tends to jump to a new altitude and remain fairly steady (<0.5 m or so). Is this expected? What input data or configuration parameters would impact the vertical accuracy?

Thanks!

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