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ArduCopter minimum 6 Satellites required

Добавлено: 26 апр 2018, 09:37
hawrdstrack
Hi,

I have a hard time getting the “GPS” signal of Marvelmind to be accepted in ArduCopter. It works perfectly fine with ArduRover. ArduCopter seems more critical regarding the minimum number of satellites. After arming switch to PosHold, or when GeoFence is enabled, or any other function that requires GPS lock, ArduCopter will not enter in that mode because minimum satellites required is 6, and it is only getting 4 from Marvelmind.
My HDOP is 1.20 and GPS Status is 3 so that looks good. Mission Planner indicated 3D GPS position.
I have set AHRS_GPS_MINSATS to 0, but still getting the error minimum satellites required is 6. Marvelmind NMEA message $GPGGA line 2.6 output is set to 04. Can this be changed to 06?
Is there a way to spoof Pixhawk to make it think there are 6 satellites available? Or is there another solution that you are aware of?

Please help.

I didn't find the right solution from the Internet.

References
https://www.marvelmind.com/forum/viewtopic.php?t=557
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Thanks