GPS blending is asked for, but this firmware does not have it
What ArduPilot says:
- PreArm: GPS_AUTO_SWITCH==2 but no blending
GPS_AUTO_SWITCH 2 asks ArduPilot to blend the positions of two GPS receivers into one. This firmware was built without the blending code, which is left out for boards with little flash memory, so no position would come out of it and arming is refused.
What to do, most likely first
The value came from a parameter file made for another board.
FixSet
GPS_AUTO_SWITCHto 1: with two receivers ArduPilot then uses the better one; with one receiver nothing changes.You do want two receivers blended.
CheckThe Firmware Inspector shows what a firmware file was built with.
FixUse a firmware built with GPS blending.
Parameters to look at
| Parameter | What it is |
|---|---|
GPS_AUTO_SWITCH | Automatic Switchover Setting |
Where to do it:Firmware InspectorFirmware Builder
The code that sends it
PreArm: GPS_AUTO_SWITCH==2 but no blending
libraries/AP_Arming/AP_Arming.cpp AP_Arming::blending_auto_switch_checks() · Open in ArduPilot Copter-4.7.1