ArduPilot's main GPS slot is empty
What ArduPilot says:
- PreArm: GPS N: primary but TYPE 0
ArduPilot is using the GPS slot with that number as its main receiver, but the slot's type is 0 (none). This happens when the only receiver is set up as the second GPS (GPS2_TYPE) while GPS1_TYPE is 0 and GPS_AUTO_SWITCH is 0: with switching off, ArduPilot stays on the receiver GPS_PRIMARY names, and that one is not there.
What to do, most likely first
The receiver is configured in the second slot only.
FixMake it the first GPS:
GPS1_TYPEto its type,GPS2_TYPE0, then reboot. A serial receiver stays on its port: the first GPS that needs one takes the first port withSERIALn_PROTOCOL5.GPS_PRIMARYpoints at the slot that is not in use.FixSet
GPS_PRIMARYto the receiver that exists (0 first, 1 second), or setGPS_AUTO_SWITCHto 1 so that ArduPilot picks the receiver with the best fix.
Parameters to look at
| Parameter | What it is |
|---|---|
GPS1_TYPE | GPS type |
GPS2_TYPE | GPS type |
GPS_AUTO_SWITCH | Automatic Switchover Setting |
GPS_PRIMARY | Primary GPS |
Where to do it:Setup & Tuning Guide
The code that sends it
PreArm: GPS N: primary but TYPE 0
libraries/AP_Arming/AP_Arming.cpp AP_Arming::gps_checks() · Open in ArduPilot Copter-4.7.1