If you take over 5 minutes for the question, please continue in Discord or a Github Issue.
Q.1 : GPS failure not triggering failsafe / using secondary GPS
Prognosis: Currently there’s no implementation that switches to secondary GPS, if the primary GPS is still giving data (even if it is corrupted / unreliable).
And using that bad data getting fused for EKF2, resulted in having local position being ‘valid’, whereas it was diverging.
There is currently no switching to secondary GPS when primary GPS quality degrades, could be added. You could kind of simulate it with GPS blending, but with one GPS using RTK and the other not, it’s not ideal to use that.
Q.2: Direct GPIO control for IO processor, resulting in compilation error
Answer: Pinged on discord, and will get answers hopefully!
Q.3: XRCE-DDS client not starting in PX4 - ibrahim
In simulation it works fine, but in hardware client is not starting. Connection via USB.
We had a crash a few days ago where the drone lost all the satellites of the primary GPS (ublox F9P) and started to go off in all directions. The root cause is known: it’s the antenna screw that unscrewed and cut off satellite signal reception.
My question is why, in such an obvious case of loss of position, didn’t the Position failsafe activate? We also have a secondary GPS and it was not used even though reception was good for it. Open issue here.