HERE2 issue >> GPS 1: u-blox navigation rate configuration 0x1DFF

Here GPS
6

I have connected to CAN2 / with switch I2C on. From the UAVCAN> SLCAM Mode CAN1 menu, I update FW and see the following:

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:grinning: issue SOLVED after updating FW >> GPS 1: u-blox navigation rate configuration 0x1DFF, it has disappeared>>>::grinning:

But I have several doubts:

1- I understand that in uavcan.node.id I have to write the ID = 125 in my case. (I don’t see differences with 0 or 125)

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2- If BAROMETER_ENABLE = 0 means to work ONLY with the Cube barometer?
if BAROMETER_ENABLE = 1> means working ONLY with the HERE2 barometer?

Which one is more accurate?

3- In HW ID >> COMPASS_DEV_3 is HMC5883_OLD instead of AK09916 >>> Is this important?

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4- In Initial Setup> Compass, I understand that I should leave it like this:

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5- NTF_LED_TYPES = 39 or 231 >> What is the ideal value?

6- COMPASS_TYPEMASK = 63487 or 6137 >> What is the ideal value?

7- Is not having HDOP relevant?
EDIT:https://discuss.cubepilot.org/t/here-2-can-update/471/165?u=atico_fg