OpenDroneID PreArm check fails with Here4 Blue

We’ve got a Cube Orange with a Kore carrier board and a Here4 Blue GPS, running ArduCopter firmware with OpenDroneID enabled (and the Here4 Blue configured as the transmitter). This issue has been seen with ArduCopter 4.5.1 and 4.3.4.

In this configuration, the prearm checks fail over 50% of the time. The GPS reports “invalid location” as the reason. We can also see on a Remote ID receiver that the location info is not present in what the Here4 Blue is transmitting, but other information (such as serial number is). A screen shot is attached showing the PreArm failure message in Mission Planner. You can also see that the GPS does have a fix. The only way we’ve been able to get around this is to power cycle until we get a good arm.

We have tried changing Here4 Blues without success.

Has anyone else seen this before? Any ideas on how to fix?


Have you try this yet? Setup GCS Location
Go to the Drone ID label and send a screenshot of it
The firmware you’re using seems to be a simulator so it’s normal to see that two gps’ are 3D fixed while you only connect one