Sometimes inaccurate height with RTK

Here GPS
1

Dear,

I have multiple systems using the HERE+ RTK. We sometimes have height issues, but thought this was in our system. But apparently it is not. The latest flight again showed one drone being 4 meter lower than the others.

Two drones starting at same height and landing at same height. But graphs show another story? This is GPS_RAW_INT I’m plotting

logs
logs1756×1080 252 KB

Any ideas why? And how to combat this?

2

Can you try to update the firmware in Here+v2?
https://docs.cubepilot.org/user-guides/here+/here+v2-user-manual#here+-v2-firmware-update

Also the intermittently data near the end doesn’t look normal.

3

I just checked and the version on the base station is:

  • HPG 1.30 REF
    The version on the drone is:
  • HPG 1.40 ROVER

I.e. the rover has already “a quite recent version”. Not sure if it would make a difference to update?

That is true. I found out that this corresponds to the moments the RTK solution is FIXED. Which means that the resolution is better. Not sure I understand why when going back to a FLOAT solution makes it immediately that bad …

4

Update also flush the memory, which may fix potential corruption.