NAZA GPS Error count steadily increases but data seem valid.

[dbechth]

I recently damaged my original UBLOX gps and had a NAZA GPS clone laying around so I thought I would use that instead. I have built the firmware for my Naze32 Rev6 to include the NAZA protocol. I seem to be getting valid data but I have a steadily increasing error count as shown by the GPS tab in configurator. Should I be worried? See screenshot and dump below.

When I built I added the following to target.h in the Naze folder... `#undef GPS_PROTO_UBLOX

undef TELEMETRY_LTM

undef TELEMETRY_FRSKY

undef USE_RX_PWM

undef USE_SERIALRX_SBUS // Very common protocol

define GPS_PROTO_NAZA

define TELEMETRY_IBUS`

`# dump

INAV/NAZE 1.6.0 Mar 5 2017 / 02:52:10 (0def456)

mixer QUADX

mmix reset

servo 0 1000 2000 1500 90 90 100 -1 servo 1 1000 2000 1500 90 90 100 -1 servo 2 1000 2000 1500 90 90 100 -1 servo 3 1000 2000 1500 90 90 100 -1 servo 4 1000 2000 1500 90 90 100 -1 servo 5 1000 2000 1500 90 90 100 -1 servo 6 1000 2000 1500 90 90 100 -1 servo 7 1000 2000 1500 90 90 100 -1 smix reset

feature -RX_PPM feature -VBAT feature -RX_SERIAL feature -MOTOR_STOP feature -SERVO_TILT feature -SOFTSERIAL feature -GPS feature -TELEMETRY feature -CURRENT_METER feature -3D feature -RX_PARALLEL_PWM feature -RX_MSP feature -RSSI_ADC feature -LED_STRIP feature -DASHBOARD feature -BLACKBOX feature -CHANNEL_FORWARDING feature -TRANSPONDER feature -AIRMODE feature -SUPEREXPO feature -VTX feature -RX_SPI feature -SOFTSPI feature -PWM_SERVO_DRIVER feature -PWM_OUTPUT_ENABLE feature -OSD feature RX_PPM feature VBAT feature SOFTSERIAL feature GPS feature BLACKBOX feature PWM_OUTPUT_ENABLE beeper GYRO_CALIBRATED beeper HW_FAILURE beeper RX_LOST beeper RX_LOST_LANDING beeper DISARMING beeper ARMING beeper ARMING_GPS_FIX beeper BAT_CRIT_LOW beeper BAT_LOW beeper GPS_STATUS beeper RX_SET beeper ACTION_SUCCESS beeper ACTION_FAIL beeper READY_BEEP beeper MULTI_BEEPS beeper DISARM_REPEAT beeper ARMED beeper SYSTEM_INIT beeper ON_USB beeper LAUNCH_MODE map AETR1234 serial 0 1 115200 38400 0 115200 serial 1 2 115200 115200 0 115200 serial 30 0 115200 38400 0 115200 serial 31 0 115200 38400 0 115200 aux 0 0 0 900 900 aux 1 0 0 900 900 aux 2 0 0 900 900 aux 3 0 0 900 900 aux 4 0 0 900 900 aux 5 0 0 900 900 aux 6 0 0 900 900 aux 7 0 0 900 900 aux 8 0 0 900 900 aux 9 0 0 900 900 aux 10 0 0 900 900 aux 11 0 0 900 900 aux 12 0 0 900 900 aux 13 0 0 900 900 aux 14 0 0 900 900 aux 15 0 0 900 900 aux 16 0 0 900 900 aux 17 0 0 900 900 aux 18 0 0 900 900 aux 19 0 0 900 900 adjrange 0 0 0 900 900 0 0 adjrange 1 0 0 900 900 0 0 adjrange 2 0 0 900 900 0 0 adjrange 3 0 0 900 900 0 0 adjrange 4 0 0 900 900 0 0 adjrange 5 0 0 900 900 0 0 adjrange 6 0 0 900 900 0 0 adjrange 7 0 0 900 900 0 0 adjrange 8 0 0 900 900 0 0 adjrange 9 0 0 900 900 0 0 adjrange 10 0 0 900 900 0 0 adjrange 11 0 0 900 900 0 0 rxrange 0 1000 2000 rxrange 1 1000 2000 rxrange 2 1000 2000 rxrange 3 1000 2000 set looptime = 2000 set gyro_sync = ON set gyro_sync_denom = 2 set align_gyro = DEFAULT set gyro_hardware_lpf = 188HZ set gyro_lpf_hz = 70 set moron_threshold = 32 set align_acc = DEFAULT set acc_hardware = MPU6500 set acc_lpf_hz = 15 set acczero_x = 0 set acczero_y = 0 set acczero_z = 0 set accgain_x = 4096 set accgain_y = 4096 set accgain_z = 4096 set align_mag = CW180FLIP set mag_hardware = GPSMAG set mag_declination = 0 set magzero_x = 80 set magzero_y = -230 set magzero_z = -28 set mag_hold_rate_limit = 30 set mag_calibration_time = 30 set baro_hardware = MS5611 set baro_use_median_filter = ON set mid_rc = 1500 set min_check = 1100 set max_check = 1900 set rssi_channel = 0 set rssi_scale = 30 set rssi_invert = OFF set rc_smoothing = ON set serialrx_provider = IBUS set sbus_inversion = ON set spektrum_sat_bind = 0 set rx_min_usec = 885 set rx_max_usec = 2115 set rx_nosignal_throttle = HOLD set blackbox_rate_num = 1 set blackbox_rate_denom = 16 set blackbox_device = SPIFLASH set min_throttle = 1150 set max_throttle = 1850 set min_command = 1000 set motor_pwm_rate = 1000 set motor_pwm_protocol = ONESHOT125 set failsafe_delay = 5 set failsafe_recovery_delay = 5 set failsafe_off_delay = 44 set failsafe_kill_switch = OFF set failsafe_throttle_low_delay = 100 set failsafe_procedure = RTH set failsafe_stick_threshold = 50 set failsafe_fw_roll_angle = -200 set failsafe_fw_pitch_angle = 100 set failsafe_fw_yaw_rate = -45 set align_board_roll = 0 set align_board_pitch = 0 set align_board_yaw = 0 set gimbal_mode = NORMAL set battery_capacity = 0 set vbat_scale = 110 set vbat_max_cell_voltage = 43 set vbat_min_cell_voltage = 33 set vbat_warning_cell_voltage = 35 set current_meter_scale = 400 set current_meter_offset = 0 set multiwii_current_meter_output = OFF set current_meter_type = ADC set yaw_motor_direction = 1 set yaw_jump_prevention_limit = 200 set 3d_deadband_low = 1406 set 3d_deadband_high = 1514 set 3d_neutral = 1460 set servo_center_pulse = 1500 set servo_pwm_rate = 50 set servo_lpf_hz = 20 set flaperon_throw_offset = 250 set flaperon_throw_inverted = OFF set tri_unarmed_servo = ON set reboot_character = 82 set imu_dcm_kp = 2500 set imu_dcm_ki = 50 set imu_dcm_kp_mag = 10000 set imu_dcm_ki_mag = 0 set small_angle = 45 set fixed_wing_auto_arm = OFF set disarm_kill_switch = OFF set auto_disarm_delay = 5 set gps_provider = NAZA set gps_sbas_mode = WAAS set gps_dyn_model = AIR_1G set gps_auto_config = ON set gps_auto_baud = ON set gps_min_sats = 6 set deadband = 5 set yaw_deadband = 5 set pos_hold_deadband = 20 set alt_hold_deadband = 50 set 3d_deadband_throttle = 50 set inav_accz_unarmedcal = ON set inav_use_gps_velned = ON set inav_gps_delay = 200 set inav_reset_altitude = FIRST_ARM set inav_w_z_baro_p = 0.350 set inav_w_z_gps_p = 0.200 set inav_w_z_gps_v = 0.500 set inav_w_xy_gps_p = 1.000 set inav_w_xy_gps_v = 2.000 set inav_w_z_res_v = 0.500 set inav_w_xy_res_v = 0.500 set inav_w_acc_bias = 0.010 set inav_max_eph_epv = 1000.000 set inav_baro_epv = 100.000 set nav_disarm_on_landing = OFF set nav_use_midthr_for_althold = ON set nav_extra_arming_safety = ON set nav_user_control_mode = ATTI set nav_position_timeout = 5 set nav_wp_radius = 100 set nav_wp_safe_distance = 10000 set nav_max_speed = 900 set nav_max_climb_rate = 500 set nav_manual_speed = 500 set nav_manual_climb_rate = 200 set nav_landing_speed = 200 set nav_land_slowdown_minalt = 500 set nav_land_slowdown_maxalt = 2000 set nav_emerg_landing_speed = 500 set nav_min_rth_distance = 500 set nav_rth_climb_first = ON set nav_rth_climb_ignore_emerg = OFF set nav_rth_tail_first = OFF set nav_rth_allow_landing = ON set nav_rth_alt_mode = AT_LEAST set nav_rth_abort_threshold = 50000 set nav_rth_altitude = 1000 set nav_mc_bank_angle = 50 set nav_mc_hover_thr = 1400 set nav_mc_auto_disarm_delay = 2000 set nav_fw_cruise_thr = 1400 set nav_fw_min_thr = 1200 set nav_fw_max_thr = 1700 set nav_fw_bank_angle = 20 set nav_fw_climb_angle = 20 set nav_fw_dive_angle = 15 set nav_fw_pitch2thr = 10 set nav_fw_roll2pitch = 75 set nav_fw_loiter_radius = 5000 set nav_fw_launch_velocity = 300 set nav_fw_launch_accel = 1863 set nav_fw_launch_detect_time = 40 set nav_fw_launch_thr = 1700 set nav_fw_launch_idle_thr = 1000 set nav_fw_launch_motor_delay = 500 set nav_fw_launch_spinup_time = 100 set nav_fw_launch_timeout = 5000 set nav_fw_launch_climb_angle = 18 set telemetry_switch = OFF set telemetry_inversion = OFF set frsky_default_lattitude = 0.000 set frsky_default_longitude = 0.000 set frsky_coordinates_format = 0 set frsky_unit = IMPERIAL set frsky_vfas_precision = 0 set frsky_vfas_cell_voltage = OFF set hott_alarm_sound_interval = 5 set ibus_telemetry_type = 0 set i2c_overclock = OFF set debug_mode = NONE set throttle_tilt_comp_str = 0 set input_filtering_mode = OFF set mode_range_logic_operator = OR profile 1

set mc_p_pitch = 75 set mc_i_pitch = 30 set mc_d_pitch = 18 set mc_p_roll = 75 set mc_i_roll = 30 set mc_d_roll = 18 set mc_p_yaw = 85 set mc_i_yaw = 45 set mc_d_yaw = 0 set mc_p_level = 20 set mc_i_level = 15 set mc_d_level = 75 set fw_p_pitch = 20 set fw_i_pitch = 35 set fw_ff_pitch = 10 set fw_p_roll = 25 set fw_i_roll = 35 set fw_ff_roll = 10 set fw_p_yaw = 50 set fw_i_yaw = 45 set fw_ff_yaw = 0 set fw_p_level = 20 set fw_i_level = 15 set fw_d_level = 75 set max_angle_inclination_rll = 500 set max_angle_inclination_pit = 500 set dterm_lpf_hz = 40 set yaw_lpf_hz = 30 set dterm_setpoint_weight = 0.000 set fw_iterm_throw_limit = 165 set pidsum_limit = 500 set yaw_p_limit = 300 set iterm_ignore_threshold = 200 set yaw_iterm_ignore_threshold = 50 set rate_accel_limit_roll_pitch = 400 set rate_accel_limit_yaw = 180 set nav_mc_pos_z_p = 50 set nav_mc_pos_z_i = 0 set nav_mc_pos_z_d = 0 set nav_mc_vel_z_p = 100 set nav_mc_vel_z_i = 50 set nav_mc_vel_z_d = 10 set nav_mc_pos_xy_p = 65 set nav_mc_pos_xy_i = 120 set nav_mc_pos_xy_d = 10 set nav_mc_vel_xy_p = 180 set nav_mc_vel_xy_i = 15 set nav_mc_vel_xy_d = 100 set nav_fw_pos_z_p = 50 set nav_fw_pos_z_i = 0 set nav_fw_pos_z_d = 0 set nav_fw_pos_xy_p = 75 set nav_fw_pos_xy_i = 5 set nav_fw_pos_xy_d = 8 set rc_expo = 70 set rc_yaw_expo = 20 set thr_mid = 50 set thr_expo = 0 set roll_rate = 40 set pitch_rate = 40 set yaw_rate = 20 set tpa_rate = 0 set tpa_breakpoint = 1500

`

[digitalentity]

Don't have a NAZA GPS to verify. @sambas IIRC you own a DJI GPS module - can you please confirm?

[sambas]

I can't reproduce this with my GPS. Issue sure is valid as friend of mine had this also. There might be some variation with message timings on cheaper and more expensive modules. He had the cheaper clone: http://www.banggood.com/Ublox-M8N-GPS-Compatible-with-DJI-NAZA-Lite-V1-V2-Flight-Controller-Phantom-1-2-Vision-p-991718.html I have: http://www.banggood.com/FFOSD-G2-M8N-GPS-Compass-Module-For-DJI-NAZA-M-V2-LITE-Flight-Control-p-979718.html

[digitalentity]

For NAZA GPS we log an error if packet length is too big (>256 bytes) or checksum error. I'm almost certain this is related to GPS module itself, still need to figure out what it is sending

[OlivierC-FR]

I have a genuine DJI Naza GPS, plugged on a SPRF3, and get zero errors. http://i.imgur.com/juIcYms.jpg

[digitalentity]

So, probably a hardware issue. If that GPS (with errors) is in fact working fine - actual failing hardware will be required to troubleshoot.

[dbechth]

The one I have is a cheap clone from ebay that looks much like the first link mentioned by @sambas. I have been searching around and found this . I'm thinking that this could be what is going on in my case. I will take a look at some raw data tonight and confirm.

[digitalentity]

@dbechth great! Let us know what you find.

[dbechth]

GPS stopped communicating during testing but ublox chip still sending data. Closing this issue because I believe the issue to be with the cheap GPS and not iNav.