BLE high frequency of disconnects

[bendauphinee]

Subject of the issue

Over 8 hours yesterday, I ran a survey with the new 4.0 firmware. I've had occasional disconnects before, but the new version seems particularly unstable, with well over 50 disconnects over the course of my day. After adjusting the update frequency down from 0.25 sec to 0.33 sec, it seemed to stabilize some, but still had issues.

I tried noticing a pattern, but there was none apparent, with disconnects happening because of:

• moving too fast in a high clutter area (forest survey)
• existing in a non-clutter area (a field)
• tilting it away from the sky (random)
• walking too fast
• random random (I noticed a pattern where when surveying a point, the vertical accuracy would start dropping slowly, then disconnect)

I guess maybe as a first step, if y'all count either generate a build to log whatever data you might need to diagnose this, or tell me what to turn on to log it to SD card, we can start there. I have another long survey run this next weekend likely, so it would be a good time to do this.

Your workbench

• RTK firmware: 4.0
• ZED-F9P firmware: HPG 1.32
• Radios in use: Bluetooth / BLE mode
• Software: SW Maps / iPhone
• Transmitting NTRIP back to the device? Yes