Is that OK for GPS running at 4Hz

When I was working on some NAV problem, I noticed that My 6M-U-Blox GPS is working at 4Hz.

Is that OK?

Is the controller will automatic configure the GPS?

Should I change it to 5Hz?

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Navigation system ask copter violent shaking when Guided just started.

APM is working good for me, Loiter Mode no problem, no problem to RTL Mode. But when RTL is actived, the aircraft will be slightly Sway (No Heading control when fly to the home.).

Today when I try "Fly to here". After I click "Fly to here", the aircra

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