@nuallaino , we are continuing to investigate the GPS signal issues and found that sometimes the wifi module (Alpha networks), located right under the GPS receiver, can create interference with the GPS unit.
Please try a workaround by disconnecting the wifi dongle from the M0141 usb adapter board and use a usb extension cable to move the wifi dongle from under the gps receiver. You don't have to mount the cable to the drone just for this test.
Also, you can do a quick test by disabling USB power (which will turn off the wifi dongle) using the following command on VOXL2. You will need an ADB connection to check the GPS status if wifi is disabled.
pin GPIO_157 controls VBUS, which is USB power on VOXL2 to disable, run voxl-gpio write 157 0 to enable, run voxl-gpio write 157 1Please let us know if these tests show positive results.
Alex