Can a defendant appeal from a conviction on a plea of guilty or no contest?

"Under section 1237.5, a defendant may appeal from a conviction on a plea of guilty or no contest only on grounds going to the legality of the proceedings; such a plea precludes appellate consideration of issues related to guilt or innocence, including the sufficiency of the evidence to support the conviction." (People v. Palmer (2013) 58 Cal.4th 110, 114.) "The purpose of the factual basis requirement is to help ensure that the constitutional standards of voluntariness and intelligence are met." (Id. at p. 118.)