Add GPS Status Line to CLI Status Output (#12769)

* Add GPS status line to cli status output: connected status, UART + serial port baud + configured baud, configured status.

* Fixed unit test link fail.

* Really fixed unit test link fail (I hope).

* Really fixed unit test link fail (no really this time).

* Updated to address code reviews.

* Updated to address code reviews.

* Updated to address code reviews.

src/main/cli/cli.c

@@ -4731,6 +4731,45 @@ static void cliStatus(const char *cmdName, char *cmdline)
     }
 #endif
 
+#ifdef USE_GPS
+    cliPrint("GPS: ");
+    if (featureIsEnabled(FEATURE_GPS)) {
+        if (gpsIsHealthy()) {
+            cliPrint("connected, ");
+        } else {
+            cliPrint("NOT CONNECTED, ");
+        }
+        if (gpsConfig()->provider == GPS_MSP) {
+            cliPrint("MSP, ");
+        } else {
+            const serialPortConfig_t *gpsPortConfig = findSerialPortConfig(FUNCTION_GPS);
+            if (!gpsPortConfig) {
+                cliPrint("NO PORT, ");
+            } else {
+                cliPrintf("UART%d %ld (set to ", (gpsPortConfig->identifier + 1), baudRates[getGpsPortActualBaudRateIndex()]);
+                if (gpsConfig()->autoBaud == GPS_AUTOBAUD_ON) {
+                    cliPrint("AUTO");
+                } else {
+                    cliPrintf("%ld", baudRates[gpsPortConfig->gps_baudrateIndex]);
+                }
+                cliPrint("), ");
+            }
+        }
+        if (!gpsIsHealthy()) {
+            cliPrint("NOT CONFIGURED");
+        } else {
+            if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_OFF) {
+                cliPrint("auto config OFF");
+            } else {
+                cliPrint("configured");
+            }
+        }
+    } else {
+        cliPrint("NOT ENABLED");
+    }
+    cliPrintLinefeed();
+#endif // USE_GPS
+
     cliPrint("Arming disable flags:");
     armingDisableFlags_e flags = getArmingDisableFlags();
     while (flags) {

src/main/io/gps.c

@@ -1985,4 +1985,9 @@ float getGpsDataIntervalSeconds(void)
     return gpsDataIntervalSeconds;
 }
 
+baudRate_e getGpsPortActualBaudRateIndex(void)
+{
+    return lookupBaudRateIndex(serialGetBaudRate(gpsPort));
+}
+
 #endif // USE_GPS

src/main/io/gps.h

@@ -26,6 +26,8 @@
 #include "common/axis.h"
 #include "common/time.h"
 
+#include "io/serial.h"
+
 #include "pg/gps.h"
 
 #define GPS_DEGREES_DIVIDER 10000000L
@@ -219,3 +221,4 @@ void GPS_calc_longitude_scaling(int32_t lat);
 void GPS_distance_cm_bearing(int32_t *currentLat1, int32_t *currentLon1, int32_t *destinationLat2, int32_t *destinationLon2, uint32_t *dist, int32_t *bearing);
 void gpsSetFixState(bool state);
 float getGpsDataIntervalSeconds(void);
+baudRate_e getGpsPortActualBaudRateIndex(void);

src/test/unit/cli_unittest.cc

@@ -39,6 +39,7 @@ extern "C" {
     #include "flight/pid.h"
     #include "flight/servos.h"
     #include "io/beeper.h"
+    #include "io/gps.h"
     #include "io/ledstrip.h"
     #include "io/serial.h"
     #include "io/vtx.h"
@@ -48,6 +49,7 @@ extern "C" {
     #include "pg/pg.h"
     #include "pg/pg_ids.h"
     #include "pg/beeper.h"
+    #include "pg/gps.h"
     #include "pg/rx.h"
     #include "rx/rx.h"
     #include "scheduler/scheduler.h"
@@ -87,6 +89,7 @@ extern "C" {
     PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
     PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
     PG_REGISTER(gyroConfig_t, gyroConfig, PG_GYRO_CONFIG, 0);
+    PG_REGISTER(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 0);
 
     PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
 }
@@ -276,6 +279,9 @@ bool resetEEPROM(void) { return true; }
 void bufWriterFlush(bufWriter_t *) {}
 void mixerResetDisarmedMotors(void) {}
 void gpsEnablePassthrough(struct serialPort_s *) {}
+bool gpsIsHealthy(void) { return true; }
+baudRate_e getGpsPortActualBaudRateIndex(void) { return BAUD_AUTO; }
+
 bool parseLedStripConfig(int, const char *){return false; }
 const char rcChannelLetters[] = "AERT12345678abcdefgh";
 
@@ -293,6 +299,7 @@ serialPortConfig_t *serialFindPortConfigurationMutable(serialPortIdentifier_e) {
 baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
 serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
 serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) { return NULL; }
+const serialPortConfig_t *findSerialPortConfig(serialPortFunction_e) { return NULL; }
 void serialSetBaudRate(serialPort_t *, uint32_t) {}
 void serialSetMode(serialPort_t *, portMode_e) {}
 void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}