Fix arming when GPS included in build but no active GNSS device attached + revert msp request for SatInfo (#13244)

* Fix arming when GPS included in build but not active

* Fixes per review from Chris

* Move PG change to new PR

* Restore changing GPS PG version

src/main/config/config.c

@@ -484,9 +484,6 @@ if (systemConfig()->configurationState == CONFIGURATION_STATE_UNCONFIGURED) {
 #ifdef USE_DASHBOARD
     featureEnableImmediate(FEATURE_DASHBOARD);
 #endif
-#ifdef USE_GPS
-    featureEnableImmediate(FEATURE_GPS);
-#endif
 #ifdef USE_LED_STRIP
     featureEnableImmediate(FEATURE_LED_STRIP);
 #endif

src/main/fc/core.c

@@ -580,9 +580,10 @@ void tryArm(void)
         lastArmingDisabledReason = 0;
 
 #ifdef USE_GPS
-        GPS_reset_home_position();
         //beep to indicate arming
         if (featureIsEnabled(FEATURE_GPS)) {
+            GPS_reset_home_position();
+
             if (STATE(GPS_FIX) && gpsSol.numSat >= gpsRescueConfig()->minSats) {
                 beeper(BEEPER_ARMING_GPS_FIX);
             } else {

src/main/io/gps.c

@@ -329,9 +329,10 @@ typedef enum {
     UBLOX_MSG_STATUS,       // 15: set STATUS MSG rate
     UBLOX_MSG_VELNED,       // 16. set VELNED MSG rate
     UBLOX_MSG_DOP,          // 17. MSG_NAV_DOP
-    UBLOX_SET_NAV_RATE,     // 18. set to user requested GPS sample rate
+    UBLOX_SAT_INFO,         // 18. MSG_NAV_SAT message
-    UBLOX_MSG_CFG_GNSS,     // 19. For not SBAS or GALILEO
+    UBLOX_SET_NAV_RATE,     // 19. set to user requested GPS sample rate
-    UBLOX_CONFIG_COMPLETE   // 20. Config finished, start receiving data
+    UBLOX_MSG_CFG_GNSS,     // 20. For not SBAS or GALILEO
+    UBLOX_CONFIG_COMPLETE   // 21. Config finished, start receiving data
 } ubloxStatePosition_e;
 
 baudRate_e initBaudRateIndex;
@@ -366,16 +367,6 @@ static void logErrorToPacketLog(void)
 }
 #endif  // USE_DASHBOARD
 
-// Enable sat info using MSP request
-#ifdef USE_GPS_UBLOX
-void gpsRequestSatInfo(void)
-{
-    if (!ARMING_FLAG(ARMED)) {
-        setSatInfoMessageRate(5);
-    }
-}
-#endif
-
 static void gpsNewData(uint16_t c);
 #ifdef USE_GPS_NMEA
 static bool gpsNewFrameNMEA(char c);
@@ -1108,6 +1099,11 @@ void gpsConfigureUblox(void)
                 break;
             }
 
+            // Add delay to stabilize the connection
+            if (cmp32(gpsData.now, gpsData.state_ts) < 1000) {
+                return;
+            }
+    
             if (gpsData.ackState == UBLOX_ACK_IDLE) {
 
                 // short delay before between commands, including the first command
@@ -1232,6 +1228,10 @@ void gpsConfigureUblox(void)
                             ubloxSetMessageRate(CLASS_NAV, MSG_NAV_DOP, 1);
                         }
                         break;
+                    case UBLOX_SAT_INFO:
+                        // enable by default, turned off when armed and receiving data to reduce in-flight traffic
+                        setSatInfoMessageRate(5);
+                        break;
                     case UBLOX_SET_NAV_RATE:
                         // set the nav solution rate to the user's configured update rate
                         gpsData.updateRateHz = gpsConfig()->gps_update_rate_hz;
@@ -2559,7 +2559,7 @@ void GPS_reset_home_position(void)
 
 #ifdef USE_GPS_UBLOX
     // disable Sat Info requests on arming
-    if (ARMING_FLAG(ARMED)) {
+    if (gpsConfig()->provider == GPS_UBLOX) {
         setSatInfoMessageRate(0);
     }
 #endif

src/main/io/gps.h

@@ -381,7 +381,6 @@ extern uint32_t dashboardGpsNavSvInfoRcvCount;                  // Count of time
 
 #ifdef USE_GPS_UBLOX
 ubloxVersion_e ubloxParseVersion(const uint32_t version);
-void gpsRequestSatInfo(void);
 void setSatInfoMessageRate(uint8_t divisor);
 #endif
 

src/main/msp/msp.c

@@ -4052,12 +4052,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
         break;
 #endif
 
-#ifdef USE_GPS_UBLOX
-    case MSP2_UBLOX_REQUEST_SV_INFO:
-        gpsRequestSatInfo();
-        break;
-#endif
-
     default:
         // we do not know how to handle the (valid) message, indicate error MSP $M!
         return MSP_RESULT_ERROR;

src/main/msp/msp_protocol_v2_betaflight.h

@@ -29,7 +29,6 @@
 #define MSP2_GET_LED_STRIP_CONFIG_VALUES    0x3008
 #define MSP2_SET_LED_STRIP_CONFIG_VALUES    0x3009
 #define MSP2_SENSOR_CONFIG_ACTIVE           0x300A
-#define MSP2_UBLOX_REQUEST_SV_INFO          0x300B
 
 // MSP2_SET_TEXT and MSP2_GET_TEXT variable types
 #define MSP2TEXT_PILOT_NAME                      1

src/main/pg/gps.c

@@ -29,7 +29,7 @@
 
 #include "gps.h"
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 4);
+PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 3);
 
 PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .provider = GPS_UBLOX,