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UBLOX8 did not support new message and used old configuratoin interface.

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Provide alternative way of setting message rates in case firmware is too
old.

Try to enable NAV_SIG but fallback to NAV_SAT.

TODO: fill nav sat info into satelites

Current status of GPS debug counters
0: NAV_SIG count
1: MSG_PVT count
2: MSG_SAT count
3:
4:
5: flags.pvt
6: flags.sat
7: flags.sig
This commit is contained in:
Marcelo Bezerra 2024-06-26 11:46:36 +02:00
parent 19a4fc3cdc
commit bab841c83d
No known key found for this signature in database
GPG key ID: 718A5AC065848530
3 changed files with 79 additions and 15 deletions
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4
src/main/fc/cli.c
View file

@ -4386,8 +4386,8 @@ static const char *_ubloxGetQuality(uint8_t quality)
static void cliUbloxPrintSatelites(char *arg)
{
UNUSED(arg);
if(!isGpsUblox()) {
cliPrint("GPS is not UBLOX");
if(!isGpsUblox() /*|| !(gpsState.flags.sig || gpsState.flags.sat)*/) {
cliPrint("GPS is not UBLOX or does not report satelites.");
return;
}

6
src/main/io/gps_private.h
View file

@ -50,6 +50,12 @@ typedef struct {
gpsBaudRate_e baudrateIndex;
gpsBaudRate_e autoBaudrateIndex; // Driver internal use (for autoBaud)
uint8_t autoConfigStep; // Driver internal use (for autoConfig)
struct
{
uint8_t pvt : 1;
uint8_t sig : 1;
uint8_t sat : 1;
} flags;
timeMs_t lastStateSwitchMs;
timeMs_t lastLastMessageMs;

84
src/main/io/gps_ublox.c
View file

@ -696,7 +696,10 @@ static bool gpsParseFrameUBLOX(void)
if (_class == CLASS_NAV) {
static int satInfoCount = 0;
DEBUG_SET(DEBUG_GPS, 2, satInfoCount++);
gpsSolDRV.numSat = _buffer.svinfo.numCh;
if (!gpsState.flags.pvt) { // PVT is the prefered source
gpsSolDRV.numSat = _buffer.svinfo.numCh;
}
// TODO: populate satelites[] with sat info
}
break;
case MSG_SIG_INFO:
@ -888,19 +891,59 @@ STATIC_PROTOTHREAD(gpsConfigure)
gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
// M9N & M10 does not support some of the UBX 6/7/8 messages, so we have to configure it using special sequence
if (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX9 || gpsState.swVersionMajor > 23 || (gpsState.swVersionMajor == 23 && gpsState.swVersionMinor >=1)) { // > 23.01, don't use configureMSG
ubx_config_data8_payload_t rateValues[] = {
{UBLOX_CFG_MSGOUT_NAV_POSLLH_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_STATUS_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_VELNED_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_TIMEUTC_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_PVT_UART1, 1},
{UBLOX_CFG_MSGOUT_NAV_SAT_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_SIG_UART1, 1},
};
if (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX9) {
// > 23.01, don't use configureMSG
if (gpsState.swVersionMajor > 23 || (gpsState.swVersionMajor == 23 && gpsState.swVersionMinor >= 1)) {
ubx_config_data8_payload_t rateValues[] = {
{UBLOX_CFG_MSGOUT_NAV_POSLLH_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_STATUS_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_VELNED_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_TIMEUTC_UART1, 0},
{UBLOX_CFG_MSGOUT_NAV_PVT_UART1, 1},
{UBLOX_CFG_MSGOUT_NAV_SIG_UART1, 1},
{UBLOX_CFG_MSGOUT_NAV_SAT_UART1, 0},
};
ubloxSendSetCfgBytes(rateValues, 7);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
ubloxSendSetCfgBytes(rateValues, 5);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
gpsState.flags.pvt = _ack_state == UBX_ACK_GOT_ACK;
// Try to enable SIG
ubloxSendSetCfgBytes(rateValues+5, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
gpsState.flags.sig = _ack_state == UBX_ACK_GOT_ACK;
// Try to enable SAT if SIG fails
rateValues[6].value = gpsState.flags.sig ? 0 : 1;
ubloxSendSetCfgBytes(rateValues+6, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
gpsState.flags.sat = _ack_state == UBX_ACK_GOT_ACK ? rateValues[6].value : 0;
} else {
configureMSG(MSG_CLASS_UBX, MSG_POSLLH, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_STATUS, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_VELNED, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_TIMEUTC, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
gpsState.flags.pvt = _ack_state == UBX_ACK_GOT_ACK;
configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
gpsState.flags.sat = 0;
configureMSG(MSG_CLASS_UBX, MSG_SIG_INFO, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK);
gpsState.flags.sig = _ack_state == UBX_ACK_GOT_ACK;
}
if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
@ -936,10 +979,21 @@ STATIC_PROTOTHREAD(gpsConfigure)
configureMSG(MSG_CLASS_UBX, MSG_PVT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
gpsState.flags.pvt = _ack_state == UBX_ACK_GOT_ACK;
configureMSG(MSG_CLASS_UBX, MSG_SVINFO, 0);
ptWait(_ack_state == UBX_ACK_GOT_ACK);
// Needed for satelite information on older devices
configureMSG(MSG_CLASS_UBX, MSG_NAV_SAT, 1);
ptWait(_ack_state == UBX_ACK_GOT_ACK ||
_ack_state == UBX_ACK_GOT_NAK);
if (_ack_state == UBX_ACK_GOT_ACK) {
gpsState.flags.sat = 1;
} else {
gpsState.flags.sat = 0;
}
if ((gpsState.gpsConfig->provider == GPS_UBLOX7PLUS) && (gpsState.hwVersion >= UBX_HW_VERSION_UBLOX7)) {
configureRATE(hz2rate(gpsState.gpsConfig->ubloxNavHz)); // default 10Hz
}
@ -984,6 +1038,10 @@ STATIC_PROTOTHREAD(gpsConfigure)
}
}
DEBUG_SET(DEBUG_GPS, 5, gpsState.flags.pvt);
DEBUG_SET(DEBUG_GPS, 6, gpsState.flags.sat);
DEBUG_SET(DEBUG_GPS, 7, gpsState.flags.sig);
// Configure SBAS
// If particular SBAS setting is not supported by the hardware we'll get a NAK,
// however GPS would be functional. We are waiting for any response - ACK/NACK