Merge pull request #9219 from iNavFlight/mmosca-gps-autobaud-more-speeds

Restore autobaud for m8 gps

docs/Settings.md

@@ -1372,6 +1372,16 @@ Automatic configuration of GPS baudrate(The specified baudrate in configured in
 
 ---
 
+### gps_auto_baud_max_supported
+
+Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 230400 |  |  |
+
+---
+
 ### gps_auto_config
 
 Enable automatic configuration of UBlox GPS receivers.

src/main/fc/settings.yaml

@@ -190,6 +190,9 @@ tables:
   - name: nav_fw_wp_turn_smoothing
     values: ["OFF", "ON", "ON-CUT"]
     enum: wpFwTurnSmoothing_e
+  - name: gps_auto_baud_max
+    values: [ '115200', '57600', '38400', '19200', '9600', '230400', '460800', '921600']
+    enum: gpsBaudRate_e
 
 constants:
   RPYL_PID_MIN: 0
@@ -1501,6 +1504,7 @@ groups:
         min: 1
         max: 3000
   - name: PG_GPS_CONFIG
+    headers: [ "io/gps.h" ]
     type: gpsConfig_t
     condition: USE_GPS
     members:
@@ -1532,6 +1536,12 @@ groups:
         default_value: ON
         field: autoBaud
         type: bool
+      - name: gps_auto_baud_max_supported
+        description: "Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0"
+        default_value: "230400"
+        table: gps_auto_baud_max
+        field: autoBaudMax
+        type: uint8_t
       - name: gps_ublox_use_galileo
         description: "Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]."
         default_value: OFF

src/main/io/gps.c

@@ -113,7 +113,7 @@ static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
 
 };
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 4);
 
 PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .provider = SETTING_GPS_PROVIDER_DEFAULT,
@@ -125,13 +125,13 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .ubloxUseGalileo = SETTING_GPS_UBLOX_USE_GALILEO_DEFAULT,
     .ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT,
     .ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT,
-    .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT
+    .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT,
+    .autoBaudMax = SETTING_GPS_AUTO_BAUD_MAX_SUPPORTED_DEFAULT
 );
 
-
-int getGpsBaudrate(void)
+int gpsBaudRateToInt(gpsBaudRate_e baudrate)
 {
-    switch(gpsState.baudrateIndex)
+    switch(baudrate)
     {
         case GPS_BAUDRATE_115200:
             return 115200;
@@ -154,6 +154,11 @@ int getGpsBaudrate(void)
     }
 }
 
+int getGpsBaudrate(void)
+{
+    return gpsBaudRateToInt(gpsState.baudrateIndex);
+}
+
 const char *getGpsHwVersion(void)
 {
     switch(gpsState.hwVersion)

src/main/io/gps.h

@@ -99,6 +99,7 @@ typedef struct gpsConfig_s {
     bool ubloxUseGlonass;
     uint8_t gpsMinSats;
     uint8_t ubloxNavHz;
+    gpsBaudRate_e autoBaudMax;
 } gpsConfig_t;
 
 PG_DECLARE(gpsConfig_t, gpsConfig);
@@ -175,6 +176,7 @@ uint8_t getGpsProtoMajorVersion(void);
 uint8_t getGpsProtoMinorVersion(void);
 
 int getGpsBaudrate(void);
+int gpsBaudRateToInt(gpsBaudRate_e baudrate);
 
 #if defined(USE_GPS_FAKE)
 void gpsFakeSet(

src/main/io/gps_ublox.c

@@ -997,6 +997,11 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         // Try sending baud rate switch command at all common baud rates
         gpsSetProtocolTimeout((GPS_BAUD_CHANGE_DELAY + 50) * (GPS_BAUDRATE_COUNT));
         for (gpsState.autoBaudrateIndex = 0; gpsState.autoBaudrateIndex < GPS_BAUDRATE_COUNT; gpsState.autoBaudrateIndex++) {
+            if (gpsBaudRateToInt(gpsState.autoBaudrateIndex) > gpsBaudRateToInt(gpsState.gpsConfig->autoBaudMax)) {
+                // trying higher baud rates fails on m8 gps
+                // autoBaudRateIndex is not sorted by baud rate
+                continue;
+            }
             // 2. Set serial port to baud rate and send an $UBX command to switch the baud rate specified by portConfig [baudrateIndex]
             serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.autoBaudrateIndex]]);
             serialPrint(gpsState.gpsPort, baudInitDataNMEA[gpsState.baudrateIndex]);