GPS: report what the receiver actually has, and allow NavIC where it exists

docs/Settings.md

@@ -2013,6 +2013,16 @@ Enable use of Glonass satellites. This is at the expense of other regional const
 
 ---
 
+### gps_ublox_use_navic
+
+Enable use of NavIC satellites, the Indian regional system, on receivers that have it, such as the u-blox F10. They are only visible over India and the region around it. Receivers without NavIC ignore this setting [OFF/ON].
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### ground_test_mode
 
 For developer ground test use. Disables motors, sets heading status = Trusted on FW.

docs/development/msp/README.md

@@ -2323,6 +2323,12 @@ When the MSP JSON specification changes, bump `msp_messages.json` version:
 | `eph` | `uint16_t` | 2 | cm | Estimated Horizontal Position Accuracy (`gpsSol.eph`) |
 | `epv` | `uint16_t` | 2 | cm | Estimated Vertical Position Accuracy (`gpsSol.epv`) |
 | `hwVersion` | `uint8_t` | 1 | - | GPS hardware version bit-field: bits[7:6]=series (0b01=u-blox Neo/M), bits[5:0]=generation. E.g. 0x48=M8, 0x49=M9, 0x4A=M10, 0=unknown. |
+| `supportedGnss` | `uint8_t` | 1 | Bitmask | Bitmask: major constellations the receiver reports in UBX-MON-GNSS: Bit 0=GPS, Bit 1=GLONASS, Bit 2=BeiDou, Bit 3=Galileo. 0 if the receiver has not reported them, or the provider is not u-blox |
+| `enabledGnss` | `uint8_t` | 1 | Bitmask | Bitmask: which of those constellations the receiver says are running. Same bit order as `supportedGnss` |
+| `extendedGnss` | `uint8_t` | 1 | Bitmask | Bitmask: augmentation and regional systems listed in the UBX-MON-VER extensions, which UBX-MON-GNSS does not carry: Bit 0=SBAS, Bit 1=QZSS, Bit 2=NavIC |
+| `maxGnss` | `uint8_t` | 1 | Count | How many major constellations the receiver can track at the same time, as reported by UBX-MON-GNSS. 0 if unknown |
+| `moduleNameLength` | `uint8_t` | 1 | - | Length of the module name string that follows. 0 if the receiver does not report one |
+| `moduleName` | `char[]` | array | - | Module name as the receiver reports it in the UBX-MON-VER extensions (e.g., "NEO-M10N"). Length given by previous field |
 
 **Notes:** Requires `USE_GPS`.
 

docs/development/msp/msp_messages.json

@@ -1,7 +1,7 @@
 {
     "version": {
         "major": 2,
-        "minor": 1,
+        "minor": 2,
         "patch": 0
     },
     "messages": {
@@ -4923,6 +4923,47 @@
                         "ctype": "uint8_t",
                         "desc": "GPS hardware version bit-field: bits[7:6]=series (0b01=u-blox Neo/M), bits[5:0]=generation. E.g. 0x48=M8, 0x49=M9, 0x4A=M10, 0=unknown.",
                         "units": ""
+                    },
+                    {
+                        "name": "supportedGnss",
+                        "ctype": "uint8_t",
+                        "desc": "Bitmask: major constellations the receiver reports in UBX-MON-GNSS: Bit 0=GPS, Bit 1=GLONASS, Bit 2=BeiDou, Bit 3=Galileo. 0 if the receiver has not reported them, or the provider is not u-blox",
+                        "units": "Bitmask",
+                        "bitmask": true
+                    },
+                    {
+                        "name": "enabledGnss",
+                        "ctype": "uint8_t",
+                        "desc": "Bitmask: which of those constellations the receiver says are running. Same bit order as `supportedGnss`",
+                        "units": "Bitmask",
+                        "bitmask": true
+                    },
+                    {
+                        "name": "extendedGnss",
+                        "ctype": "uint8_t",
+                        "desc": "Bitmask: augmentation and regional systems listed in the UBX-MON-VER extensions, which UBX-MON-GNSS does not carry: Bit 0=SBAS, Bit 1=QZSS, Bit 2=NavIC",
+                        "units": "Bitmask",
+                        "bitmask": true
+                    },
+                    {
+                        "name": "maxGnss",
+                        "ctype": "uint8_t",
+                        "desc": "How many major constellations the receiver can track at the same time, as reported by UBX-MON-GNSS. 0 if unknown",
+                        "units": "Count"
+                    },
+                    {
+                        "name": "moduleNameLength",
+                        "ctype": "uint8_t",
+                        "desc": "Length of the module name string that follows. 0 if the receiver does not report one",
+                        "units": ""
+                    },
+                    {
+                        "name": "moduleName",
+                        "desc": "Module name as the receiver reports it in the UBX-MON-VER extensions (e.g., \"NEO-M10N\"). Length given by previous field",
+                        "ctype": "char",
+                        "array": true,
+                        "array_size": 0,
+                        "units": ""
                     }
                 ]
             },

src/main/fc/fc_msp.c

@@ -1069,6 +1069,22 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
         sbufWriteU16(dst, gpsSol.eph);
         sbufWriteU16(dst, gpsSol.epv);
         sbufWriteU8(dst, gpsState.hwVersion);
+        // Which constellations the receiver has, and which of them are running, so the
+        // configurator can stop offering the ones that are not there. Zero means unknown
+        sbufWriteU8(dst, isGpsUblox() ? gpsUbloxSupportedGnss() : 0);
+        sbufWriteU8(dst, isGpsUblox() ? gpsUbloxEnabledGnss() : 0);
+        // SBAS, QZSS and NavIC, which MON-GNSS does not report, and how many major
+        // constellations the receiver can run at once
+        sbufWriteU8(dst, isGpsUblox() ? gpsUbloxExtendedGnss() : 0);
+        sbufWriteU8(dst, isGpsUblox() ? gpsUbloxMaxGnss() : 0);
+        // The module's own name, as it reports it, so the configurator can say which
+        // receiver this is instead of guessing from the hardware version
+        {
+            const char * module = isGpsUblox() ? gpsUbloxModuleName() : "";
+            const uint8_t len = strlen(module);
+            sbufWriteU8(dst, len);
+            sbufWriteData(dst, module, len);
+        }
         break;
 #endif
     case MSP2_ADSB_VEHICLE_LIST:

src/main/fc/settings.yaml

@@ -1840,6 +1840,11 @@ groups:
         default_value: OFF
         field: ubloxUseGlonass
         type: bool
+      - name: gps_ublox_use_navic
+        description: "Enable use of NavIC satellites, the Indian regional system, on receivers that have it, such as the u-blox F10. They are only visible over India and the region around it. Receivers without NavIC ignore this setting [OFF/ON]."
+        default_value: OFF
+        field: ubloxUseNavic
+        type: bool
       - name: gps_min_sats
         description: "Minimum number of GPS satellites in view to acquire GPS_FIX and consider GPS position valid. Some GPS receivers appeared to be very inaccurate with low satellite count."
         default_value: 6

src/main/io/gps.c

@@ -146,7 +146,8 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT,
     .ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT,
     .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT,
-    .autoBaudMax = SETTING_GPS_AUTO_BAUD_MAX_SUPPORTED_DEFAULT
+    .autoBaudMax = SETTING_GPS_AUTO_BAUD_MAX_SUPPORTED_DEFAULT,
+    .ubloxUseNavic = SETTING_GPS_UBLOX_USE_NAVIC_DEFAULT
 );
 
 int gpsBaudRateToInt(gpsBaudRate_e baudrate)

src/main/io/gps.h

@@ -106,6 +106,7 @@ typedef struct gpsConfig_s {
     uint8_t gpsMinSats;
     uint8_t ubloxNavHz;
     gpsBaudRate_e autoBaudMax;
+    bool ubloxUseNavic;
 } gpsConfig_t;
 
 PG_DECLARE(gpsConfig_t, gpsConfig);

src/main/io/gps_ublox.c

@@ -87,6 +87,12 @@ static const char * baudInitDataNMEA[GPS_BAUDRATE_COUNT] = {
 
 static ubx_nav_sig_info satelites[UBLOX_MAX_SIGNALS] = {};
 
+// The module name from the MON-VER extensions, as in MOD=NEO-F10N. Empty when not reported
+static char ubxModuleName[UBLOX_MODULE_NAME_LEN] = "";
+
+// SBAS, QZSS and NavIC, which the receiver lists in MON-VER but not in MON-GNSS
+static uint8_t ubxExtendedGnss = 0;
+
 // MON-RF noise value (noisePerMS) reported by UBX-MON-RF as U2 at payload offset 0x10
 static uint16_t monRfNoisePerMs = 0;
 static uint16_t monAgcCount = 0;
@@ -215,6 +221,27 @@ uint8_t gpsUbloxMaxGnss(void)
     return ubx_capabilities.capMaxGnss;
 }
 
+// The MON-GNSS masks as the receiver reports them: bit 0 GPS, 1 Glonass, 2 Beidou, 3 Galileo
+uint8_t gpsUbloxSupportedGnss(void)
+{
+    return ubx_capabilities.supported;
+}
+
+uint8_t gpsUbloxEnabledGnss(void)
+{
+    return ubx_capabilities.enabledGnss;
+}
+
+const char * gpsUbloxModuleName(void)
+{
+    return ubxModuleName;
+}
+
+uint8_t gpsUbloxExtendedGnss(void)
+{
+    return ubxExtendedGnss;
+}
+
 timeMs_t gpsUbloxCapLastUpdate(void)
 {
     return gpsState.lastCapaUpdMs;
@@ -445,6 +472,18 @@ static int configureGNSS_GLONASS(ubx_gnss_element_t * gnss_block)
     return 1;
 }
 
+// NavIC goes out on its own. Its keys exist only on receivers that have it, and
+// one key a receiver does not know makes it refuse the whole message
+static void configureNAVIC(void)
+{
+    ubx_config_data8_payload_t navicValues[] = {
+        {UBLOX_CFG_NAVIC_ENA, gpsState.gpsConfig->ubloxUseNavic},
+        {UBLOX_CFG_NAVIC_L5_ENA, gpsState.gpsConfig->ubloxUseNavic}
+    };
+
+    ubloxSendSetCfgBytes(navicValues, 2);
+}
+
 static void configureGNSS10(void)
 {
         ubx_config_data8_payload_t gnssConfigValues[] = {
@@ -765,6 +804,31 @@ static bool gpsParseFrameUBLOX(void)
                         break;
                     }
                 }
+
+                // Whole extensions only: a frame whose length is not a round number
+                // of them would have its last line read past the payload
+                for (int j = 40; j + 30 <= _payload_length; j += 30) {
+                    const char * line = (const char *)(_buffer.bytes + j);
+
+                    const char * mod = strnstr(line, "MOD=", 30);
+                    if (mod) {
+                        const char * name = mod + 4;
+                        const size_t room = (size_t)(line + 30 - name);
+                        strncpy(ubxModuleName, name, MIN(room, (size_t)(UBLOX_MODULE_NAME_LEN - 1)));
+                        ubxModuleName[UBLOX_MODULE_NAME_LEN - 1] = '\0';
+                    }
+
+                    // The augmentation and regional systems, which MON-GNSS does not carry
+                    if (strnstr(line, "SBAS", 30)) {
+                        ubxExtendedGnss |= UBLOX_EXT_GNSS_SBAS;
+                    }
+                    if (strnstr(line, "QZSS", 30)) {
+                        ubxExtendedGnss |= UBLOX_EXT_GNSS_QZSS;
+                    }
+                    if (strnstr(line, "NAVIC", 30)) {
+                        ubxExtendedGnss |= UBLOX_EXT_GNSS_NAVIC;
+                    }
+                }
             }
         }
         break;
@@ -1171,6 +1235,14 @@ STATIC_PROTOTHREAD(gpsConfigure)
             gpsConfigMutable()->ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT;
             gpsConfigMutable()->ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT;
         }
+
+        // Only a receiver that lists NavIC gets its keys, and only through the
+        // configuration interface, which is where those keys live
+        if (ubloxVersionGT(23, 1) && (ubxExtendedGnss & UBLOX_EXT_GNSS_NAVIC)) {
+            gpsSetProtocolTimeout(GPS_SHORT_TIMEOUT);
+            configureNAVIC();
+            ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
+        }
     }
 
 	for(int i = 0; i < UBLOX_MAX_SIGNALS; ++i)
@@ -1250,6 +1322,8 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
 
     // Attempt to detect GPS hw version
     gpsState.hwVersion = UBX_HW_VERSION_UNKNOWN;
+    ubxModuleName[0] = '\0';
+    ubxExtendedGnss = 0;
     gpsState.autoConfigStep = 0;
 
     // Configure GPS module if enabled
@@ -1261,7 +1335,10 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         } while(gpsState.autoConfigStep < GPS_VERSION_RETRY_TIMES && gpsState.hwVersion == UBX_HW_VERSION_UNKNOWN);
 
         gpsState.autoConfigStep = 0;
+        // The limit goes with them: left over from a receiver that has been swapped out
+        // it would end the poll below before the new one has answered
         ubx_capabilities.supported = ubx_capabilities.enabledGnss = ubx_capabilities.defaultGnss = 0;
+        ubx_capabilities.capMaxGnss = 0;
         // M7 and earlier will never get pass this step, so skip it (#9440).
         // UBLOX documents that this is M8N and later
         if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX7) {

src/main/io/gps_ublox.h

@@ -119,6 +119,10 @@ STATIC_ASSERT(MAX_UBLOX_PAYLOAD_SIZE >= 256, ubx_size_too_small);
 #define UBLOX_CFG_GLO_ENA               0x10310025 // U1 default off - may conflict with other constelations
 #define UBLOX_CFG_GLO_L1_ENA            0x10310018 // U1 default off
 
+// Only on receivers that list NAVIC in their MON-VER extensions, such as the F10
+#define UBLOX_CFG_NAVIC_ENA             0x10310026 // U1 default off
+#define UBLOX_CFG_NAVIC_L5_ENA          0x1031001d // U1 default off
+
 #define UBLOX_CFG_SBAS_PRNSCANMASK      0x50360006 // 0 = auto // X8
 #define UBLOX_SBAS_ALL                  0x0000000000000000 //Enable search for all SBAS PRNs
 #define UBLOX_SBAS_PRN120               0x0000000000000001 //Enable search for SBAS PRN120
@@ -535,7 +539,21 @@ typedef enum {
     NAV_STATUS_FIX_VALID = 1
 } ubx_nav_status_bits_t;
 
+// Long enough for the names u-blox ships, such as NEO-F10N and ZED-F9P
+#define UBLOX_MODULE_NAME_LEN 16
+
+/* The augmentation and regional systems a receiver lists in its MON-VER extensions.
+ * UBX-MON-GNSS only reports the four major constellations, so these come from the
+ * version strings instead, where the list reads SBAS;QZSS and NAVIC. */
+#define UBLOX_EXT_GNSS_SBAS     (1 << 0)
+#define UBLOX_EXT_GNSS_QZSS     (1 << 1)
+#define UBLOX_EXT_GNSS_NAVIC    (1 << 2)
+
 uint8_t gpsUbloxMaxGnss(void);
+uint8_t gpsUbloxSupportedGnss(void);
+uint8_t gpsUbloxEnabledGnss(void);
+const char * gpsUbloxModuleName(void);
+uint8_t gpsUbloxExtendedGnss(void);
 timeMs_t gpsUbloxCapLastUpdate(void);
 
 bool gpsUbloxHasGalileo(void);