M10 ValSet support, unit connection and reconnect stability (#12799)

* WIP

* start of implement m10 code

* Fetch MON-VER from unit to check for unit version

* test nav5 m10 command

* missing empty lines

* offload detect to config file

* copy from hasli and organization

* fix platform.h include

* fix cli_unittest gps include

* fix cli_unittest for gps calls

* guard ublox version in gpsData

* print human readable hw version

* add utc_standard param and transfer with nav5 set
add nav5x message for autonomous mode for m10

* fix typo

* revert order structure, remove functions and reduce flash size

* revert order structure, remove functions and reduce flash size

* fix gps init and navx5 message

* generalized nav5 message

* remove unguarded debug

* change ubx version detection, baud rate negotiation fix and save found baud

* revert indentation

* revert indentation and refactorings

* the new code works with faster baud rate changes

* remove unguarded debug statement

* fix cli commands, major space reduce finished, removed extensions for now

* ubx version checks, add valset for M10

* beta of valset, change suggestions from ledvinap and macgivergim

* valset helper function and combine set nav rate valsets

* more valset refactoring

* remove big array and replace with macro

* remove assert, as it can stop bf completely

* refactoring to offsetof

* making reconnect more resilient, reorganize rate setup, so it doesnt get missed on init

* improved lost communcation detection, dont rely on ACK/NACK anymore

* paket rate debug

* adding debug mode, fixing major flight mode bug

* revert fake flight "isConfiguratorConnected"

* fixed proto detection, fixed reconfigure on too low updaterate

* valset doesnt always send ACK, so we dont wait for it

* size optimization, debug mode rename, minor fixes

* implemented some requested changes

* changed wait delay millisecond based

* fixes from ctzsnooze and zzXyz

* timer fixes

* CamelCase new settings names

* indent

* Fix failure to enter flight model on GPS Fix

* remove old commented out debugs

* simplify timeouts

* Clarify skip_acc and remove development valset code

* accept PL's advice to remove  >> (8 * 0

* Simplify package counter, remove reconfiguration based on packet count

* fix error in package count introduced in previous commit

* Fix delay detecting Configurator, ANA disable (for another PR)

* address payload comments and fix logical error

* indentation edits

* delete old enum

* log gps and firmware nav interval times

* fix payload size, inc Rx buffer to 256, ifDef for sw_proto

* remove token parsing (Petr suggestions)

* fixes from reviews

* Basic NMEA improvements

* Address comments from karate

* only check platform version - thanks zzyzx

* Fix for too many sats problem - thanks zzyzx

* tidy up comments, ifdef some ublox definitions

* Use Nav packet intervals, NMEA and UBX, for time delta

* Resolve comments and flatten conditionals

* editorial change

* single function for gpsSol.navIntervalMs

* adam-ah suggestion for payload optimisation

* ACK/NAK & polled message timer fixes

* Revert timer fixes - unexpected side effects

* Revert adam-ah suggestion for payload optimisation"

This reverts commit 42fc8c0.
Broke the display of sat info when more than 32 sats in view

* implement a number of comments

* Fast task rate on new data, don't spam at the start

thanks adam-ah

* include PDOP for M10 via NAV-PVT

* Address some of PL's recent comments

* don't recalculate millis so many times

* tidy up baudrate connect code

* Split receiving of GPS bytes from processing by adding GPS_STATE_PROCESS_DATA

* Split receiving of GPS bytes from processing by adding GPS_STATE_PROCESS_DATA

* Preserve state whilst processing packets

* Set gpsData.state directly as gpsSetState() clobbers gpsData.state_position

* Restore original read time check

* Schedule gpsUpdate() to run immediately again when a packet is received for processing

* add debugs to display scheduler valuesl

* simpler scheduler solution

* minor debug change

* FIxes: M10 connection, pDop, NMEA disable; thanks zzyxz

NB: Breaks unit's neat reconnection methods
M8 need a lot of settling time before using the serial port

* ubx parse length sanity + cleanup + dashboard conditional compiles

* Address recent comments from PL

---------

Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Co-authored-by: ZzyzxTek <zzyzx@zzyzxtek.com>
Co-authored-by: Steve Evans <Steve@SCEvans.com>

src/main/build/debug.c

@@ -104,6 +104,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "GPS_RESCUE_VELOCITY",
     "GPS_RESCUE_HEADING",
     "GPS_RESCUE_TRACKING",
+    "GPS_CONNECTION",
     "ATTITUDE",
     "VTX_MSP",
     "GPS_DOP",

src/main/build/debug.h

@@ -104,6 +104,7 @@ typedef enum {
     DEBUG_GPS_RESCUE_VELOCITY,
     DEBUG_GPS_RESCUE_HEADING,
     DEBUG_GPS_RESCUE_TRACKING,
+    DEBUG_GPS_CONNECTION,
     DEBUG_ATTITUDE,
     DEBUG_VTX_MSP,
     DEBUG_GPS_DOP,

src/main/cli/cli.c

@@ -4787,7 +4787,7 @@ if (buildKey) {
 #ifdef USE_GPS
     cliPrint("GPS: ");
     if (featureIsEnabled(FEATURE_GPS)) {
-        if (gpsIsHealthy()) {
+        if (gpsData.state >= GPS_STATE_CONFIGURE) {
             cliPrint("connected, ");
         } else {
             cliPrint("NOT CONNECTED, ");
@@ -4808,7 +4808,7 @@ if (buildKey) {
                 cliPrint("), ");
             }
         }
-        if (!gpsIsHealthy()) {
+        if (gpsData.state <= GPS_STATE_CONFIGURE) {
             cliPrint("NOT CONFIGURED");
         } else {
             if (gpsConfig()->autoConfig == GPS_AUTOCONFIG_OFF) {
@@ -4817,6 +4817,12 @@ if (buildKey) {
                 cliPrint("configured");
             }
         }
+        if (gpsData.platformVersion != UBX_VERSION_UNDEF) {
+            cliPrint(", version = ");
+            cliPrintf("%s", ubloxVersionMap[gpsData.platformVersion].str);
+        } else {
+            cliPrint("unknown");
+        }
     } else {
         cliPrint("NOT ENABLED");
     }
@@ -4864,15 +4870,15 @@ static void cliTasks(const char *cmdName, char *cmdline)
             if (systemConfig()->task_statistics) {
 #if defined(USE_LATE_TASK_STATISTICS)
                 cliPrintLinef("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d %6d %6d %7d",
-                        taskFrequency, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTime10thUs / 10,
-                        maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10,
-                        taskInfo.totalExecutionTimeUs / 1000,
-                        taskInfo.lateCount, taskInfo.runCount, taskInfo.execTime);
+                    taskFrequency, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTime10thUs / 10,
+                    maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10,
+                    taskInfo.totalExecutionTimeUs / 1000,
+                    taskInfo.lateCount, taskInfo.runCount, taskInfo.execTime);
 #else
                 cliPrintLinef("%6d %7d %7d %4d.%1d%% %4d.%1d%% %9d",
-                        taskFrequency, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTime10thUs / 10,
-                        maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10,
-                        taskInfo.totalExecutionTimeUs / 1000);
+                    taskFrequency, taskInfo.maxExecutionTimeUs, taskInfo.averageExecutionTime10thUs / 10,
+                    maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10,
+                    taskInfo.totalExecutionTimeUs / 1000);
 #endif
             } else {
                 cliPrintLinef("%6d", taskFrequency);

src/main/cli/settings.c

@@ -198,17 +198,21 @@ static const char * const lookupTableGyro[] = {
 #endif
 
 #ifdef USE_GPS
-static const char * const lookupTableGPSProvider[] = {
+static const char * const lookupTableGpsProvider[] = {
     "NMEA", "UBLOX", "MSP"
 };
 
-static const char * const lookupTableGPSSBASMode[] = {
+static const char * const lookupTableGpsSbasMode[] = {
     "AUTO", "EGNOS", "WAAS", "MSAS", "GAGAN", "NONE"
 };
 
-static const char * const lookupTableGPSUBLOXModels[] = {
+static const char * const lookupTableGpsUbloxModels[] = {
     "PORTABLE", "STATIONARY", "PEDESTRIAN", "AUTOMOTIVE", "AT_SEA", "AIRBORNE_1G", "AIRBORNE_2G", "AIRBORNE_4G"
 };
+
+static const char * const lookupTableGpsUbloxUtcStandard[] = {
+    "AUTO", "USNO", "EU", "SU", "NTSC"
+};
 #endif
 
 #ifdef USE_SERVOS
@@ -533,9 +537,10 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableUnit),
     LOOKUP_TABLE_ENTRY(lookupTableAlignment),
 #ifdef USE_GPS
-    LOOKUP_TABLE_ENTRY(lookupTableGPSProvider),
-    LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
-    LOOKUP_TABLE_ENTRY(lookupTableGPSUBLOXModels),
+    LOOKUP_TABLE_ENTRY(lookupTableGpsProvider),
+    LOOKUP_TABLE_ENTRY(lookupTableGpsSbasMode),
+    LOOKUP_TABLE_ENTRY(lookupTableGpsUbloxModels),
+    LOOKUP_TABLE_ENTRY(lookupTableGpsUbloxUtcStandard),
 #ifdef USE_GPS_RESCUE
     LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
     LOOKUP_TABLE_ENTRY(lookupTableRescueAltitudeMode),
@@ -1017,9 +1022,9 @@ const clivalue_t valueTable[] = {
     { PARAM_NAME_GPS_AUTO_BAUD,              VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, autoBaud) },
     { PARAM_NAME_GPS_UBLOX_ACQUIRE_MODEL,    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_UBLOX_MODELS }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_acquire_model) },
     { PARAM_NAME_GPS_UBLOX_FLIGHT_MODEL,     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_UBLOX_MODELS }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_flight_model) },
-    { PARAM_NAME_GPS_UPDATE_RATE_HZ,         VAR_UINT8  | MASTER_VALUE,               .config.minmaxUnsigned = {1, 19},          PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_update_rate_hz) },
+    { PARAM_NAME_GPS_UPDATE_RATE_HZ,         VAR_UINT8  | MASTER_VALUE,               .config.minmaxUnsigned = {1, 20},          PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_update_rate_hz) },
+    { PARAM_NAME_GPS_UBLOX_UTC_STANDARD,     VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_UBLOX_UTC_STANDARD }, PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_utc_standard) },
     { PARAM_NAME_GPS_UBLOX_USE_GALILEO,      VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_use_galileo) },
-    { PARAM_NAME_GPS_UBLOX_FULL_POWER,       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_ublox_full_power) },
     { PARAM_NAME_GPS_SET_HOME_POINT_ONCE,    VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_set_home_point_once) },
     { PARAM_NAME_GPS_USE_3D_SPEED,           VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, gps_use_3d_speed) },
     { PARAM_NAME_GPS_SBAS_INTEGRITY,         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON },         PG_GPS_CONFIG, offsetof(gpsConfig_t, sbas_integrity) },

src/main/cli/settings.h

@@ -33,6 +33,7 @@ typedef enum {
     TABLE_GPS_PROVIDER,
     TABLE_GPS_SBAS_MODE,
     TABLE_GPS_UBLOX_MODELS,
+    TABLE_GPS_UBLOX_UTC_STANDARD,
 #endif
 #ifdef USE_GPS_RESCUE
     TABLE_GPS_RESCUE_SANITY_CHECK,

src/main/drivers/serial_uart_impl.h

@@ -26,7 +26,7 @@
 #define UARTDEV_COUNT_MAX 6
 #define UARTHARDWARE_MAX_PINS 4
 #ifndef UART_RX_BUFFER_SIZE
-#define UART_RX_BUFFER_SIZE     128
+#define UART_RX_BUFFER_SIZE     256
 #endif
 #ifndef UART_TX_BUFFER_SIZE
 #ifdef USE_MSP_DISPLAYPORT
@@ -39,7 +39,7 @@
 #define UARTDEV_COUNT_MAX 8
 #define UARTHARDWARE_MAX_PINS 4
 #ifndef UART_RX_BUFFER_SIZE
-#define UART_RX_BUFFER_SIZE     128
+#define UART_RX_BUFFER_SIZE     256
 #endif
 #ifndef UART_TX_BUFFER_SIZE
 #ifdef USE_MSP_DISPLAYPORT
@@ -52,7 +52,7 @@
 #define UARTDEV_COUNT_MAX 11 // UARTs 1 to 10 + LPUART1
 #define UARTHARDWARE_MAX_PINS 5
 #ifndef UART_RX_BUFFER_SIZE
-#define UART_RX_BUFFER_SIZE     128
+#define UART_RX_BUFFER_SIZE     256
 #endif
 #ifndef UART_TX_BUFFER_SIZE
 #ifdef USE_MSP_DISPLAYPORT
@@ -65,7 +65,7 @@
 #define UARTDEV_COUNT_MAX 11  // UARTs 1 to 5 + LPUART1 (index 10)
 #define UARTHARDWARE_MAX_PINS 3
 #ifndef UART_RX_BUFFER_SIZE
-#define UART_RX_BUFFER_SIZE     128
+#define UART_RX_BUFFER_SIZE     256
 #endif
 #ifndef UART_TX_BUFFER_SIZE
 #ifdef USE_MSP_DISPLAYPORT
@@ -78,7 +78,7 @@
 #define UARTDEV_COUNT_MAX 8  // UARTs 1 to 5 + LPUART1 (index 9)
 #define UARTHARDWARE_MAX_PINS 5
 #ifndef UART_RX_BUFFER_SIZE
-#define UART_RX_BUFFER_SIZE     128
+#define UART_RX_BUFFER_SIZE     256
 #endif
 #ifndef UART_TX_BUFFER_SIZE
 #ifdef USE_MSP_DISPLAYPORT

src/main/fc/parameter_names.h

@@ -143,9 +143,9 @@
 #define PARAM_NAME_GPS_AUTO_CONFIG "gps_auto_config"
 #define PARAM_NAME_GPS_AUTO_BAUD "gps_auto_baud"
 #define PARAM_NAME_GPS_UBLOX_USE_GALILEO "gps_ublox_use_galileo"
-#define PARAM_NAME_GPS_UBLOX_FULL_POWER "gps_ublox_full_power"
 #define PARAM_NAME_GPS_UBLOX_ACQUIRE_MODEL "gps_ublox_acquire_model"
 #define PARAM_NAME_GPS_UBLOX_FLIGHT_MODEL "gps_ublox_flight_model"
+#define PARAM_NAME_GPS_UBLOX_UTC_STANDARD "gps_ublox_utc_standard"
 #define PARAM_NAME_GPS_SET_HOME_POINT_ONCE "gps_set_home_point_once"
 #define PARAM_NAME_GPS_USE_3D_SPEED "gps_use_3d_speed"
 #define PARAM_NAME_GPS_NMEA_CUSTOM_COMMANDS "gps_nmea_custom_commands"

src/main/fc/tasks.c

@@ -251,8 +251,6 @@ static void taskGpsRescue(timeUs_t currentTimeUs)
 
     if (gpsRescueIsConfigured()) {
         gpsRescueUpdate();
-    } else {
-        schedulerIgnoreTaskStateTime();
     }
 }
 #endif

src/main/io/dashboard.c

@@ -379,8 +379,8 @@ static void showGpsPage(void)
 
     static uint8_t gpsTicker = 0;
     static uint32_t lastGPSSvInfoReceivedCount = 0;
-    if (GPS_svInfoReceivedCount != lastGPSSvInfoReceivedCount) {
-        lastGPSSvInfoReceivedCount = GPS_svInfoReceivedCount;
+    if (dashboardGpsNavSvInfoRcvCount != lastGPSSvInfoReceivedCount) {
+        lastGPSSvInfoReceivedCount = dashboardGpsNavSvInfoRcvCount;
         gpsTicker++;
         gpsTicker = gpsTicker % TICKER_CHARACTER_COUNT;
     }
@@ -419,7 +419,7 @@ static void showGpsPage(void)
     i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
     i2c_OLED_send_string(dev, lineBuffer);
 
-    tfp_sprintf(lineBuffer, "RX: %d", GPS_packetCount);
+    tfp_sprintf(lineBuffer, "RX: %d", dashboardGpsPacketCount);
     padHalfLineBuffer();
     i2c_OLED_set_line(dev, rowIndex);
     i2c_OLED_send_string(dev, lineBuffer);
@@ -429,7 +429,7 @@ static void showGpsPage(void)
     i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
     i2c_OLED_send_string(dev, lineBuffer);
 
-    tfp_sprintf(lineBuffer, "Dt: %d", gpsData.lastMessage - gpsData.lastLastMessage);
+    tfp_sprintf(lineBuffer, "Dt: %d", gpsSol.navIntervalMs);
     padHalfLineBuffer();
     i2c_OLED_set_line(dev, rowIndex);
     i2c_OLED_send_string(dev, lineBuffer);
@@ -439,7 +439,7 @@ static void showGpsPage(void)
     i2c_OLED_set_xy(dev, HALF_SCREEN_CHARACTER_COLUMN_COUNT, rowIndex++);
     i2c_OLED_send_string(dev, lineBuffer);
 
-    strncpy(lineBuffer, gpsPacketLog, GPS_PACKET_LOG_ENTRY_COUNT);
+    strncpy(lineBuffer, dashboardGpsPacketLog, GPS_PACKET_LOG_ENTRY_COUNT);
     padHalfLineBuffer();
     i2c_OLED_set_line(dev, rowIndex++);
     i2c_OLED_send_string(dev, lineBuffer);