UBLOX Full Power mode + default STATIONARY model (betaflight#12659)

src/main/cli/settings.c

@@ -1006,6 +1006,7 @@ const clivalue_t valueTable[] = {
     { 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_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) },
@@ -1152,7 +1153,7 @@ const clivalue_t valueTable[] = {
 #endif
 
 #ifdef USE_INTEGRATED_YAW_CONTROL
-    { PARAM_NAME_USE_INTEGRATED_YAW, VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = {TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
+    { PARAM_NAME_USE_INTEGRATED_YAW, VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, use_integrated_yaw) },
     { "integrated_yaw_relax",        VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 255 }, PG_PID_PROFILE, offsetof(pidProfile_t, integrated_yaw_relax) },
 #endif
 

src/main/fc/parameter_names.h

@@ -144,6 +144,7 @@
 #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_SET_HOME_POINT_ONCE "gps_set_home_point_once"

src/main/io/gps.c

@@ -152,6 +152,7 @@ typedef enum {
     MSG_CFG_SET_RATE = 0x01,
     MSG_CFG_SBAS = 0x16,
     MSG_CFG_NAV_SETTINGS = 0x24,
+    MSG_CFG_PMS = 0x86,
     MSG_CFG_GNSS = 0x3E
 } ubxProtocolBytes_e;
 
@@ -214,6 +215,14 @@ typedef struct ubxCfgGnss_s {
     ubxConfigblock_t configblocks[7];
 } ubxCfgGnss_t;
 
+typedef struct ubxCfgPms_s {
+    uint8_t version;
+    uint8_t powerSetupValue;
+    uint16_t period;
+    uint16_t onTime;
+    uint8_t reserved1[2];
+} ubxCfgPms_t;
+
 typedef struct ubxCfgNav5_s {
     uint16_t mask;
     uint8_t dynModel;
@@ -243,6 +252,7 @@ typedef union ubxPayload_s {
     ubxCfgNav5_t cfg_nav5;
     ubxCfgSbas_t cfg_sbas;
     ubxCfgGnss_t cfg_gnss;
+    ubxCfgPms_t cfg_pms;
 } ubxPayload_t;
 
 typedef struct ubxMessage_s {
@@ -266,7 +276,8 @@ typedef enum {
     UBLOX_MSG_DOP,      // 12. MSG_DOP 
     UBLOX_SET_NAV_RATE, // 13. set GPS sample rate
     UBLOX_SET_SBAS,     // 14. Sets SBAS
-    UBLOX_MSG_CFG_GNSS  // 15. For not SBAS or GALILEO otherwise GPS_STATE_REVEIVING_DATA
+    UBLOX_SET_PMS,      // 15. Sets Power Mode
+    UBLOX_MSG_CFG_GNSS  // 16. For not SBAS or GALILEO otherwise GPS_STATE_REVEIVING_DATA
 } ubloxStatePosition_e;
 
 #endif // USE_GPS_UBLOX
@@ -510,7 +521,16 @@ static void ubloxSendNAV5Message(uint8_t model)
 
     ubloxSendConfigMessage(&tx_buffer, MSG_CFG_NAV_SETTINGS, sizeof(ubxCfgNav5_t));
 }
-
+static void ubloxSendPowerMode(void)
+{
+    ubxMessage_t tx_buffer;
+    tx_buffer.payload.cfg_pms.powerSetupValue = !gpsConfig()->gps_ublox_full_power;
+    tx_buffer.payload.cfg_pms.period = 0;
+    tx_buffer.payload.cfg_pms.onTime = 0;
+    tx_buffer.payload.cfg_pms.reserved1[0] = 0;
+    tx_buffer.payload.cfg_pms.reserved1[1] = 0;
+    ubloxSendConfigMessage(&tx_buffer, MSG_CFG_PMS, sizeof(ubxCfgPms_t));
+}
 static void ubloxSetMessageRate(uint8_t messageClass, uint8_t messageID, uint8_t rate)
 {
     ubxMessage_t tx_buffer;
@@ -694,6 +714,9 @@ void gpsInitUblox(void)
                     case UBLOX_SET_SBAS:
                         ubloxSetSbas();
                         break;
+                    case UBLOX_SET_PMS:
+                        ubloxSendPowerMode();
+                        break;
                     case UBLOX_MSG_CFG_GNSS:
                         if ((gpsConfig()->sbasMode == SBAS_NONE) || (gpsConfig()->gps_ublox_use_galileo)) {
                             ubloxSendPollMessage(MSG_CFG_GNSS);

src/main/pg/gps.c

@@ -36,9 +36,10 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .sbasMode = SBAS_NONE,
     .autoConfig = GPS_AUTOCONFIG_ON,
     .autoBaud = GPS_AUTOBAUD_OFF,
-    .gps_ublox_acquire_model = UBLOX_MODEL_AIRBORNE_4G,
+    .gps_ublox_acquire_model = UBLOX_MODEL_STATIONARY,
     .gps_ublox_flight_model = UBLOX_MODEL_AIRBORNE_4G,
     .gps_ublox_use_galileo = false,
+    .gps_ublox_full_power = true,
     .gps_set_home_point_once = false,
     .gps_use_3d_speed = false,
     .sbas_integrity = false,

src/main/pg/gps.h

@@ -33,6 +33,7 @@ typedef struct gpsConfig_s {
     uint8_t gps_ublox_acquire_model;
     uint8_t gps_ublox_flight_model;
     bool gps_ublox_use_galileo;
+    bool gps_ublox_full_power;
     bool gps_set_home_point_once;
     bool gps_use_3d_speed;
     bool sbas_integrity;