GPS: fix hwVersion field size from uint32_t to uint8_t#11510
Merged
sensei-hacker merged 2 commits intoiNavFlight:maintenance-9.xfrom Apr 25, 2026
Merged
GPS: fix hwVersion field size from uint32_t to uint8_t#11510sensei-hacker merged 2 commits intoiNavFlight:maintenance-9.xfrom
sensei-hacker merged 2 commits intoiNavFlight:maintenance-9.xfrom
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Change gpsState.hwVersion from uint32_t to uint8_t and introduce a structured bit-field encoding for the hardware version byte: bits [7:6] = series (0b01 = u-blox Neo/M series) bits [5:0] = generation (e.g. 8=M8, 9=M9, 10=M10) Update UBX_HW_VERSION_* constants accordingly (e.g. M8=0x48, M9=0x49, M10=0x4A). Change MSP_GPSSTATISTICS to send hwVersion as a single byte (sbufWriteU8) instead of four bytes (sbufWriteU32). The bit-field layout reserves series values 0b10 and 0b11 for future chip families (e.g. u-blox F9, other manufacturers). Tested with M9 and M10 receivers — auto-detection working correctly.
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Test firmware build ready — commit Download firmware for PR #11510 234 targets built. Find your board's
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Collaborator
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For the last 11 years we have had a conventention that MSP is a public API and we do not break public APIs. This would appear to change this convention. |
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Summary
Follow-up to #11262. Changes
gpsState.hwVersionfromuint32_ttouint8_tand introduces a structured bit-field encoding for the hardware version byte sent viaMSP_GPSSTATISTICS:0b01= u-blox Neo/M series)Concrete values: M8=
0x48, M9=0x49, M10=0x4AThe encoding reserves series values
0b10and0b11for future chip families (u-blox F9, other manufacturers).Files changed:
src/main/io/gps_ublox.h— newUBX_HW_SERIES_*macros + updatedUBX_HW_VERSION_*constantssrc/main/io/gps_private.h—uint32_t hwVersion→uint8_t hwVersionsrc/main/fc/fc_msp.c—sbufWriteU32→sbufWriteU8src/main/io/gps_ublox.c— decode function return typeuint32_t→uint8_tTest plan
0x49, M9-precision preset auto-detected0x4A, M10 preset auto-detected