sparkfun · nseidle · Oct 9, 2025 · Oct 9, 2025 · Oct 9, 2025 · Oct 9, 2025
diff --git a/Firmware/RTK_Everywhere/AP-Config/index.html b/Firmware/RTK_Everywhere/AP-Config/index.html
@@ -363,7 +363,7 @@
                         </div>
                     </div>
 
-                    <div id="useMSM7Setting">
+                    <div id="lg290pGnssSettings">
                         <div class="form-check mt-3">
                             <label class="form-check-label" for="useMSM7">MSM7 RTCM Selection</label>
                             <input class="form-check-input" type="checkbox" value="" id="useMSM7">
@@ -372,6 +372,21 @@
                                 <span class="icon-info-circle text-primary ms-2"></span>
                             </span>
                         </div>
+
+                        <div class="form-group row" id="rtcmMinElevConfig">
+                            <div class="form-group row">
+                                <label for="rtcmMinElev" class="col-sm-4 col-6 col-form-label">Min SV Elevation for RTCM:
+                                    <span class="tt" data-bs-placement="right"
+                                        title="Minimum elevation in degrees for a GNSS satellite to be used for RTCM corrections.">
+                                        <span class="icon-info-circle text-primary ms-2"></span>
+                                    </span>
+                                </label>
+                                <div class="col-sm-4 col-6">
+                                    <input type="number" class="form-control" id="rtcmMinElev">
+                                    <p id="rtcmMinElevError" class="inlineError"></p>
+                                </div>
+                            </div>
+                        </div>
                     </div>
 
                     <div class="form-check mt-3">

diff --git a/Firmware/RTK_Everywhere/AP-Config/src/main.js b/Firmware/RTK_Everywhere/AP-Config/src/main.js
@@ -112,7 +112,7 @@ function parseIncoming(msg) {
                 hide("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -146,7 +146,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -167,7 +167,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 hide("measurementRateInput");
@@ -257,8 +257,8 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
 
-                hide("galileoHasSetting");
-                show("useMSM7Setting");
+                show("galileoHasSetting");
+                show("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
 
@@ -273,8 +273,8 @@ function parseIncoming(msg) {
                 show("constellationNavic");
 
                 hide("dynamicModelDropdown"); //Not supported on LG290P
-                hide("minElevConfig"); //Not supported on LG290P
-                hide("minCNOConfig"); //Not supported on LG290P
+                show("minElevConfig");
+                show("minCNOConfig");
 
                 ge("rtcmRateInfoText").setAttribute('data-bs-original-title', 'RTCM is transmitted by the base at a default of 1Hz for messages 1005, 1074, 1084, 1094, 1114, 1124, 1134. This can be lowered for radios with low bandwidth or tailored to transmit any/all RTCM messages. Limits: 0 to 20. Note: The measurement rate is overridden to 1Hz when in Base mode.');
 
@@ -327,8 +327,8 @@ function parseIncoming(msg) {
 
                 hide("constellationSbas"); //Not supported on LG290P
                 show("constellationNavic"); 
-                hide("galileoHasSetting"); //Not supported on LG290P
-                show("useMSM7Setting");
+                show("galileoHasSetting");
+                show("lg290pGnssSettings");
                 hide("tiltConfig"); //Not supported on Torch X2
 
                 show("measurementRateInput");
@@ -341,8 +341,8 @@ function parseIncoming(msg) {
                 hide("enableNmeaOnRadio");
 
                 hide("dynamicModelDropdown"); //Not supported on LG290P
-                hide("minElevConfig"); //Not supported on LG290P
-                hide("minCNOConfig"); //Not supported on LG290P
+                show("minElevConfig");
+                show("minCNOConfig");
 
                 ge("rtcmRateInfoText").setAttribute('data-bs-original-title', 'RTCM is transmitted by the base at a default of 1Hz for messages 1005, 1074, 1084, 1094, 1124, and 0.1Hz for 1033. This can be lowered for radios with low bandwidth or tailored to transmit any/all RTCM messages. Limits: 0 to 20. Note: The measurement rate is overridden to 1Hz when in Base mode.');
 
@@ -714,6 +714,13 @@ function show(id) {
     ge(id).style.display = "block";
 }
 
+function isElementShown(id) {
+    if (ge(id).style.display == "block") {
+        return (true);
+    }
+    return (false);
+}
+
 //Create CSV of all setting data
 function sendData() {
     var settingCSV = "";
@@ -841,6 +848,9 @@ function validateFields() {
 
     checkElementValue("minElev", 0, 90, "Must be between 0 and 90", "collapseGNSSConfig");
     checkElementValue("minCNO", 0, 90, "Must be between 0 and 90", "collapseGNSSConfig");
+    if (isElementShown("lg290pGnssSettings") == true) {
+        checkElementValue("rtcmMinElev", -90, 90, "Must be between -90 and 90", "collapseGNSSConfig");
+    }
 
     if (ge("enableNtripClient").checked == true) {
         checkElementString("ntripClientCasterHost", 1, 45, "Must be 1 to 45 characters", "collapseGNSSConfig");

diff --git a/Firmware/RTK_Everywhere/GNSS_LG290P.ino b/Firmware/RTK_Everywhere/GNSS_LG290P.ino
@@ -116,7 +116,8 @@ void GNSS_LG290P::begin()
             lg290pFirmwareVersion, gnssFirmwareVersion);
 
         // Determine if the "LG290P03AANR01A03S_PPP_TEMP0812 2025/08/12" firmware is present
-        // This version has support for testing out E6/HAS PPP, but confusingly was released after v05.
+        // Or               "LG290P03AANR01A06S_PPP_TEMP0829 2025/08/29 17:08:39"
+        // The 03S_PPP_TEMP version has support for testing out E6/HAS PPP, but confusingly was released after v05.
         if (strstr(gnssFirmwareVersion, "PPP_TEMP") != nullptr)
         {
             present.galileoHasCapable = true;
@@ -793,6 +794,8 @@ bool GNSS_LG290P::enableRTCMBase()
 
     int portNumber = 1;
 
+    int minimumRtcmRate = 1000;
+
     while (portNumber < 4)
     {
         for (int messageNumber = 0; messageNumber < MAX_LG290P_RTCM_MSG; messageNumber++)
@@ -843,7 +846,12 @@ bool GNSS_LG290P::enableRTCMBase()
 
                 // If any message is enabled, enable RTCM output
                 if (settings.lg290pMessageRatesRTCMBase[messageNumber] > 0)
+                {
                     enableRTCM = true;
+                    // Capture the message with the lowest rate
+                    if (settings.lg290pMessageRatesRTCMBase[messageNumber] < minimumRtcmRate)
+                        minimumRtcmRate = settings.lg290pMessageRatesRTCMBase[messageNumber];
+                }
             }
         }
 
@@ -857,11 +865,14 @@ bool GNSS_LG290P::enableRTCMBase()
     if (enableRTCM == true)
     {
         if (settings.debugGnss)
-            systemPrintln("Enabling Base RTCM output");
+            systemPrintf("Enabling Base RTCM MSM%c output with rate of %d\r\n",
+                         settings.useMSM7 ? '7' : '4', minimumRtcmRate);
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
         char cfgRtcm[40];
-        snprintf(cfgRtcm, sizeof(cfgRtcm), "PQTMCFGRTCM,W,%c,0,-90,07,06,2,1", settings.useMSM7 ? '7' : '4');
+        snprintf(cfgRtcm, sizeof(cfgRtcm), "PQTMCFGRTCM,W,%c,0,%d,07,06,2,%d",
+                                            settings.useMSM7 ? '7' : '4', settings.rtcmMinElev,
+                                            minimumRtcmRate);
         _lg290p->sendOkCommand(
             cfgRtcm); // Enable MSM4/7, output regular intervals, interval (seconds)
     }
@@ -1016,15 +1027,16 @@ bool GNSS_LG290P::enableRTCMRover()
     if (enableRTCM == true)
     {
         if (settings.debugCorrections)
-            systemPrintf("Enabling Rover RTCM MSM output with rate of %d\r\n", minimumRtcmRate);
+            systemPrintf("Enabling Rover RTCM MSM%c output with rate of %d\r\n",
+                         settings.useMSM7 ? '7' : '4', minimumRtcmRate);
 
         // Enable MSM4/7 (for faster PPP CSRS results), output at a rate equal to the minimum RTCM rate (EPH Mode = 2)
         // PQTMCFGRTCM, W, <MSM_Type>, <MSM_Mode>, <MSM_ElevThd>, <Reserved>, <Reserved>, <EPH_Mode>, <EPH_Interval>
         // Set MSM_ElevThd to 15 degrees from rftop suggestion
 
         char msmCommand[40] = {0};
-        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,%c,0,15,07,06,2,%d",
-                 settings.useMSM7 ? '7' : '4', minimumRtcmRate);
+        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,%c,0,%d,07,06,2,%d",
+                 settings.useMSM7 ? '7' : '4', settings.rtcmMinElev, minimumRtcmRate);
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
         _lg290p->sendOkCommand(msmCommand);
@@ -1921,6 +1933,8 @@ void GNSS_LG290P::menuMessages()
 
         if (namedSettingAvailableOnPlatform("useMSM7")) // Redundant - but good practice for code reuse
             systemPrintf("13) MSM Selection: MSM%c\r\n", settings.useMSM7 ? '7' : '4');
+        if (namedSettingAvailableOnPlatform("rtcmMinElev")) // Redundant - but good practice for code reuse
+            systemPrintf("14) Minimum Elevation for RTCM: %d\r\n", settings.rtcmMinElev);
 
         systemPrintln("x) Exit");
 
@@ -1997,6 +2011,17 @@ void GNSS_LG290P::menuMessages()
         }
         else if ((incoming == 13) && (namedSettingAvailableOnPlatform("useMSM7"))) // Redundant - but good practice for code reuse)
             settings.useMSM7 ^= 1;
+        else if ((incoming == 14) && (namedSettingAvailableOnPlatform("rtcmMinElev")))
+        {
+            systemPrintf("Enter minimum elevation for RTCM: ");
+
+            int elevation = getUserInputNumber(); // Returns EXIT, TIMEOUT, or long
+
+            if (elevation >= -90 && elevation <= 90)
+            {
+                settings.rtcmMinElev = elevation;
+            }
+        }
 
         else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
             break;
@@ -2353,7 +2378,7 @@ bool GNSS_LG290P::setHighAccuracyService(bool enableGalileoHas)
 {
     bool result = true;
 
-    // E6 reception requires version v03 with 'PPP_TEMP' in firmware title
+    // E6 reception requires version v03/v06 with 'PPP_TEMP' in firmware title
     // Present is set during LG290P begin()
     if (present.galileoHasCapable == false)
         return (result); // We are unable to set this setting to report success

diff --git a/Firmware/RTK_Everywhere/HTTP_Client.ino b/Firmware/RTK_Everywhere/HTTP_Client.ino
@@ -693,7 +693,7 @@ void httpClientUpdate()
     }
 
     // Periodically display the HTTP client state
-    if (PERIODIC_DISPLAY(PD_HTTP_CLIENT_STATE))
+    if (PERIODIC_DISPLAY(PD_HTTP_CLIENT_STATE) && !inMainMenu)
     {
         const char *line = "";
         httpClientEnabled(&line);

diff --git a/Firmware/RTK_Everywhere/MQTT_Client.ino b/Firmware/RTK_Everywhere/MQTT_Client.ino
@@ -1169,7 +1169,7 @@ void mqttClientUpdate()
     }
 
     // Periodically display the MQTT client state
-    if (PERIODIC_DISPLAY(PD_MQTT_CLIENT_STATE))
+    if (PERIODIC_DISPLAY(PD_MQTT_CLIENT_STATE) && !inMainMenu)
     {
         const char *line = "";
         mqttClientEnabled(&line);

diff --git a/Firmware/RTK_Everywhere/NTP.ino b/Firmware/RTK_Everywhere/NTP.ino
@@ -963,7 +963,7 @@ void ntpServerUpdate()
     }
 
     // Periodically display the NTP server state
-    if (PERIODIC_DISPLAY(PD_NTP_SERVER_STATE))
+    if (PERIODIC_DISPLAY(PD_NTP_SERVER_STATE) && !inMainMenu)
     {
         const char * line = "";
         if (NEQ_RTK_MODE(ntpServerMode))

diff --git a/Firmware/RTK_Everywhere/NtripClient.ino b/Firmware/RTK_Everywhere/NtripClient.ino
@@ -955,7 +955,7 @@ void ntripClientUpdate()
     }
 
     // Periodically display the NTRIP client state
-    if (PERIODIC_DISPLAY(PD_NTRIP_CLIENT_STATE))
+    if (PERIODIC_DISPLAY(PD_NTRIP_CLIENT_STATE) && !inMainMenu)
     {
         systemPrintf("NTRIP Client state: %s%s\r\n", ntripClientStateName[ntripClientState], line);
         PERIODIC_CLEAR(PD_NTRIP_CLIENT_STATE);

diff --git a/Firmware/RTK_Everywhere/NtripServer.ino b/Firmware/RTK_Everywhere/NtripServer.ino
@@ -845,7 +845,7 @@ void ntripServerUpdate(int serverIndex)
     }
 
     // Periodically display the state
-    if (PERIODIC_DISPLAY(PD_NTRIP_SERVER_STATE))
+    if (PERIODIC_DISPLAY(PD_NTRIP_SERVER_STATE) && !inMainMenu)
     {
         systemPrintf("NTRIP Server %d state: %s%s\r\n", serverIndex,
                      ntripServerStateName[ntripServer->state], line);

diff --git a/Firmware/RTK_Everywhere/PointPerfectLibrary.ino b/Firmware/RTK_Everywhere/PointPerfectLibrary.ino
@@ -13,7 +13,7 @@ void updatePplTask(void *e)
     while (task.updatePplTaskStopRequest == false)
     {
         // Display an alive message
-        if (PERIODIC_DISPLAY(PD_TASK_UPDATE_PPL))
+        if (PERIODIC_DISPLAY(PD_TASK_UPDATE_PPL) && !inMainMenu)
         {
             PERIODIC_CLEAR(PD_TASK_UPDATE_PPL);
             systemPrintln("UpdatePplTask running");

diff --git a/Firmware/RTK_Everywhere/States.ino b/Firmware/RTK_Everywhere/States.ino
@@ -773,10 +773,11 @@ typedef struct _RTK_MODE_ENTRY
 } RTK_MODE_ENTRY;
 
 const RTK_MODE_ENTRY stateModeTable[] = {{"Rover", STATE_ROVER_NOT_STARTED, STATE_ROVER_RTK_FIX},
+                                         {"Base Caster", STATE_BASE_CASTER_NOT_STARTED, STATE_BASE_CASTER_NOT_STARTED},
                                          {"Base", STATE_BASE_NOT_STARTED, STATE_BASE_FIXED_TRANSMITTING},
-                                         {"Setup", STATE_DISPLAY_SETUP, STATE_PROFILE},
-                                         {"ESPNOW Pairing", STATE_ESPNOW_PAIRING_NOT_STARTED, STATE_ESPNOW_PAIRING},
+                                         {"Setup", STATE_DISPLAY_SETUP, STATE_PROFILE}, // Covers SETUP, WEB_CONFIG, TEST
                                          {"Provisioning", STATE_KEYS_REQUESTED, STATE_KEYS_REQUESTED},
+                                         {"ESPNOW Pairing", STATE_ESPNOW_PAIRING_NOT_STARTED, STATE_ESPNOW_PAIRING},
                                          {"NTP", STATE_NTPSERVER_NOT_STARTED, STATE_NTPSERVER_SYNC},
                                          {"Shutdown", STATE_SHUTDOWN, STATE_SHUTDOWN}};
 const int stateModeTableEntries = sizeof(stateModeTable) / sizeof(stateModeTable[0]);

diff --git a/Firmware/RTK_Everywhere/System.ino b/Firmware/RTK_Everywhere/System.ino
@@ -414,6 +414,16 @@ void printReports()
     if (bluetoothCommandIsConnected() == true)
         return;
 
+    if (inMainMenu)
+        return;
+
+    // Periodically display the firmware mode
+    if (PERIODIC_DISPLAY(PD_FIRMWARE_MODE))
+    {
+        PERIODIC_CLEAR(PD_FIRMWARE_MODE);
+        systemPrintf("Firmware mode: %s\r\n", stateToRtkMode(systemState));
+    }
+
     // Periodically print the position
     if (settings.enablePrintPosition && ((millis() - lastPrintPosition) > 15000))
     {