Add configuration of Beidou and Glonass to M8, M9 and M10 gps modules

docs/Settings.md

@@ -1432,6 +1432,16 @@ Navigation update rate for UBLOX7 receivers. Some receivers may limit the maximu
 
 ---
 
+### gps_ublox_use_beidou
+
+Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON].
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### gps_ublox_use_galileo
 
 Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON].
@@ -1442,6 +1452,16 @@ Enable use of Galileo satellites. This is at the expense of other regional const
 
 ---
 
+### gps_ublox_use_glonass
+
+Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON].
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### ground_test_mode
 
 For developer ground test use. Disables motors, sets heading status = Trusted on FW.

src/main/CMakeLists.txt

@@ -499,6 +499,7 @@ main_sources(COMMON_SRC
     io/gps.c
     io/gps.h
     io/gps_ublox.c
+    io/gps_ublox_utils.c
     io/gps_nmea.c
     io/gps_msp.c
     io/gps_fake.c

src/main/fc/cli.c

@@ -89,6 +89,7 @@ bool cliMode = false;
 #include "io/beeper.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
+#include "io/gps_ublox.h"
 #include "io/ledstrip.h"
 #include "io/osd.h"
 #include "io/serial.h"
@@ -3468,6 +3469,23 @@ static void cliStatus(char *cmdline)
     cliPrintLinefeed();
 #endif
 
+    if (featureConfigured(FEATURE_GPS) && (gpsConfig()->provider == GPS_UBLOX || gpsConfig()->provider == GPS_UBLOX7PLUS)) {
+        cliPrint("GPS: ");
+        cliPrintf("HW Version: %s Proto: %d.%02d Baud: %d", getGpsHwVersion(), getGpsProtoMajorVersion(), getGpsProtoMinorVersion(), getGpsBaudrate());
+        cliPrintLinefeed();
+        //cliPrintLinef("  GNSS Capabilities: %d", gpsUbloxCapLastUpdate());
+        cliPrintLinef("  GNSS Capabilities:");
+        cliPrintLine("    GNSS Provider active/default");
+        cliPrintLine("    GPS 1/1");
+        if(gpsUbloxHasGalileo())
+            cliPrintLinef("    Galileo %d/%d", gpsUbloxGalileoEnabled(), gpsUbloxGalileoDefault());
+        if(gpsUbloxHasBeidou())
+            cliPrintLinef("    BeiDou %d/%d", gpsUbloxBeidouEnabled(), gpsUbloxBeidouDefault());
+        if(gpsUbloxHasGlonass())
+            cliPrintLinef("    Glonass %d/%d", gpsUbloxGlonassEnabled(), gpsUbloxGlonassDefault());
+        cliPrintLinef("    Max concurrent: %d", gpsUbloxMaxGnss());
+    }
+
     // If we are blocked by PWM init - provide more information
     if (getPwmInitError() != PWM_INIT_ERROR_NONE) {
         cliPrintLinef("PWM output init error: %s", getPwmInitErrorMessage());

src/main/fc/settings.yaml

@@ -1537,6 +1537,16 @@ groups:
         default_value: OFF
         field: ubloxUseGalileo
         type: bool
+      - name: gps_ublox_use_beidou
+        description: "Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]."
+        default_value: OFF
+        field: ubloxUseBeidou
+        type: bool
+      - name: gps_ublox_use_glonass
+        description: "Enable use of Glonass satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps haardware support [OFF/ON]."
+        default_value: OFF
+        field: ubloxUseGlonass
+        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

@@ -51,6 +51,7 @@
 #include "io/serial.h"
 #include "io/gps.h"
 #include "io/gps_private.h"
+#include "io/gps_ublox.h"
 
 #include "navigation/navigation.h"
 
@@ -122,9 +123,64 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .dynModel = SETTING_GPS_DYN_MODEL_DEFAULT,
     .gpsMinSats = SETTING_GPS_MIN_SATS_DEFAULT,
     .ubloxUseGalileo = SETTING_GPS_UBLOX_USE_GALILEO_DEFAULT,
+    .ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT,
+    .ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT,
     .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT
 );
 
+
+int getGpsBaudrate(void)
+{
+    switch(gpsState.baudrateIndex)
+    {
+        case GPS_BAUDRATE_115200:
+            return 115200;
+        case GPS_BAUDRATE_57600:
+            return 57600;
+        case GPS_BAUDRATE_38400:
+            return 38400;
+        case GPS_BAUDRATE_19200:
+            return 19200;
+        case GPS_BAUDRATE_9600:
+            return 9600;
+        case GPS_BAUDRATE_230400:
+            return 230400;
+        default:
+            return 0;
+    }
+}
+
+const char *getGpsHwVersion(void)
+{
+    switch(gpsState.hwVersion)
+    {
+        case UBX_HW_VERSION_UBLOX5:
+            return "UBLOX5";
+        case UBX_HW_VERSION_UBLOX6:
+            return "UBLOX6";
+        case UBX_HW_VERSION_UBLOX7:
+            return "UBLOX7";
+        case UBX_HW_VERSION_UBLOX8:
+            return "UBLOX8";
+        case UBX_HW_VERSION_UBLOX9:
+            return "UBLOX9";
+        case UBX_HW_VERSION_UBLOX10:
+            return "UBLOX10";
+        default:
+            return "Unknown";
+    }
+}
+
+uint8_t getGpsProtoMajorVersion(void)
+{
+    return gpsState.swVersionMajor;
+}
+
+uint8_t getGpsProtoMinorVersion(void)
+{
+    return gpsState.swVersionMinor;
+}
+
 void gpsSetState(gpsState_e state)
 {
     gpsState.state = state;

src/main/io/gps.h

@@ -93,6 +93,8 @@ typedef struct gpsConfig_s {
     gpsAutoBaud_e autoBaud;
     gpsDynModel_e dynModel;
     bool ubloxUseGalileo;
+    bool ubloxUseBeidou;
+    bool ubloxUseGlonass;
     uint8_t gpsMinSats;
     uint8_t ubloxNavHz;
 } gpsConfig_t;
@@ -166,6 +168,12 @@ struct serialPort_s;
 void gpsEnablePassthrough(struct serialPort_s *gpsPassthroughPort);
 void mspGPSReceiveNewData(const uint8_t * bufferPtr);
 
+const char *getGpsHwVersion(void);
+uint8_t getGpsProtoMajorVersion(void);
+uint8_t getGpsProtoMinorVersion(void);
+
+int getGpsBaudrate(void);
+
 #if defined(USE_GPS_FAKE)
 void gpsFakeSet(
     gpsFixType_e fixType,

src/main/io/gps_private.h

@@ -43,6 +43,8 @@ typedef struct {
     serialPort_t *  gpsPort;                // Serial GPS only
 
     uint32_t        hwVersion;
+    uint8_t         swVersionMajor;
+    uint8_t         swVersionMinor;
 
     gpsState_e      state;
     gpsBaudRate_e   baudrateIndex;
@@ -54,6 +56,8 @@ typedef struct {
     timeMs_t        lastMessageMs;
     timeMs_t        timeoutMs;
     timeMs_t        baseTimeoutMs;
+    timeMs_t        lastCapaPoolMs;
+    timeMs_t        lastCapaUpdMs;
 } gpsReceiverData_t;
 
 extern gpsReceiverData_t gpsState;