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update EGNOS PRN mask to latest EGSA definition, fix SBAS for non-Galileo usage. #6431

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merged 5 commits into from
Dec 18, 2020
Merged

update EGNOS PRN mask to latest EGSA definition, fix SBAS for non-Galileo usage. #6431

merged 5 commits into from
Dec 18, 2020

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stronnag
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@stronnag stronnag commented Dec 17, 2020 •
edited by digitalentity
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This is the first part of fixing the SBAS implementation from its c. 2015 pedigree.

  • Updates EGNOS to current specifications

ToDo :

  • Make usage of UBX-CFG-GNSS generic for M8N / M9N case with and without Galileo and / or SBAS.
  • Verify PRNs for other ground augmentation systems
  • Generate SBAS scanmasks from PRN numbers
  • Generate GNSS structures in a dynamic / readable way.
  • Test on at least M6N and M8N
  • Test on M9N

via #6412

@stronnag stronnag mentioned this pull request Dec 17, 2020
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It would be awesome if we can dynamically generate UBX-CFG-GNSS message. Those hardcoded payloads are very opaque

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It would be awesome if we can dynamically generate UBX-CFG-GNSS message. Those hardcoded payloads are very opaque

Sure. I'll do that as well (and create SBAS PRN masks from a list of PRNs vice an opaque bit mask.

digitalentity
digitalentity reviewed Dec 18, 2020
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src/main/io/gps_ublox.c Outdated
configureGalileo();
ptWaitTimeout((_ack_state == UBX_ACK_GOT_ACK || _ack_state == UBX_ACK_GOT_NAK), GPS_CFG_CMD_TIMEOUT_MS);
// Configure GNSS for M8N and later
if ((gpsState.gpsConfig->provider == GPS_UBLOX) || (gpsState.hwVersion < 70000)) {
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This looks wrong. hwVersion < 70000 will match only M6N.

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I'll look at that. It's still very much WIP ...

@stronnag
Update GNSS / SBAS handling
3dae921 
* Improve readabily of SBAS scanmask1 / PRN setting
* Use current PRNs for all SBAS options
* Decouple Galileo dependency for UBX-CFG-GNSS
* Only set required GNSS options
* Set GNSS options dynamically
* Replace magic numbers with #define where appropriate
@stronnag stronnag added the Release Notes Add this when a PR needs to be mentioned in the release notes label Dec 18, 2020
@stronnag stronnag added this to the 2.7 milestone Dec 18, 2020
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With M8N, Galileo and EGNOS:

SVINFO: Channels 32
16       G2 - - 1
 1       G5 Y - 4
 2       G7 Y - 4
 5       G9 Y - 4
 3      G13 Y - 4
23      G14 - - 1
27      G15 Y - 4
28      G18 - - 1
30      G27 - - 1
24      G28 Y - 7
 0      G30 Y - 4
 8  SBAS123 - - 1
10  SBAS136 - - 1
17     E211 Y - 4
11     E214 - - 3
18     E215 Y - 4
12     E219 Y - 4
255     E225 - - 0
 7     E231 - - 4
25     E234 - - 1
 9     E241 Y - 4
 6     E246 Y - 4
15      R65 Y - 4
13      R66 Y - 4
21      R67 Y - 4
19      R74 - - 1
26      R75 - - 1
14      R76 Y - 4
29      R77 - - 1
20      R81 - - 1
 4      R82 Y - 4
22      R83 - - 1

NEO6M (remember those ?)

SVINFO: Channels 15
 2       G2 - - 4
13       G5 Y - 6
 7       G7 Y - 4
 9       G9 Y - 7
15      G11 - - 1
10      G13 - - 4
 4      G14 - - 4
 1      G15 - - 4
 8      G18 - - 3
 3      G27 - - 1
 6      G28 - - 1
 5      G29 - - 2
 0      G30 Y - 7
14  SBAS123 - - 1
12  SBAS126 - - 1

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0crap commented Dec 18, 2020

Any chance you can create a hex to test with?
Preferably 2.6 release with this fix on top.
My target is MATEKF405

Thx!

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stronnag commented Dec 18, 2020 •
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I can do a 2.7 hex ...
inav_2.7.0_MATEKF405_pr6431.hex.zip

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0crap commented Dec 18, 2020

Thx! For bench test perfectly fine.
I'll let you know how it goes.

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stronnag commented Dec 18, 2020 •
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Here's the 2.6.0 version (untested by me).
inav_2.6.0_MATEKF405_pr6431.hex.zip

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Minor refactoring. Tested and working correctly on M9N.

@stronnag stronnag merged commit e90c76a into master Dec 18, 2020
@stronnag stronnag deleted the jh_update_EGNOS_PRN_mask_to_latest_EGSA_definition branch December 18, 2020 16:55
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0crap commented Dec 21, 2020

@stronnag Bench tested the 2.7 hex and all seems fine.
Thx!

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