bugfixes in UBX driver, emit new SNR, Jamming and noise count indices

5 files changed, 62 insertions, 9 deletions

diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp
index 6195cd6ea..5342ccf78 100644
--- a/src/drivers/gps/gps.cpp
+++ b/src/drivers/gps/gps.cpp
@@ -448,10 +448,10 @@ GPS::print_info()
 	warnx("port: %s, baudrate: %d, status: %s", _port, _baudrate, (_healthy) ? "OK" : "NOT OK");
 
 	if (_report.timestamp_position != 0) {
-		warnx("position lock: %dD, satellites: %d, last update: %fms ago", (int)_report.fix_type,
-				_report.satellites_visible, (hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
+		warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report.fix_type,
+				_report.satellites_visible, (double)(hrt_absolute_time() - _report.timestamp_position) / 1000.0f);
 		warnx("lat: %d, lon: %d, alt: %d", _report.lat, _report.lon, _report.alt);
-		warnx("eph: %.2fm, epv: %.2fm", _report.eph_m, _report.epv_m);
+		warnx("eph: %.2fm, epv: %.2fm", (double)_report.eph_m, (double)_report.epv_m);
 		warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
 		warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
 		warnx("rate publication:\t%6.2f Hz", (double)_rate);
diff --git a/src/drivers/gps/gps_helper.cpp b/src/drivers/gps/gps_helper.cpp
index 2360ff39b..3b92f1bf4 100644
--- a/src/drivers/gps/gps_helper.cpp
+++ b/src/drivers/gps/gps_helper.cpp
@@ -56,7 +56,7 @@ GPS_Helper::get_velocity_update_rate()
 	return _rate_vel;
 }
 
-float
+void
 GPS_Helper::reset_update_rates()
 {
 	_rate_count_vel = 0;
@@ -64,7 +64,7 @@ GPS_Helper::reset_update_rates()
 	_interval_rate_start = hrt_absolute_time();
 }
 
-float
+void
 GPS_Helper::store_update_rates()
 {
 	_rate_vel = _rate_count_vel / (((float)(hrt_absolute_time() - _interval_rate_start)) / 1000000.0f);
diff --git a/src/drivers/gps/gps_helper.h b/src/drivers/gps/gps_helper.h
index cfb9e0d43..d14a95afe 100644
--- a/src/drivers/gps/gps_helper.h
+++ b/src/drivers/gps/gps_helper.h
@@ -46,13 +46,17 @@
 class GPS_Helper
 {
 public:
+
+	GPS_Helper() {};
+	virtual ~GPS_Helper() {};
+
 	virtual int			configure(unsigned &baud) = 0;
 	virtual int 			receive(unsigned timeout) = 0;
 	int 				set_baudrate(const int &fd, unsigned baud);
 	float				get_position_update_rate();
 	float				get_velocity_update_rate();
-	float				reset_update_rates();
-	float				store_update_rates();
+	void				reset_update_rates();
+	void				store_update_rates();
 
 protected:
 	uint8_t _rate_count_lat_lon;
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp
index f4a065c19..19cf5beec 100644
--- a/src/drivers/gps/ubx.cpp
+++ b/src/drivers/gps/ubx.cpp
@@ -226,6 +226,13 @@ UBX::configure(unsigned &baudrate)
 		return 1;
 	}
 
+	configure_message_rate(UBX_CLASS_MON, UBX_MESSAGE_MON_HW, 1);
+
+	if (wait_for_ack(UBX_CONFIG_TIMEOUT) < 0) {
+		warnx("MSG CFG FAIL: MON HW");
+		return 1;
+	}
+
 	_configured = true;
 	return 0;
 }
@@ -566,6 +573,24 @@ UBX::handle_message()
 				break;
 			}
 
+		case UBX_CLASS_MON: {
+			switch (_message_id) {
+			case UBX_MESSAGE_MON_HW: {
+
+					struct gps_bin_mon_hw_packet *p = (struct gps_bin_mon_hw_packet*) _rx_buffer;
+
+					_gps_position->noise_per_ms = p->noisePerMS;
+					_gps_position->jamming_indicator = p->jamInd;
+
+					ret = 1;
+					break;
+				}
+
+			default:
+				break;
+			}
+		}
+
 		default:
 			break;
 		}
diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h
index 79a904f4a..5cf47b60b 100644
--- a/src/drivers/gps/ubx.h
+++ b/src/drivers/gps/ubx.h
@@ -56,6 +56,7 @@
 //#define UBX_CLASS_RXM 0x02
 #define UBX_CLASS_ACK 0x05
 #define UBX_CLASS_CFG 0x06
+#define UBX_CLASS_MON 0x0A
 
 /* MessageIDs (the ones that are used) */
 #define UBX_MESSAGE_NAV_POSLLH 0x02
@@ -72,6 +73,8 @@
 #define UBX_MESSAGE_CFG_RATE 0x08
 #define UBX_MESSAGE_CFG_NAV5 0x24
 
+#define UBX_MESSAGE_MON_HW	0x09
+
 #define UBX_CFG_PRT_LENGTH 20
 #define UBX_CFG_PRT_PAYLOAD_PORTID 0x01			/**< UART1 */
 #define UBX_CFG_PRT_PAYLOAD_MODE 0x000008D0		/**< 0b0000100011010000: 8N1 */
@@ -210,6 +213,27 @@ typedef struct {
 	uint8_t ck_b;
 } gps_bin_nav_velned_packet_t;
 
+struct gps_bin_mon_hw_packet {
+	uint32_t pinSel;
+	uint32_t pinBank;
+	uint32_t pinDir;
+	uint32_t pinVal;
+	uint16_t noisePerMS;
+	uint16_t agcCnt;
+	uint8_t aStatus;
+	uint8_t aPower;
+	uint8_t flags;
+	uint8_t __reserved1;
+	uint32_t usedMask;
+	uint8_t VP[25];
+	uint8_t jamInd;
+	uint16_t __reserved3;
+	uint32_t pinIrq;
+	uint32_t pulLH;
+	uint32_t pullL;
+};
+
+
 //typedef struct {
 //	int32_t time_milliseconds; 		/**< Measurement integer millisecond GPS time of week */
 //	int16_t week; 					/**< Measurement GPS week number */
@@ -319,7 +343,7 @@ typedef enum {
 //typedef type_gps_bin_ubx_state gps_bin_ubx_state_t;
 #pragma pack(pop)
 
-#define RECV_BUFFER_SIZE 500 //The NAV-SOL messages really need such a big buffer
+#define RECV_BUFFER_SIZE 300 //The NAV-SOL messages really need such a big buffer
 
 class UBX : public GPS_Helper
 {
@@ -383,7 +407,7 @@ private:
 	uint8_t			_message_class;
 	uint8_t			_message_id;
 	unsigned		_payload_size;
-	uint8_t			_disable_cmd_last;
+	hrt_abstime		_disable_cmd_last;
 };
 
 #endif /* UBX_H_ */