Set UBX NavRate and NavMode, add HTTP setup manu for those

FollowMe_old.cfg

@@ -60,8 +60,8 @@
 
 #define WITH_LORAWAN
 
-#define WITH_AP
+#define WITH_AP                            // creat WiFi Access Point for data, setup and log files
-// #define WITH_STRATUX
+// #define WITH_STRATUX                       // connect to Stratux WiFi as a client
 // #define WITH_BT_SPP                        // Bluetooth serial port for smartphone/tablet link
 // #define WITH_APRS                          // attempt to connect to the wifi router for uploading the log files to APRS
 

main/gps.cpp

@@ -24,10 +24,10 @@
 
 // #define DEBUG_PRINT
 
-#ifdef DEBUG_PRINT
+// #ifdef DEBUG_PRINT
 static char Line[128];
 static void CONS_HexDump(char Byte) { Format_Hex(CONS_UART_Write, (uint8_t)Byte); }
-#endif
+// #endif
 
 // ----------------------------------------------------------------------------
 
@@ -255,6 +255,28 @@ static void GPS_BurstStart(void)                                           // wh
     { if(!GPS_Status.ModeConfig)                                             // if GPS navigation mode is not done yet
       { // Format_String(CONS_UART_Write, "CFG_NAV5 query...\n");
 #ifdef WITH_GPS_UBX
+        if(Parameters.NavRate)
+        { UBX_CFG_RATE CFG_RATE;
+          CFG_RATE.measRate = 1000/Parameters.NavRate;
+          CFG_RATE.navRate = 1;
+          CFG_RATE.timeRef = 0;
+          UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE));
+// #ifdef DEBUG_PRINT
+          Format_String(CONS_UART_Write, "GPS <- CFG-RATE: ");
+          UBX_RxMsg::Send(0x06, 0x08, CONS_HexDump, (uint8_t*)(&CFG_RATE), sizeof(CFG_RATE));
+          Format_String(CONS_UART_Write, "\n");
+// #endif
+        }
+        { UBX_CFG_NAV5 CFG_NAV5;
+          CFG_NAV5.setDynModel(Parameters.NavMode);
+          UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5));
+// #ifdef DEBUG_PRINT
+          Format_String(CONS_UART_Write, "GPS <- CFG-NAV5: ");
+          UBX_RxMsg::Send(0x06, 0x24, CONS_HexDump, (uint8_t*)(&CFG_NAV5), sizeof(CFG_NAV5));
+          Format_String(CONS_UART_Write, "\n");
+// #endif
+        }
+        UBX_RxMsg::Send(0x06, 0x08, GPS_UART_Write);                     // send the query for the navigation rate
         UBX_RxMsg::Send(0x06, 0x24, GPS_UART_Write);                     // send the query for the navigation mode setting
         if(!GPS_Status.NMEA)                                             // if NMEA sentences are not there
         { UBX_CFG_MSG CFG_MSG;                                           // send CFG_MSG to enable the NMEA sentences

main/http.cpp

@@ -23,6 +23,7 @@
 
 // ============================================================================================================
 
+// generic HTML list for submit forms
 static void SelectList(httpd_req_t *Req, const char *Name, const char **List, int Size, int Sel=0)
 { char Line[64]; int Len;
   Len =Format_String(Line, "<select name=\"");
@@ -40,7 +41,8 @@ static void SelectList(httpd_req_t *Req, const char *Name, const char **List, in
     httpd_resp_send_chunk(Req, Line, Len); }
   httpd_resp_sendstr_chunk(Req, "</select>\n"); }
 
-static void ParmForm_Info(httpd_req_t *Req)  // produce HTML form for aircraft parameters
+// HTML form for the Info parameters
+static void ParmForm_Info(httpd_req_t *Req)
 {
   httpd_resp_sendstr_chunk(Req, "<form action=\"/parm.html\" method=\"get\" id=\"Info\">\n<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">\n");
   httpd_resp_sendstr_chunk(Req, "<tr><th><b>Info</th><td><input type=\"submit\" value=\"Apply\"></td></tr>\n");
@@ -75,7 +77,8 @@ static void ParmForm_Info(httpd_req_t *Req)  // produce HTML form for aircraft p
 
   httpd_resp_sendstr_chunk(Req, "</table></form>\n"); }
 
-static void ParmForm_Acft(httpd_req_t *Req)  // produce HTML form for aircraft parameters
+// HTML form for the Aircraft identification: address, address-type, aircraft-type
+static void ParmForm_Acft(httpd_req_t *Req)
 { char Line[16];
 
   httpd_resp_sendstr_chunk(Req, "<form action=\"/parm.html\" method=\"get\" id=\"Acft\">\n<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">\n");
@@ -99,13 +102,51 @@ static void ParmForm_Acft(httpd_req_t *Req)  // produce HTML form for aircraft p
 
   httpd_resp_sendstr_chunk(Req, "</table></form>\n"); }
 
+static void ParmForm_GPS(httpd_req_t *Req)  // produce HTML form for GPS parameters
+{ char Line[16]; int Len;
+
+  httpd_resp_sendstr_chunk(Req, "<form action=\"/parm.html\" method=\"get\" id=\"GPS\">\n<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">\n");
+#ifdef WITH_GPS_UBX
+  httpd_resp_sendstr_chunk(Req, "<tr><th><b>GPS: UBX</th><td><input type=\"submit\" value=\"Apply\"></td></tr>\n");
+#else
+#ifdef WITH_GPS_MTK
+  httpd_resp_sendstr_chunk(Req, "<tr><th><b>GPS: MTK</th><td><input type=\"submit\" value=\"Apply\"></td></tr>\n");
+#else
+  httpd_resp_sendstr_chunk(Req, "<tr><th><b>GPS</th><td><input type=\"submit\" value=\"Apply\"></td></tr>\n");
+#endif
+#endif
+
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Nav. rate [Hz]</td><td><input type=\"text\" name=\"NavRate\" size=\"10\" value=\"");
+  Len=Format_UnsDec(Line, Parameters.NavRate);
+  httpd_resp_send_chunk(Req, Line, Len);
+  httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
+
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Nav. mode</td><td><input type=\"text\" name=\"NavMode\" size=\"10\" value=\"");
+  Len=Format_UnsDec(Line, Parameters.NavMode);
+  httpd_resp_send_chunk(Req, Line, Len);
+  httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
+
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Geoid-Separ.</td><td>\n");
+
+  const char *GeoidSeparTable[2] = { "GPS", "Override" } ;
+  SelectList(Req, "manGeoidSepar", GeoidSeparTable, 2, Parameters.manGeoidSepar);
+
+  httpd_resp_sendstr_chunk(Req, "<input type=\"text\" name=\"GeoidSepar\" size=\"3\" value=\"");
+  Len=Format_SignDec(Line, Parameters.GeoidSepar, 2, 1);
+  httpd_resp_send_chunk(Req, Line, Len);
+  httpd_resp_sendstr_chunk(Req, "\">\n");
+
+  httpd_resp_sendstr_chunk(Req, "</td></tr>\n");
+
+  httpd_resp_sendstr_chunk(Req, "</table></form>\n"); }
+
 static void ParmForm_Other(httpd_req_t *Req)  // produce HTML form for aircraft parameters
 { char Line[16]; int Len;
 
   httpd_resp_sendstr_chunk(Req, "<form action=\"/parm.html\" method=\"get\" id=\"Other\">\n<table border=\"1\" cellspacing=\"0\" cellpadding=\"2\">\n");
   httpd_resp_sendstr_chunk(Req, "<tr><th><b>Other</th><td><input type=\"submit\" value=\"Apply\"></td></tr>\n");
 
-  const char *FreqPlanTable[16] = { "Auto", "Europe/Africa", "USA/Canada", "Australia/Chile", "New Zeeland", "Izrael" };
+  const char *FreqPlanTable[6] = { "Auto", "Europe/Africa", "USA/Canada", "Australia/Chile", "New Zeeland", "Izrael" };
   httpd_resp_sendstr_chunk(Req, "<tr><td>Freq. plan</td><td>\n");
   SelectList(Req, "FreqPlan", FreqPlanTable, 6, Parameters.FreqPlan);
   httpd_resp_sendstr_chunk(Req, "</td></tr>\n");
@@ -161,12 +202,12 @@ static void ParmForm_Stratux(httpd_req_t *Req) // Connection to Stratux WiFi par
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
 
-  httpd_resp_sendstr_chunk(Req, "<tr><td>Tx [dBm]</td><td><input type=\"text\" name=\"StratuxTxPwr\" size=\"10\" value=\"");
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Tx power [dBm]</td><td><input type=\"text\" name=\"StratuxTxPwr\" size=\"10\" value=\"");
   Len=Format_UnsDec(Line, (10*Parameters.StratuxTxPwr+2)>>2, 2, 1);
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
 
-  httpd_resp_sendstr_chunk(Req, "<tr><td>Min. signal [dBm]</td><td><input type=\"text\" name=\"StratuxMinSig\" size=\"10\" value=\"");
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Min. RSSI [dBm]</td><td><input type=\"text\" name=\"StratuxMinSig\" size=\"10\" value=\"");
   Len=Format_SignDec(Line, Parameters.StratuxMinSig);
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
@@ -194,7 +235,7 @@ static void ParmForm_AP(httpd_req_t *Req) // Wi-Fi access point parameters { cha
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
 
-  httpd_resp_sendstr_chunk(Req, "<tr><td>Tx [dBm]</td><td><input type=\"text\" name=\"APtxPwr\" size=\"10\" value=\"");
+  httpd_resp_sendstr_chunk(Req, "<tr><td>Tx power [dBm]</td><td><input type=\"text\" name=\"APtxPwr\" size=\"10\" value=\"");
   Len=Format_UnsDec(Line, (10*Parameters.APtxPwr+2)>>2, 2, 1);
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "\"></td></tr>\n");
@@ -461,7 +502,7 @@ static void Top_Bar(httpd_req_t *Req)
 { char Line[32]; int Len;
 
   httpd_resp_sendstr_chunk(Req, "<h2>OGN-Tracker</h2>\n");
-  httpd_resp_sendstr_chunk(Req, "<b>CPU ID: ");
+  httpd_resp_sendstr_chunk(Req, "<b>EUID: ");
   Len=Format_Hex(Line, getUniqueID());
   httpd_resp_send_chunk(Req, Line, Len);
   httpd_resp_sendstr_chunk(Req, "</b><br />\n");
@@ -514,6 +555,8 @@ static esp_err_t parm_get_handler(httpd_req_t *Req)
   httpd_resp_sendstr_chunk(Req, "</td></tr>\n<tr><td>\n");
   ParmForm_Info(Req);
   httpd_resp_sendstr_chunk(Req, "</td></tr>\n<tr><td>\n");
+  ParmForm_GPS(Req);
+  httpd_resp_sendstr_chunk(Req, "</td></tr>\n<tr><td>\n");
 #ifdef WITH_AP
   ParmForm_AP(Req);
   httpd_resp_sendstr_chunk(Req, "</td></tr>\n<tr><td>\n");

main/nmea.h

@@ -141,7 +141,7 @@ inline uint8_t NMEA_AppendCheckCRNL(char *NMEA, uint8_t Len) { return NMEA_Appen
        if(Data[4]!='G') return 0;
        return Data[5]=='A'; }
 
-   uint8_t isGPGSA(void) const                   //
+   uint8_t isGPGSA(void) const                   // GPS satellite data
      { if(!isGP()) return 0;
        if(Data[3]!='G') return 0;
        if(Data[4]!='S') return 0;

main/parameters.h

@@ -212,12 +212,14 @@ uint16_t StratuxPort;
 
     Flags          =         0;
 #ifdef WITH_GPS_UBX
-    NavMode        =         6; // Avionic mode 1g for UBX
+    NavMode        =         6; // 6 = Avionic mode 1g for UBX
 #endif
 #ifdef WITH_GPS_MTK
-    NavMode        =         2; // Avionic mode for MTK
+    NavMode        =         2; // 2 = Avionic mode for MTK
 #endif
     NavRate        =         1; // [Hz]
+    GeoidSepar     =    10*DEFAULT_GeoidSepar; // [0.1m]
+
     Verbose        =         1;
 
     RFchipTempCorr =         0; // [degC]
@@ -225,7 +227,6 @@ uint16_t StratuxPort;
     CONprot        =      0xFF;
     PressCorr      =         0; // [0.25Pa]
     TimeCorr       =         0; // [sec]
-    GeoidSepar     =    10*DEFAULT_GeoidSepar; // [0.1m]
 
     FreqPlan       =    DEFAULT_FreqPlan; // [0..5]
     PPSdelay       =    DEFAULT_PPSdelay; // [ms]

main/ubx.h

@@ -57,6 +57,41 @@ class UBX_NAV_SOL     // 0x01 0x06
     uint8_t reserved2[4]; //
 } ;
 
+class UBX_NAV_PVT     // 0x01 0x07
+{ public:
+   uint32_t iTOW;      // [ms]
+   uint16_t year;
+   uint8_t  month;
+   uint8_t  day;
+   uint8_t  hour;
+   uint8_t  min;
+   uint8_t  sec;
+   uint8_t  valid;
+   uint32_t tAcc;
+    int32_t nano;
+   uint8_t  fixType;
+   uint8_t  flags;
+   uint8_t  flags2;
+   uint8_t  numSV;
+    int32_t lon;
+    int32_t lat;
+    int32_t height;
+    int32_t hMSL;
+   uint32_t hAcc;
+   uint32_t vAcc;
+    int32_t velN;
+    int32_t velE;
+    int32_t velD;
+    int32_t gSpeed;
+    int32_t headMot;
+   uint32_t sAcc;
+   uint32_t headAcc;
+   uint16_t pDOP;
+   uint8_t  reserved1[6];
+    int32_t headVeh;
+   uint8_t  reserved2[4];
+} ;
+
 class UBX_NAV_VELNED  // 0x01 0x12
 { public:
    uint32_t iTOW;      // [ms] Time-of-Week
@@ -126,6 +161,9 @@ class UBX_CFG_PRT         // 0x06 0x00
     int16_t outProtoMask; // bit 0:UBX, bit 1:NMEA
    uint16_t flags;        // bit 1:extendedTxTimeout
    uint16_t reserved2;
+  public:
+   // void setBaudRate(uint32_t BaudRate)
+   // { }
 } ;
 
 class UBX_CFG_MSG         // 0x06 0x01
@@ -171,6 +209,8 @@ class UBX_CFG_NAV5        // 0x06 0x24
   uint8_t   reserved2[2];
   uint32_t  reserved3;
   uint32_t  reserved4;
+ public:
+  void setDynModel(uint8_t DynModel) { mask = 0x0001; dynModel=DynModel; } // only change the dynamic model
 } ;
 
 // UBX Class packet numbers
@@ -280,9 +320,9 @@ class UBX_RxMsg // receiver for the UBX sentences
      CheckB += CheckA;
      (*SendByte)(DataLen);
      CheckA += DataLen;
-     CheckB += CheckA;         // pass PollDataLen
+     CheckB += CheckA;         // pass DataLen LSB
      (*SendByte)(0x00);
-     CheckB += CheckA;         // pass 0x00
+     CheckB += CheckA;         // pass DataLen MSB = 0x00
      if(Data)
      { for(uint8_t Idx=0; Idx<DataLen; Idx++)
        { (*SendByte)(Data[Idx]);