gps accuracy for ublox 10

main/gen_gdl90.go

@@ -92,20 +92,31 @@ const (
 		GPS_TYPE_GARMIN   = 0x06
 	*/
 
-	GPS_TYPE_UBX9     = 0x09
-	GPS_TYPE_UBX8     = 0x08
-	GPS_TYPE_UBX7     = 0x07
-	GPS_TYPE_UBX6     = 0x06
-	GPS_TYPE_PROLIFIC = 0x02
-	GPS_TYPE_UART     = 0x01
-	GPS_TYPE_SERIAL   = 0x0A
-	GPS_TYPE_OGNTRACKER = 0x03
-	GPS_TYPE_GXAIRCOM = 0x0F
-	GPS_TYPE_SOFTRF_DONGLE = 0x0B
-	GPS_TYPE_NETWORK  = 0x0C
-	GPS_PROTOCOL_NMEA = 0x10
-	// other GPS types to be defined as needed
+	// for historical reasons lower nibbe contains gps type, upper nibble containsprotocol type. 
+	// Additionally this enumeration has a javascript duplicte in web/plates/js/status.js, they have to be kept in sync manually
+	// This is somewhat ugly but difficult to change without breaking backward compatibility
 
+	// lower nibble gps type   (dont forget to use only numbers form 0 to 15)
+	
+	GPS_TYPE_ANY     	= 1		// Any generic GPS - no reconfiguring applied
+	GPS_TYPE_PROLIFIC 	= 2
+	GPS_TYPE_OGNTRACKER = 3
+	GPS_TYPE_UBX_GEN  	= 4
+	GPS_TYPE_UBX10    	= 5	
+	//GPS_TYPE_UBX6     	= 6
+	GPS_TYPE_UBX6or7    = 7
+	GPS_TYPE_UBX8     	= 8
+	GPS_TYPE_UBX9     	= 9
+	GPS_TYPE_SERIAL   	= 10 		// 0x0A
+	GPS_TYPE_SOFTRF_DONGLE 	= 11	// 0x0B
+	GPS_TYPE_NETWORK  	= 12		// 0x0C
+	GPS_TYPE_GXAIRCOM 	= 15		// 0x0F
+	
+
+	// upper nibble is used for the protocol
+	GPS_PROTOCOL_NMEA = 0x10
+	
+	
 )
 
 var STRATUX_WWW_DIR = STRATUX_HOME + "www/"
@@ -1171,6 +1182,7 @@ type settings struct {
 	TraceLog             bool
 	AHRSLog              bool
 	PersistentLogging    bool
+	ClearLogOnStart      bool
 	IMUMapping           [2]int     // Map from aircraft axis to sensor axis: accelerometer
 	SensorQuaternion     [4]float64 // Quaternion mapping from sensor frame to aircraft frame
 	C, D                 [3]float64 // IMU Accel, Gyro zero bias
@@ -1213,6 +1225,12 @@ type settings struct {
 	GXPilot              string
 
 	PWMDutyMin           int
+
+	// manual GPS config  (versus autodetect)
+	GpsManualConfig      bool
+	GpsManualDevice	     string         // default: /dev/ttyAMA0
+    GpsManualChip        string         // ublox8, ublox9, ublox
+	GpsManualTargetBaud  int            // default: 115200
 }
 
 type status struct {
@@ -1317,6 +1335,13 @@ func defaultSettings() {
 	globalSettings.PWMDutyMin = 0
 
 	globalSettings.OGNI2CTXEnabled = true
+
+	globalSettings.ClearLogOnStart = true
+
+	globalSettings.GpsManualConfig = false
+	globalSettings.GpsManualDevice = "/dev/ttyAMA0"
+	globalSettings.GpsManualTargetBaud = 115200
+	globalSettings.GpsManualChip = "ublox"
 }
 
 func readSettings() {
@@ -1665,10 +1690,14 @@ func main() {
 	}
 
 	initLogging()
+	
 
 	// Read settings.
 	readSettings()
 
+	// Clear the logfile on startup
+	if globalSettings.ClearLogOnStart { clearDebugLogFile() }
+
 	log.Printf("Stratux %s (%s) starting.\n", stratuxVersion, stratuxBuild)
 	if *writeNetworkConfig {
 		log.Printf("Only writing network settings...")

main/gps.go

@@ -4,7 +4,9 @@
 	that can be found in the LICENSE file, herein included
 	as part of this header.
 
+	---
 	gps.go: GPS functions, GPS init, AHRS status messages, other external sensor monitoring.
+	compile and install: clear && make www && make gen_gdl90 && mv gen_gdl90 /opt/stratux/bin/ && stxrestart
 */
 
 package main
@@ -206,9 +208,21 @@ func makeNMEACmd(cmd string) []byte {
 	return []byte(fmt.Sprintf("$%s*%02x\x0d\x0a", cmd, chk_sum))
 }
 
+func logChipConfig(line1 string, chip string, device string, baudrate int, append string) {
+	if line1 == "auto" {
+		logInf("Gps - autodected gps, using following parameters:")
+	} else if line1 == "man" {
+		logInf("GPS - manual configuration with following parameters from /boot/stratux.conf:")
+	}
+	msg := "GPS - chip: %s, device: %s, baudrate: %d"
+	if(append != "") { msg += ", " + append}
+	logInf(msg, chip, device, baudrate)
+}
+
 
 func initGPSSerial() bool {
 	var device string
+	var targetBaudRate int = 115200
 	if (globalStatus.GPS_detected_type & 0x0f) == GPS_TYPE_NETWORK {
 		return true
 	}
@@ -218,19 +232,64 @@ func initGPSSerial() bool {
 	ognTrackerConfigured = false;
 	globalStatus.GPS_detected_type = 0 // reset detected type on each initialization
 
-	if _, err := os.Stat("/dev/ublox9"); err == nil { // u-blox 8 (RY83xAI over USB).
+	
+	if globalSettings.GpsManualConfig {
+		//logInf("GPS - manual configuration with parameters from /boot/stratux.conf:")
+
+		var chip string = globalSettings.GpsManualChip
+		device = globalSettings.GpsManualDevice
+		targetBaudRate = globalSettings.GpsManualTargetBaud
+		baudrates = []int{115200, 38400, 9600, 230400, 500000, 1000000, 2000000}
+
+		switch chip {
+			case "ublox6":
+			case "ublox7":
+				globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
+				logChipConfig("man", "ublox 6 or 7", device, targetBaudRate, "")
+				break;
+			case "ublox8":
+				globalStatus.GPS_detected_type = GPS_TYPE_UBX8
+				logChipConfig("man", "ublox 8", device, targetBaudRate, "")
+				break;
+			case "ublox9":
+				globalStatus.GPS_detected_type = GPS_TYPE_UBX9
+				logChipConfig("man", "ublox 9", device, targetBaudRate, "")
+				break;
+			case "ublox10":
+				globalStatus.GPS_detected_type = GPS_TYPE_UBX10
+				logChipConfig("man", "ublox 10", device, targetBaudRate, "")
+				break;
+			case "ublox":
+				globalStatus.GPS_detected_type = GPS_TYPE_UBX_GEN
+				logChipConfig("man", "generic ublox", device, targetBaudRate, "")
+				break;
+			default:
+				globalStatus.GPS_detected_type = GPS_TYPE_ANY
+				logInf("GPS - configuring gps chip as other -> no further configuration will be done, use gps as it is")
+		}
+		
+
+	} else if _, err := os.Stat("/dev/ublox9"); err == nil { 
 		device = "/dev/ublox9"
 		globalStatus.GPS_detected_type = GPS_TYPE_UBX9
-	} else if _, err := os.Stat("/dev/ublox8"); err == nil { // u-blox 8 (RY83xAI or GPYes 2.0).
+		logChipConfig("auto", "ublox 9", device, targetBaudRate, "")
+
+	} else if _, err := os.Stat("/dev/ublox8"); err == nil { 	// u-blox 8 (RY83xAI or GPYes 2.0).
 		device = "/dev/ublox8"
 		globalStatus.GPS_detected_type = GPS_TYPE_UBX8
-		gpsTimeOffsetPpsMs = 80 * time.Millisecond // Ublox 8 seems to have higher delay
-	} else if _, err := os.Stat("/dev/ublox7"); err == nil { // u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
+		gpsTimeOffsetPpsMs = 80 * time.Millisecond 				// Ublox 8 seems to have higher delay
+		logChipConfig("auto", "ublox 8", device, targetBaudRate, "")
+
+	} else if _, err := os.Stat("/dev/ublox7"); err == nil { 	// u-blox 7 (VK-172, VK-162 Rev 2, GPYes, RY725AI over USB).
 		device = "/dev/ublox7"
-		globalStatus.GPS_detected_type = GPS_TYPE_UBX7
-	} else if _, err := os.Stat("/dev/ublox6"); err == nil { // u-blox 6 (VK-162 Rev 1).
+		globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
+		logChipConfig("auto", "ublox 7", device, targetBaudRate, "")
+
+	} else if _, err := os.Stat("/dev/ublox6"); err == nil { 	// u-blox 6 (VK-162 Rev 1).
 		device = "/dev/ublox6"
-		globalStatus.GPS_detected_type = GPS_TYPE_UBX6
+		globalStatus.GPS_detected_type = GPS_TYPE_UBX6or7
+		logChipConfig("auto", "ublox 6", device, targetBaudRate, "")
+
 	} else if _, err := os.Stat("/dev/prolific0"); err == nil { // Assume it's a BU-353-S4 SIRF IV.
 		//TODO: Check a "serialout" flag and/or deal with multiple prolific devices.
 		isSirfIV = true
@@ -248,19 +307,21 @@ func initGPSSerial() bool {
 		device = "/dev/softrf_dongle"
 		globalStatus.GPS_detected_type = GPS_TYPE_SOFTRF_DONGLE
 		baudrates[0] = 115200
- 	} else if _, err := os.Stat("/dev/ttyAMA0"); err == nil { // ttyAMA0 is PL011 UART (GPIO pins 8 and 10) on all RPi.
+ 	} else if _, err := os.Stat("/dev/ttyAMA0"); err == nil { 
+		// ttyAMA0 is PL011 UART (GPIO pins 8 and 10) on all RPi.
+		// assume that any GPS connected to serial GPIO is ublox
 		device = "/dev/ttyAMA0"
-		globalStatus.GPS_detected_type = GPS_TYPE_UART
+		globalStatus.GPS_detected_type = GPS_TYPE_UBX_GEN
 		baudrates = []int{115200, 38400, 9600}
+		logInf("GPS - device detected at serial port /dev/ttyAMA0, assuming this is an ublox device, configuring as generic ublox:")
+		logChipConfig("", "generic ublox", device, targetBaudRate, "")
+		logInf("GPS - consider to configure this device manually in /boot/stratux.conf for optimal performance")
 	} else {
-		if globalSettings.DEBUG {
-			log.Printf("No GPS device found.\n")
-		}
+		logDbg("GPS - no gps device found.\n")
 		return false
 	}
-	if globalSettings.DEBUG {
-		log.Printf("Using %s for GPS\n", device)
-	}
+
+	logDbg("GPS - using device: %s", device)
 
 	// try to open port with previously defined baud rate
 	// port remains opend if detectOpenSerialPort finds matching baurate parameter
@@ -268,7 +329,7 @@ func initGPSSerial() bool {
 
 	p, err := detectOpenSerialPort(device, baudrates)
 	if err != nil {
-		log.Printf("serial port/baudrate detection err: %s\n", err.Error())
+		log.Printf("GPS - serial port/baudrate detection err: %s\n", err.Error())
 		return false
 	}
 
@@ -293,9 +354,13 @@ func initGPSSerial() bool {
 		if globalSettings.DEBUG {
 			log.Printf("Finished writing SiRF GPS config to %s. Opening port to test connection.\n", device)
 		}
-	} else if globalStatus.GPS_detected_type == GPS_TYPE_UBX6 || globalStatus.GPS_detected_type == GPS_TYPE_UBX7 ||
-	          globalStatus.GPS_detected_type == GPS_TYPE_UBX8 || globalStatus.GPS_detected_type == GPS_TYPE_UBX9 ||
-		  globalStatus.GPS_detected_type == GPS_TYPE_UART {
+	} else if (
+		globalStatus.GPS_detected_type == GPS_TYPE_UBX6or7  ||
+	    globalStatus.GPS_detected_type == GPS_TYPE_UBX8  	|| 
+		globalStatus.GPS_detected_type == GPS_TYPE_UBX9  	||
+		globalStatus.GPS_detected_type == GPS_TYPE_UBX10 	||
+		globalStatus.GPS_detected_type == GPS_TYPE_UBX_GEN ) {
+	
 
 		// Byte order for UBX configuration is little endian.
 
@@ -313,21 +378,15 @@ func initGPSSerial() bool {
 		//time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
 
 		if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
-			if globalSettings.DEBUG {
-				log.Printf("ublox 9 detected\n")
-			}
+			logDbg("GPS - configuring as ublox 9\n")
 			// ublox 9
 			writeUblox9ConfigCommands(p)		
-		} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) || (globalStatus.GPS_detected_type == GPS_TYPE_UART) { // assume that any GPS connected to serial GPIO is ublox8 (RY835/6AI)
-			if globalSettings.DEBUG {
-				log.Printf("ublox 8 detected\n")
-			}
+		} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX8) { 
+			logDbg("GPS - configuring as ublox 8\n")
 			// ublox 8
 			writeUblox8ConfigCommands(p)
-		} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX7) || (globalStatus.GPS_detected_type == GPS_TYPE_UBX6) {
-			if globalSettings.DEBUG {
-				log.Printf("ublox 6 or 7 detected\n")
-			}
+		} else if (globalStatus.GPS_detected_type == GPS_TYPE_UBX6or7) {
+			logDbg("GPS - configuring as ublox 6 or 7\n")
 			// ublox 6,7
 			cfgGnss := []byte{0x00, 0x00, 0xFF, 0x04} // numTrkChUse=0xFF: number of tracking channels to use will be set to number of tracking channels available in hardware
 			gps     := []byte{0x00, 0x04, 0xFF, 0x00, 0x01, 0x00, 0x01, 0x01} // enable GPS with 4-255 channels (ublox default)
@@ -360,7 +419,7 @@ func initGPSSerial() bool {
 		cfg[7] = 0x00
 
 		// Baud rate. Little endian order.
-		bdrt := uint32(115200)
+		bdrt := uint32(targetBaudRate)
 		cfg[11] = byte((bdrt >> 24) & 0xFF)
 		cfg[10] = byte((bdrt >> 16) & 0xFF)
 		cfg[9] = byte((bdrt >> 8) & 0xFF)
@@ -384,12 +443,9 @@ func initGPSSerial() bool {
 		p.Write(makeUBXCFG(0x06, 0x00, 20, cfg))
 
 
-		//	time.Sleep(100* time.Millisecond) // pause and wait for the GPS to finish configuring itself before closing / reopening the port
-		baudrates[0] = int(bdrt)
-
-		if globalSettings.DEBUG {
-			log.Printf("Finished writing u-blox GPS config to %s. Opening port to test connection.\n", device)
-		}
+		//baudrates[0] = int(bdrt)   // replaced by line below -> insert at pos 0 instead of overwriting ...
+		baudrates = append([]int{targetBaudRate}, baudrates...)
+		logDbg("GPS - finished writing u-blox GPS config to %s. Opening port to test connection.\n", device)
 	} else if globalStatus.GPS_detected_type == GPS_TYPE_SOFTRF_DONGLE {
 		p.Write([]byte("@GNS 0x7\r\n")) // enable SBAS
 		p.Flush()
@@ -407,7 +463,7 @@ func initGPSSerial() bool {
 	
 	p, err = detectOpenSerialPort(device, baudrates)
 	if err != nil {
-		log.Printf("serial port err: %s\n", err.Error())
+		logErr("GPS - serial port err: %s\n", err.Error())
 		return false
 	}
 
@@ -422,6 +478,7 @@ func detectOpenSerialPort(device string, baudrates []int) (*(serial.Port), error
 		return serial.OpenPort(serialConfig)
 	} else {
 		for _, baud := range baudrates {
+			logDbg("GPS - trying to open serial with %d baud ...", baud)
 			serialConfig := &serial.Config{Name: device, Baud: baud, ReadTimeout: time.Millisecond * 2500}
 			p, err := serial.OpenPort(serialConfig)
 			if err != nil {
@@ -436,17 +493,19 @@ func detectOpenSerialPort(device string, baudrates []int) (*(serial.Port), error
 				_, validNMEAcs := validateNMEAChecksum(line)
 				if validNMEAcs {
 					// looks a lot like NMEA.. use it
-					log.Printf("Detected serial port %s with baud %d", device, baud)
+					logInf("GPS - successfully opened serial port %s with baud %d   (Valid NMEA msg received)", device, baud)
 					// Make sure the NMEA is immediately parsed once, so updateStatus() doesn't see the GPS as disconnected before
 					// first msg arrives
 					processNMEALine(line)
 					return p, nil
 				}
 			}
+			logDbg("GPS - could not open serial port with %d baud, no valid NMea received ...", baud)
 			p.Close()
 			time.Sleep(250 * time.Millisecond)
 		}
-		return nil, errors.New("Failed to detect GPS serial baud rate")
+		logErr("GPS - none of the baud rates worked, gps not connected ...")
+		return nil, errors.New("GPS - Failed to detect gps serial baud rate")
 	}
 }
 
@@ -550,7 +609,7 @@ func writeUbloxGenericCommands(navrate uint16, p *serial.Port) {
 		p.Write(makeUBXCFG(0x06, 0x08, 6, []byte{0xE8, 0x03, 0x01, 0x00, 0x01, 0x00})) // 1000ms & 1 cycle -> 1Hz (UBX-CFG-RATE payload bytes: little endian!)
 	}
 
-
+	logDbg("GPS - applying generic ublox settings (refresh rate: %d)" , navrate)
 }
 
 
@@ -1032,15 +1091,11 @@ func calculateNavRate() float64 {
  	var halfwidth float64
  	dt_avg, valid := common.Mean(tempSpeedTime)
  	if valid && dt_avg > 0 {
- 		if globalSettings.DEBUG {
- 			log.Printf("GPS attitude: Average delta time is %.2f s (%.1f Hz)\n", dt_avg, 1/dt_avg)
- 		}
+ 		logDbg("GPS attitude: Average delta time is %.2f s (%.1f Hz)\n", dt_avg, 1/dt_avg)
  		halfwidth = 9 * dt_avg
  		mySituation.GPSPositionSampleRate = 1 / dt_avg
  	} else {
- 		if globalSettings.DEBUG {
- 			log.Printf("GPS attitude: Couldn't determine sample rate\n")
- 		}
+ 		// logDbg("GPS attitude: Couldn't determine sample rate\n")
  		halfwidth = 3.5
  		mySituation.GPSPositionSampleRate = 0
  	}
@@ -1493,13 +1548,13 @@ func processNMEALineLow(l string, fakeGpsTimeToCurr bool) (sentenceUsed bool) {
 			return false
 		}
 		if tmpSituation.GPSFixQuality == 2 { // Rough 95% confidence estimate for SBAS solution
-			if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {			
+			if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {			
 				tmpSituation.GPSHorizontalAccuracy = float32(hdop * 3.0) 	// ublox 9
 			} else {
 				tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0)	// ublox 6/7/8
 			}
 		} else { // Rough 95% confidence estimate non-SBAS solution
-			if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 {
+			if globalStatus.GPS_detected_type == GPS_TYPE_UBX9 || globalStatus.GPS_detected_type == GPS_TYPE_UBX10 {
 				tmpSituation.GPSHorizontalAccuracy = float32(hdop * 4.0) 	// ublox 9
 			} else {
 				tmpSituation.GPSHorizontalAccuracy = float32(hdop * 5.0)	// ublox 6/7/8
@@ -1556,9 +1611,7 @@ func processNMEALineLow(l string, fakeGpsTimeToCurr bool) (sentenceUsed bool) {
 		lenGSV := len(x)
 		satsThisMsg := (lenGSV - 4) / 4
 
-		if globalSettings.DEBUG {
-			log.Printf("%s message [%d of %d] is %v fields long and describes %v satellites\n", x[0], msgIndex, msgNum, lenGSV, satsThisMsg)
-		}
+		logDbg("%s message [%d of %d] is %v fields long and describes %v satellites\n", x[0], msgIndex, msgNum, lenGSV, satsThisMsg)
 
 		var sv, elev, az, cno int
 		var svType uint8
@@ -1653,8 +1706,9 @@ func processNMEALineLow(l string, fakeGpsTimeToCurr bool) (sentenceUsed bool) {
 				}
 			}
 
+			
 			if globalSettings.DEBUG {
-				inSolnStr := " "
+					inSolnStr := " "
 				if thisSatellite.InSolution {
 					inSolnStr = "+"
 				}
@@ -2182,9 +2236,7 @@ func gpsAttitudeSender() {
 			<-timer.C
 
 			if !isGPSValid() || !calcGPSAttitude() {
-				if globalSettings.DEBUG {
-					log.Printf("Couldn't calculate GPS-based attitude statistics\n")
-				}
+				logDbg("Couldn't calculate GPS-based attitude statistics\n")
 			} else {
 				mySituation.muGPSPerformance.Lock()
 				index := len(myGPSPerfStats) - 1
@@ -2309,3 +2361,7 @@ func initGPS(isReplayMode bool) {
 		go pollGPS()
 	}
 }
+
+
+
+

main/logging.go

@@ -163,4 +163,18 @@ func openLogFile() {
 func initLogging() {
 	openLogFile()
 	go logFileWatcher();
+}
+
+
+// Log allways
+func logInf(msg string, args ... any) { log.Printf(msg, args...) }
+
+// Log on error (no special proccessing right now)
+func logErr(msg string, args ... any) { log.Printf(msg, args...) }
+
+// Log if debug enabled ("verbose message log" in settings tab)
+func logDbg(msg string, args ... any) {
+	if globalSettings.DEBUG {
+		log.Printf(msg, args...)
+	}
 }

web/plates/js/status.js

@@ -86,8 +86,9 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval, craftService)
 			var gpsHardwareCode = (status.GPS_detected_type & 0x0f);
 			var tempGpsHardwareString = "Not installed";
 			switch(gpsHardwareCode) {
+				// Keep in mind that this must be in sync with the enumeration in gen_gdl90.go
 				case 1:
-					tempGpsHardwareString = "Serial port";
+					tempGpsHardwareString = "Generic GPS device";
 					break;
 				case 2:
 					tempGpsHardwareString = "Prolific USB-serial bridge";
@@ -95,20 +96,23 @@ function StatusCtrl($rootScope, $scope, $state, $http, $interval, craftService)
 				case 3:
 					tempGpsHardwareString = "OGN Tracker";
 					break;
-				case 6:
-					tempGpsHardwareString = "USB u-blox 6 GPS receiver";
+				case 4:
+					tempGpsHardwareString = "generic u-blox device";
+					break;
+				case 5:
+					tempGpsHardwareString = "u-blox 10 GNSS receiver";
 					break;
 				case 7:
-					tempGpsHardwareString = "USB u-blox 7 GNSS receiver";
+					tempGpsHardwareString = "u-blox 6 or 7 GNSS receiver";
 					break;
 				case 8:
-					tempGpsHardwareString = "USB u-blox 8 GNSS receiver";
+					tempGpsHardwareString = "u-blox 8 GNSS receiver";
 					break;
 				case 9:
-					tempGpsHardwareString = "USB u-blox 9 GNSS receiver";
+					tempGpsHardwareString = "u-blox 9 GNSS receiver";
 					break;
 				case 10:
-					tempGpsHardwareString = "USB Serial IN";
+					tempGpsHardwareString = "USB/Serial IN";
 					break;
 				case 11:
 					tempGpsHardwareString = "SoftRF Dongle";