Expose u-blox min elevation, min SNR and DGNSS timeout parameters RTK Fix Improvements (PX4#25720)

* Exposing u-Blox min CNO, min elevation, and DGNSS timeout for RTK Fix Improvement

* update gps submodule

---------

Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>

Author: 3 people

src/drivers/gps/gps.cpp

@@ -798,13 +798,16 @@ GPS::run()
 		param_get(handle, &gps_ubx_min_elev);
 	}
 
+<<<<<<< HEAD
 	int32_t gps_ubx_rate = 0;
 	handle = param_find("GPS_UBX_RATE");
 
 	if (handle != PARAM_INVALID) {
 		param_get(handle, &gps_ubx_rate);
 	}
 
+=======
+>>>>>>> 58fbdcdff4 (Expose u-blox min elevation, min SNR and DGNSS timeout parameters RTK Fix Improvements (#25720))
 	handle = param_find("GPS_UBX_MODE");
 
 	GPSDriverUBX::UBXMode ubx_mode{GPSDriverUBX::UBXMode::Normal};
@@ -964,13 +967,22 @@ GPS::run()
 					.dgnss_timeout = (uint8_t)gps_ubx_dgnss_to,
 					.min_cno = (uint8_t)gps_ubx_min_cno,
 					.min_elev = (int8_t)gps_ubx_min_elev,
+<<<<<<< HEAD
 					.output_rate = (uint8_t)gps_ubx_rate,
 					.heading_offset = heading_offset,
 					.uart2_baudrate = f9p_uart2_baudrate,
 					.ppk_output = ppk_output > 0,
 					.jam_det_sensitivity_hi = jam_det_sensitivity_hi > 0,
 					.mode = ubx_mode,
 				};
+=======
+					.heading_offset = heading_offset,
+					.uart2_baudrate = f9p_uart2_baudrate,
+					.ppk_output = ppk_output > 0,
+					.mode = ubx_mode,
+				};
+
+>>>>>>> 58fbdcdff4 (Expose u-blox min elevation, min SNR and DGNSS timeout parameters RTK Fix Improvements (#25720))
 				_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_sensor_gps, _p_report_sat_info, settings);
 
 			set_device_type(DRV_GPS_DEVTYPE_UBX);

src/drivers/gps/params.c

@@ -0,0 +1,350 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Log GPS communication data
+ *
+ * If this is set to 1, all GPS communication data will be published via uORB,
+ * and written to the log file as gps_dump message.
+ *
+ * If this is set to 2, the main GPS is configured to output RTCM data,
+ * which is then logged as gps_dump and can be used for PPK.
+ *
+ * @min 0
+ * @max 2
+ * @value 0 Disable
+ * @value 1 Full communication
+ * @value 2 RTCM output (PPK)
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0);
+
+/**
+ * u-blox GPS dynamic platform model
+ *
+ * u-blox receivers support different dynamic platform models to adjust the navigation engine to
+ * the expected application environment.
+ *
+ * @min 0
+ * @max 9
+ * @value 2 stationary
+ * @value 4 automotive
+ * @value 6 airborne with <1g acceleration
+ * @value 7 airborne with <2g acceleration
+ * @value 8 airborne with <4g acceleration
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
+
+/**
+ * u-blox GPS DGNSS timeout
+ *
+ * When set to 0 (default), default DGNSS timeout set by u-blox will be used.
+ *
+ * @min 0
+ * @max 255
+ * @unit s
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_DGNSS_TO, 0);
+
+/**
+ * u-blox GPS minimum satellite signal level for navigation
+ *
+ * When set to 0 (default), default minimum satellite signal level set by u-blox wll be used.
+ *
+ * @min 0
+ * @max 255
+ * @unit dBHz
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_MIN_CNO, 0);
+
+/**
+ * u-blox GPS minimum elevation for a GNSS satellite to be used in navigation
+ *
+ * When set to 0 (default), default minimum elevation set by u-blox will be used.
+ *
+ * @min 0
+ * @max 127
+ * @unit deg
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_MIN_ELEV, 0);
+
+/**
+ * Enable sat info (if available)
+ *
+ * Enable publication of satellite info (ORB_ID(satellite_info)) if possible.
+ * Not available on MTK.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
+
+/**
+ * u-blox GPS Mode
+ *
+ * Select the u-blox configuration setup. Most setups will use the default, including RTK and
+ * dual GPS without heading.
+ *
+ * If rover has RTCM corrections from a static base (or other static correction source) coming in on UART2, then select Mode 5.
+ * The Heading mode requires 2 F9P devices to be attached. The main GPS will act as rover and output
+ * heading information, whereas the secondary will act as moving base.
+ * Modes 1 and 2 require each F9P UART1 to be connected to the Autopilot. In addition, UART2 on the
+ * F9P units are connected to each other.
+ * Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
+ * RTK is still possible with this setup.
+ * Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
+ *
+ * @min 0
+ * @max 1
+ * @value 0 Default
+ * @value 1 Heading (Rover With Moving Base UART1 Connected To Autopilot, UART2 Connected To Moving Base)
+ * @value 2 Moving Base (UART1 Connected To Autopilot, UART2 Connected To Rover)
+ * @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
+ * @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
+ * @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
+ * @value 6 Ground Control Station (UART2 outputs NMEA)
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_MODE, 0);
+
+
+/**
+ * u-blox F9P UART2 Baudrate
+ *
+ * Select a baudrate for the F9P's UART2 port.
+ * In GPS_UBX_MODE 1, 2, and 3, the F9P's UART2 port is configured to send/receive RTCM corrections.
+ * Set this to 57600 if you want to attach a telemetry radio on UART2.
+ *
+ * @min 0
+ * @unit B/s
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_BAUD2, 230400);
+
+/**
+ * u-blox protocol configuration for interfaces
+ *
+ * @min 0
+ * @max 32
+ * @bit 0 Enable I2C input protocol UBX
+ * @bit 1 Enable I2C input protocol NMEA
+ * @bit 2 Enable I2C input protocol RTCM3X
+ * @bit 3 Enable I2C output protocol UBX
+ * @bit 4 Enable I2C output protocol NMEA
+ * @bit 5 Enable I2C output protocol RTCM3X
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
+
+/**
+ * Enable MSM7 message output for PPK workflow.
+ *
+ * @boolean
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_PPK, 0);
+
+/**
+ * Wipes the flash config of UBX modules.
+ *
+ * Some UBX modules have a FLASH that allows to store persistent configuration that will be loaded on start.
+ * PX4 does override all configuration parameters it needs in RAM, which takes precedence over the values in FLASH.
+ * However, configuration parameters that are not overriden by PX4 can still cause unexpected problems during flight.
+ * To avoid these kind of problems a clean config can be reached by wiping the FLASH on boot.
+ *
+ * Note: Currently only supported on UBX.
+ *
+ * @reboot_required true
+ * @group GPS
+ * @boolean
+ */
+PARAM_DEFINE_INT32(GPS_CFG_WIPE, 0);
+
+/**
+ * Heading/Yaw offset for dual antenna GPS
+ *
+ * Heading offset angle for dual antenna GPS setups that support heading estimation.
+ *
+ * Set this to 0 if the antennas are parallel to the forward-facing direction
+ * of the vehicle and the rover (or Unicore primary) antenna is in front.
+ *
+ * The offset angle increases clockwise.
+ *
+ * Set this to 90 if the rover (or Unicore primary, or Septentrio Mosaic Aux)
+ * antenna is placed on the right side of the vehicle and the moving base
+ * antenna is on the left side.
+ *
+ * (Note: the Unicore primary antenna is the one connected on the right as seen
+ *        from the top).
+ *
+ * @min 0
+ * @max 360
+ * @unit deg
+ * @reboot_required true
+ * @decimal 3
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_FLOAT(GPS_YAW_OFFSET, 0.f);
+
+/**
+ * Protocol for Main GPS
+ *
+ * Select the GPS protocol over serial.
+ *
+ * Auto-detection will probe all protocols, and thus is a bit slower.
+ *
+ * @min 0
+ * @max 7
+ * @value 0 Auto detect
+ * @value 1 u-blox
+ * @value 2 MTK
+ * @value 3 Ashtech / Trimble
+ * @value 4 Emlid Reach
+ * @value 5 Femtomes
+ * @value 6 NMEA (generic)
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_1_PROTOCOL, 1);
+
+/**
+ * Protocol for Secondary GPS
+ *
+ * Select the GPS protocol over serial.
+ *
+ * Auto-detection will probe all protocols, and thus is a bit slower.
+ *
+ * @min 0
+ * @max 6
+ * @value 0 Auto detect
+ * @value 1 u-blox
+ * @value 2 MTK
+ * @value 3 Ashtech / Trimble
+ * @value 4 Emlid Reach
+ * @value 5 Femtomes
+ * @value 6 NMEA (generic)
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_2_PROTOCOL, 1);
+
+/**
+ * GNSS Systems for Primary GPS (integer bitmask)
+ *
+ * This integer bitmask controls the set of GNSS systems used by the receiver. Check your
+ * receiver's documentation on how many systems are supported to be used in parallel.
+ *
+ * Currently this functionality is just implemented for u-blox receivers.
+ *
+ * When no bits are set, the receiver's default configuration should be used.
+ *
+ * Set bits true to enable:
+ * 0 : Use GPS (with QZSS)
+ * 1 : Use SBAS (multiple GPS augmentation systems)
+ * 2 : Use Galileo
+ * 3 : Use BeiDou
+ * 4 : Use GLONASS
+ * 5 : Use NAVIC
+ *
+ * @min 0
+ * @max 63
+ * @bit 0 GPS (with QZSS)
+ * @bit 1 SBAS
+ * @bit 2 Galileo
+ * @bit 3 BeiDou
+ * @bit 4 GLONASS
+ * @bit 5 NAVIC
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_1_GNSS, 0);
+
+/**
+ * GNSS Systems for Secondary GPS (integer bitmask)
+ *
+ * This integer bitmask controls the set of GNSS systems used by the receiver. Check your
+ * receiver's documentation on how many systems are supported to be used in parallel.
+ *
+ * Currently this functionality is just implemented for u-blox receivers.
+ *
+ * When no bits are set, the receiver's default configuration should be used.
+ *
+ * Set bits true to enable:
+ * 0 : Use GPS (with QZSS)
+ * 1 : Use SBAS (multiple GPS augmentation systems)
+ * 2 : Use Galileo
+ * 3 : Use BeiDou
+ * 4 : Use GLONASS
+ * 5 : Use NAVIC
+ *
+ * @min 0
+ * @max 63
+ * @bit 0 GPS (with QZSS)
+ * @bit 1 SBAS
+ * @bit 2 Galileo
+ * @bit 3 BeiDou
+ * @bit 4 GLONASS
+ * @bit 5 NAVIC
+ *
+ * @reboot_required true
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_2_GNSS, 0);