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AP_GPS: fixed the check for disabling CONFIG_RATE_SOL config

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we should stop looking for SOL as soon as we know we have PVT, instead
of waiting for all others to be cleared

may help with
https://discuss.ardupilot.org/t/fc-tries-to-config-gps-constantly-when-trying-to-arm-in-loiter-mode/129930
This commit is contained in:
Andrew Tridgell 2025-02-18 11:03:02 +11:00
parent 6ad05dc2c3
commit 69c540a0de
2 changed files with 24 additions and 5 deletions
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28
libraries/AP_GPS/AP_GPS_UBLOX.cpp
View File

@ -278,7 +278,7 @@ AP_GPS_UBLOX::_request_next_config(void)
return;
}
if (_unconfigured_messages == CONFIG_RATE_SOL && havePvtMsg) {
if ((_unconfigured_messages & CONFIG_RATE_SOL) != 0 && havePvtMsg) {
/*
we don't need SOL if we have PVT and TIMEGPS. This is needed
as F9P doesn't support the SOL message
@ -453,7 +453,8 @@ AP_GPS_UBLOX::_request_next_config(void)
break;
case STEP_F9: {
if (_hardware_generation == UBLOX_F9) {
if (_hardware_generation == UBLOX_F9 ||
_hardware_generation == UBLOX_M10) {
uint8_t cfg_count = populate_F9_gnss();
// special handling of F9 config
if (cfg_count > 0) {
@ -470,7 +471,8 @@ AP_GPS_UBLOX::_request_next_config(void)
}
case STEP_F9_VALIDATE: {
if (_hardware_generation == UBLOX_F9) {
if (_hardware_generation == UBLOX_F9 ||
_hardware_generation == UBLOX_M10) {
// GNSS takes 0.5s to reset
if (AP_HAL::millis() - _f9_config_time < 500) {
_next_message--;
@ -662,6 +664,17 @@ AP_GPS_UBLOX::read(void)
}
}
#if 0
// this can be modified to force a particular config state for
// state machine config debugging
static bool done_force_config_error;
if (!_unconfigured_messages && !done_force_config_error) {
done_force_config_error = true;
_unconfigured_messages = CONFIG_F9 | CONFIG_RATE_SOL;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Forcing config state 0x%04x", unsigned(_unconfigured_messages));
}
#endif
if(!_unconfigured_messages && gps._save_config && !_cfg_saved &&
_num_cfg_save_tries < 5 && (millis_now - _last_cfg_sent_time) > 5000 &&
!hal.util->get_soft_armed()) {
@ -1088,6 +1101,7 @@ AP_GPS_UBLOX::_parse_gps(void)
if (active_config.fetch_index == -1) {
CFG_Debug("NACK starting %u", unsigned(active_config.count));
active_config.fetch_index = 0;
use_single_valget = true;
} else {
// the device does not support the config key we asked for,
// consider the bit as done
@ -1096,7 +1110,8 @@ AP_GPS_UBLOX::_parse_gps(void)
int(active_config.fetch_index),
unsigned(active_config.list[active_config.fetch_index].key),
unsigned(active_config.done_mask));
if (active_config.done_mask == (1U<<active_config.count)-1) {
if (active_config.done_mask == (1U<<active_config.count)-1 ||
active_config.fetch_index >= active_config.count) {
// all done!
_unconfigured_messages &= ~active_config.unconfig_bit;
}
@ -1441,6 +1456,9 @@ AP_GPS_UBLOX::_parse_gps(void)
// M10 does not support CONFIG_GNSS
_unconfigured_messages &= ~CONFIG_GNSS;
check_L1L5 = true;
// M10 does not support multi-valued VALGET
use_single_valget = true;
}
if (check_L1L5) {
// check if L1L5 in extension
@ -1989,7 +2007,7 @@ AP_GPS_UBLOX::_configure_config_set(const config_list *list, uint8_t count, uint
// -1) then if we get a NACK for VALGET we switch to fetching one
// value at a time. This copes with the M10S which can only fetch
// one value at a time
active_config.fetch_index = -1;
active_config.fetch_index = use_single_valget? 0 :-1;
uint8_t buf[sizeof(ubx_cfg_valget)+count*sizeof(ConfigKey)];
struct ubx_cfg_valget msg {};

1
libraries/AP_GPS/AP_GPS_UBLOX.h
View File

@ -887,6 +887,7 @@ private:
int8_t fetch_index;
int8_t set_index;
} active_config;
bool use_single_valget;
#if GPS_MOVING_BASELINE
// config for moving baseline base