AP_GPS: add uBlox dual-band RAW logging for PPK

mirkix · Mar 25, 2024 · 58e8fc8 · 58e8fc8
1 parent 1eb2a30
commit 58e8fc8
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -925,6 +925,7 @@ void AP_GPS_UBLOX::log_rxm_rawx(const struct ubx_rxm_rawx &raw)
             doMes      : raw.svinfo[i].doMes,
             gnssId     : raw.svinfo[i].gnssId,
             svId       : raw.svinfo[i].svId,
+            sigId      : raw.svinfo[i].sigId,
             freqId     : raw.svinfo[i].freqId,
             locktime   : raw.svinfo[i].locktime,
             cno        : raw.svinfo[i].cno,

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -548,22 +548,23 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
         int8_t leapS;
         uint8_t numMeas;
         uint8_t recStat;
-        uint8_t reserved1[3];
+        uint8_t version;
+        uint8_t reserved0[2];
         PACKED struct ubx_rxm_rawx_sv {
             double prMes;
             double cpMes;
             float doMes;
             uint8_t gnssId;
             uint8_t svId;
-            uint8_t reserved2;
+            uint8_t sigId;
             uint8_t freqId;
             uint16_t locktime;
             uint8_t cno;
             uint8_t prStdev;
             uint8_t cpStdev;
             uint8_t doStdev;
             uint8_t trkStat;
-            uint8_t reserved3;
+            uint8_t reserved1;
         } svinfo[UBLOX_MAX_RXM_RAWX_SATS];
     };
 #endif

diff --git a/libraries/AP_GPS/LogStructure.h b/libraries/AP_GPS/LogStructure.h
@@ -179,6 +179,7 @@ struct PACKED log_GPS_RAWH {
 // @Field: doMes: Doppler measurement
 // @Field: gnss: GNSS identifier
 // @Field: sv: Satellite identifier
+// @Field: sig: Signal identifier
 // @Field: freq: GLONASS frequency slot
 // @Field: lock: carrier phase locktime counter
 // @Field: cno: carrier-to-noise density ratio
@@ -194,6 +195,7 @@ struct PACKED log_GPS_RAWS {
     float doMes;
     uint8_t gnssId;
     uint8_t svId;
+    uint8_t sigId;
     uint8_t freqId;
     uint16_t locktime;
     uint8_t cno;
@@ -217,5 +219,5 @@ struct PACKED log_GPS_RAWS {
     { LOG_GPS_RAWH_MSG, sizeof(log_GPS_RAWH), \
       "GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" , true }, \
     { LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
-      "GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" , true }, \
+      "GRXS", "QddfBBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,sig,freq,lock,cno,prD,cpD,doD,trk", "s-------------", "F-------------" , true }, \
     LOG_STRUCTURE_FROM_GPS_SBP