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gps: improvements and corrections for config commands

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This contains some improvements and corrections for the gps driver
It adds some additional functions for different modes (automobile, bike, etc)
and also ignores the return results from any config commands.

Basically due to the fact that there is a constant stream of updates
coming from NMEA messages, the results from sending any UBX commands
are getting lost. Better to just ignore them for now.

Signed-off-by: deadprogram <ron@hybridgroup.com>
This commit is contained in:
deadprogram
2026-01-11 16:08:13 +01:00
committed by Ron Evans
parent 892265b733
commit 0e2fb829ef
6 changed files with 133 additions and 38 deletions
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gps/ublox_test.go
+20 -20
View File
@@ -65,23 +65,23 @@ func TestAppendChecksumPreservesOriginal(t *testing.T) {
}
}
func TestFlightModeCmdConfig(t *testing.T) {
// Verify FlightModeCmd has expected values
if flightModeCmd.DynModel != 6 {
t.Errorf("expected DynModel 6 (airborne <1g), got %d", flightModeCmd.DynModel)
func TestNav5CmdConfig(t *testing.T) {
// Verify nav5Cmd has expected values
if nav5Cmd.DynModel != 6 {
t.Errorf("expected DynModel 6 (airborne <1g), got %d", nav5Cmd.DynModel)
}
if flightModeCmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", flightModeCmd.FixMode)
if nav5Cmd.FixMode != 3 {
t.Errorf("expected FixMode 3 (auto 2D/3D), got %d", nav5Cmd.FixMode)
}
expectedMask := CfgNav5Dyn | CfgNav5MinEl | CfgNav5PosFixMode
if flightModeCmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, flightModeCmd.Mask)
if nav5Cmd.Mask != expectedMask {
t.Errorf("expected Mask 0x%04X, got 0x%04X", expectedMask, nav5Cmd.Mask)
}
if flightModeCmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", flightModeCmd.MinElev_deg)
if nav5Cmd.MinElev_deg != 5 {
t.Errorf("expected MinElev_deg 5, got %d", nav5Cmd.MinElev_deg)
}
}
@@ -118,9 +118,9 @@ func TestGNSSDisableCmdConfig(t *testing.T) {
}
}
func TestFlightModeCmdWrite(t *testing.T) {
func TestNav5CmdWrite(t *testing.T) {
buf := make([]byte, 64)
flightModeCmd.Put42Bytes(buf)
nav5Cmd.Put42Bytes(buf)
// Verify sync chars
if buf[0] != 0xB5 || buf[1] != 0x62 {
@@ -197,9 +197,9 @@ func TestMessageRateCmdConfigs(t *testing.T) {
rate byte
}{
{"GGA", messageRateGGACmd, 0xF0, 0x00, 1},
{"GLL", messageRateGLLCmd, 0xF0, 0x01, 0},
{"GSA", messageRateGSACmd, 0xF0, 0x02, 1},
{"GSV", messageRateGSVCmd, 0xF0, 0x03, 1},
{"GLL", messageRateGLLCmd, 0xF0, 0x01, 1},
{"GSA", messageRateGSACmd, 0xF0, 0x02, 0},
{"GSV", messageRateGSVCmd, 0xF0, 0x03, 0},
{"RMC", messageRateRMCCmd, 0xF0, 0x04, 1},
{"VTG", messageRateVTGCmd, 0xF0, 0x05, 0},
{"ZDA", messageRateZDACmd, 0xF0, 0x08, 0},
@@ -269,9 +269,9 @@ func TestMinimalMessageRatesConfig(t *testing.T) {
// GGA and RMC should be enabled (rate=1), others disabled (rate=0)
expectedRates := map[byte]byte{
0x00: 1, // GGA - enabled
0x01: 0, // GLL - disabled
0x02: 1, // GSA - enabled
0x03: 1, // GSV - enabled
0x01: 1, // GLL - enabled
0x02: 0, // GSA - disabled
0x03: 0, // GSV - disabled
0x04: 1, // RMC - enabled
0x05: 0, // VTG - disabled
0x08: 0, // ZDA - disabled
@@ -337,9 +337,9 @@ func TestAllMessageRatesWriteCorrectBytes(t *testing.T) {
func TestSetMessageRatesAllEnabledModifiesRate(t *testing.T) {
// Verify that when we copy a command and set Rate=1, it works correctly
cmd := messageRateGLLCmd // This one is disabled by default
cmd := messageRateGSACmd // This one is disabled by default
if cmd.Rate != 0 {
t.Errorf("expected GLL default rate 0, got %d", cmd.Rate)
t.Errorf("expected GSA default rate 0, got %d", cmd.Rate)
}
// Simulate what SetMessageRatesAllEnabled does