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ublox GPS reports fix type of 4 #27632

Open Baudouin0 opened 1 month ago

Baudouin0 commented 1 month ago

IF YOU DON'T REMOVE THESE FOUR LINES, THEN YOUR REPORT WILL BE CLOSED AUTOMATICALLY Questions and user problems should be directed at the forum (http://discuss.ardupilot.org)

ublox GPS reports fix type of 4 - this is GNSS+dead reckoning as the puck contains acceleromters. If there was a previous discussion in the forum, link to it

Bug report

Issue details

Debug terminal reports 'Unexpected state 33 or 35'

Version 4.5.4

Platform [ ] All [ ] AntennaTracker [ x ] Copter [ ] Plane [ ] Rover [ ] Submarine

Airframe type F450

Hardware type PixHawk 2.4.8

Logs Unexpected state 33.

Baudouin0 commented 1 month ago

AP_GPS_UBLOX.cpp: Make case 3 and 4 the same.

    switch (_buffer.pvt.fix_type)
    {
        case 0:
            state.status = AP_GPS::NO_FIX;
            break;
        case 1:
            state.status = AP_GPS::NO_FIX;
            break;
        case 2:
            state.status = AP_GPS::GPS_OK_FIX_2D;
            break;
        case 3:
        case 4:
            state.status = AP_GPS::GPS_OK_FIX_3D;
            if (_buffer.pvt.flags & 0b00000010)  // diffsoln
                state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
            if (_buffer.pvt.flags & 0b01000000)  // carrsoln - float
                state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
            if (_buffer.pvt.flags & 0b10000000)  // carrsoln - fixed
                state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FIXED;
            break;
        case 5:
            state.status = AP_GPS::NO_FIX;
            break;
        default:
            state.status = AP_GPS::NO_FIX;
            break;
    }
peterbarker commented 1 month ago

Which physical device is this?

The patch you propose here looks like it's probably correct. Did you want to create a PR for it?

Baudouin0 commented 1 month ago

It’s a Ublox M8N with built in compass. NEO-M8 series | u-bloxhttps://www.u-blox.com/en/product/neo-m8-series

Should be able to do pull request for you. I have built the code and retested for Pixhawk 2.4.8.

Charles Baudouin Chief Technical Architect

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From: Peter Barker @.> Sent: Friday, July 26, 2024 12:47 AM To: ArduPilot/ardupilot @.> Cc: Charles Baudouin @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] ublox GPS reports fix type of 4 (Issue #27632)

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Which physical device is this?

The patch you propose here looks like it's probably correct. Did you want to create a PR for it?

— Reply to this email directly, view it on GitHubhttps://github.com/ArduPilot/ardupilot/issues/27632#issuecomment-2251582466, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ALIOAJTQY463BWOQRP24C2LZOGFANAVCNFSM6AAAAABLL2WOVOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENJRGU4DENBWGY. You are receiving this because you authored the thread.Message ID: @.**@.>>

peterbarker commented 1 month ago

I don't think uBlox ship M8 devices with compasses. They're often integrated by other parties.

Please link to the specific device which is sending these messages.

Baudouin0 commented 1 month ago

As you said assembled by a third party and then branded. The main thing is the M8N contains some dead reckoning software and sensors.

Ublox NEO-M8N GPS With Compass - Unmanned Tech Shophttps://www.unmannedtechshop.co.uk/product/ublox-neo-m8n-gps-with-compass/

Charles Baudouin Chief Technical Architect

Email: @.**@.> Mobile / WhatsApp: +44 7973 146 671 Telephone: +44 1489 884 430 Skype / Teams: @.***

DOMO TACTICAL COMMUNICATIONS (DTC) LTD TRADING AS DTC Registered office Fusion 2, 1100 Parkway, Whiteley, Hampshire, PO15 7AB, United Kingdom Registered in England and Wales, company number 1456922 [cid:dtclogo203x88_8fe7e5cd-210b-49fc-b334-f34189be7d63.png] [cid:dtcbanner310x28_238a1048-71d6-4715-a939-5711d6112998.png]https://www.domotactical.com [cid:dtclinkedin_7ede4504-e8a4-4622-8c8d-cd35b8a00736.png] https://www.linkedin.com/company/domo-tactical-communications-dtc-ltd/ [cid:dtctwitter_4b884fb4-cf7b-4376-8ca7-c6d300a80c2f.png] https://twitter.com/domobroadcast [cid:dtcyoutube_8642fa77-2f6f-494f-bb70-281557d074b8.png] https://www.youtube.com/channel/UC0nBUhsZ9iakjODp9nYRDSw

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From: Peter Barker @.> Sent: Friday, July 26, 2024 12:02 PM To: ArduPilot/ardupilot @.> Cc: Charles Baudouin @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] ublox GPS reports fix type of 4 (Issue #27632)

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I don't think uBlox ship M8 devices with compasses. They're often integrated by other parties.

Please link to the specific device which is sending these messages.

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peterbarker commented 1 month ago

As you said assembled by a third party and then branded. The main thing is the M8N contains some dead reckoning software and sensors. Ublox NEO-M8N GPS With Compass - Unmanned Tech Shop<https://www.unmannedtechshop.co.uk/product/ublox-

I'm pretty sure that device simply has a compass available over that 6-pin connector - i.e. not integrated with the M8. It's not an uncommon setup.

You also mentioned accels and gyros - and they're definitely not present.

Are you saying that specific product causes the error you are seeing? I'll need to get one to verify.

Baudouin0 commented 1 month ago

Sorry our company prevents pushing back onto git. Here’s the patch:

diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp index ac947b7a37..198b673c3b 100644 --- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp +++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp @@ -1675,6 +1675,7 @@ AP_GPS_UBLOX::_parse_gps(void) state.status = AP_GPS::GPS_OK_FIX_2D; break; case 3:

Charles Baudouin Chief Technical Architect

Email: @.**@.> Mobile / WhatsApp: +44 7973 146 671 Telephone: +44 1489 884 430 Skype / Teams: @.***

DOMO TACTICAL COMMUNICATIONS (DTC) LTD TRADING AS DTC Registered office Fusion 2, 1100 Parkway, Whiteley, Hampshire, PO15 7AB, United Kingdom Registered in England and Wales, company number 1456922 [cid:dtclogo203x88_8fe7e5cd-210b-49fc-b334-f34189be7d63.png] [cid:dtcbanner310x28_238a1048-71d6-4715-a939-5711d6112998.png]https://www.domotactical.com [cid:dtclinkedin_7ede4504-e8a4-4622-8c8d-cd35b8a00736.png] https://www.linkedin.com/company/domo-tactical-communications-dtc-ltd/ [cid:dtctwitter_4b884fb4-cf7b-4376-8ca7-c6d300a80c2f.png] https://twitter.com/domobroadcast [cid:dtcyoutube_8642fa77-2f6f-494f-bb70-281557d074b8.png] https://www.youtube.com/channel/UC0nBUhsZ9iakjODp9nYRDSw

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From: Peter Barker @.> Sent: Friday, July 26, 2024 2:19 PM To: ArduPilot/ardupilot @.> Cc: Charles Baudouin @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] ublox GPS reports fix type of 4 (Issue #27632)

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As you said assembled by a third party and then branded. The main thing is the M8N contains some dead reckoning software and sensors. Ublox NEO-M8N GPS With Compass - Unmanned Tech Shophttps://www.unmannedtechshop.co.uk/product/ublox-<https://www.unmannedtechshop.co.uk/product/ublox-

I'm pretty sure that device simply has a compass available over that 6-pin connector - i.e. not integrated with the M8. It's not an uncommon setup.

You also mentioned accels and gyros - and they're definitely not present.

Are you saying that specific product causes the error you are seeing? I'll need to get one to verify.

— Reply to this email directly, view it on GitHubhttps://github.com/ArduPilot/ardupilot/issues/27632#issuecomment-2252749312, or unsubscribehttps://github.com/notifications/unsubscribe-auth/ALIOAJWRPZZAVQON2GKPJ63ZOJEDPAVCNFSM6AAAAABLL2WOVOVHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDENJSG42DSMZRGI. You are receiving this because you authored the thread.Message ID: @.**@.>>

peterbarker commented 1 month ago

From the f9p datasheet (https://cdn.sparkfun.com/assets/learn_tutorials/8/5/6/ZED-F9P_UBX_NMEA_and_RTCM_protocols.pdf): image

I still want to know which device emits this value in this field. I've asked for confirmation that the above device does.

Baudouin0 commented 1 month ago

When I've connected it back up I will see what the MSG_MON_VER is. I cannot see into the unit as the puck is opaque.

GCS_SEND_TEXT(MAV_SEVERITY_INFO, "u-blox %s%s%d HW: %s SW: %s", _module, mod != nullptr ? " " : "", state.instance + 1, _version.hwVersion, _version.swVersion);

Charles Baudouin Chief Technical Architect

Email: @.**@.> Mobile / WhatsApp: +44 7973 146 671 Telephone: +44 1489 884 430 Skype / Teams: @.***

DOMO TACTICAL COMMUNICATIONS (DTC) LTD TRADING AS DTC Registered office Fusion 2, 1100 Parkway, Whiteley, Hampshire, PO15 7AB, United Kingdom Registered in England and Wales, company number 1456922 [cid:dtclogo203x88_8fe7e5cd-210b-49fc-b334-f34189be7d63.png] [cid:dtcbanner310x28_238a1048-71d6-4715-a939-5711d6112998.png]https://www.domotactical.com [cid:dtclinkedin_7ede4504-e8a4-4622-8c8d-cd35b8a00736.png] https://www.linkedin.com/company/domo-tactical-communications-dtc-ltd/ [cid:dtctwitter_4b884fb4-cf7b-4376-8ca7-c6d300a80c2f.png] https://twitter.com/domobroadcast [cid:dtcyoutube_8642fa77-2f6f-494f-bb70-281557d074b8.png] https://www.youtube.com/channel/UC0nBUhsZ9iakjODp9nYRDSw

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From: Peter Barker @.> Sent: 30 July 2024 06:04 To: ArduPilot/ardupilot @.> Cc: Charles Baudouin @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] ublox GPS reports fix type of 4 (Issue #27632)

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From the f9p datasheet (https://cdn.sparkfun.com/assets/learn_tutorials/8/5/6/ZED-F9P_UBX_NMEA_and_RTCM_protocols.pdfhttps://cdn.sparkfun.com/assets/learn_tutorials/8/5/6/ZED-F9P_UBX_NMEA_and_RTCM_protocols.pdf): image.png (view on web)https://github.com/user-attachments/assets/7500c4e8-82b0-44e1-a8eb-b9134832017c

I still want to know which device emits this value in this field. I've asked for confirmation that the above device does.

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Baudouin0 commented 1 month ago

Sorry for the delay. The GPS device is

ublox NEO-M8L- 1 HW: 00080000 SW: EXT CORE 3.01 (1ec93f)

NEO-M8L series | u-bloxhttps://www.u-blox.com/en/product/neo-m8l-series

Charles.

Charles Baudouin Chief Technical Architect

Email: @.**@.> Mobile / WhatsApp: +44 7973 146 671 Telephone: +44 1489 884 430 Skype / Teams: @.***

DOMO TACTICAL COMMUNICATIONS (DTC) LTD TRADING AS DTC Registered office Fusion 2, 1100 Parkway, Whiteley, Hampshire, PO15 7AB, United Kingdom Registered in England and Wales, company number 1456922 [cid:dtclogo203x88_8fe7e5cd-210b-49fc-b334-f34189be7d63.png] [cid:dtcbanner310x28_238a1048-71d6-4715-a939-5711d6112998.png]https://www.domotactical.com [cid:dtclinkedin_7ede4504-e8a4-4622-8c8d-cd35b8a00736.png] https://www.linkedin.com/company/domo-tactical-communications-dtc-ltd/ [cid:dtctwitter_4b884fb4-cf7b-4376-8ca7-c6d300a80c2f.png] https://twitter.com/domobroadcast [cid:dtcyoutube_8642fa77-2f6f-494f-bb70-281557d074b8.png] https://www.youtube.com/channel/UC0nBUhsZ9iakjODp9nYRDSw

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peterbarker commented 3 weeks ago

Sorry for the delay. The GPS device is ublox NEO-M8L- 1 HW: 00080000 SW: EXT CORE 3.01 (1ec93f) NEO-M8L series | u-bloxhttps://www.u-blox.com/en/product/neo-m8l-series Charles. Charles Baudouin Chief Technical Architect Email:

Ah, right. That makes sense now.

I'm guessing this GPS you're using might be connected to something else which is providing additional information to the unit sufficient for it to provide an inertial solution, thus the type-4 from it.

I've created https://github.com/ArduPilot/ardupilot/pull/27825 to move this along - we'll discuss at DevCallEU tomorow. Note my concern on that PR - we may end up having to reject things with that fix-type rather than treat it as fix-type 3. Anything providing a gnss + dead-reckoning solution should probably be coming in via AP_ExternalAHRS, rather than coming in as a GPS.

Baudouin0 commented 3 weeks ago

I just know the Hawk F450 kit I bought on Amazon had this puck.

https://www.amazon.co.uk/HAWKS-WORK-Quadcopter-Controller-Instructions/dp/B09SZ7LNXB/ref=sr_1_2?crid=2VJF162XJKLJL&dib=eyJ2IjoiMSJ9.FPYxbo1b3DEtRoMXlxsNtnMS45v8IhoHK4VzfdsTYy-SVB-EzOh5dvmR1OO4oE525kaT1Oy7tVk0beOLly3TbLyvb3h47NIjAJFWnPnxoN7OVqb-UL3Hn_cfYdrSKBCYwrGdYn1reg076vM7IT4wUXK4z18HHnTguxomK2FjnDGwOeW9mpspmpFYskhr7AJtnHKbT09C9n1f9qenJJ9aAhjpfG1U5ZabhCg6GkW2jHbjFoFa4DTV57nUlC5_i_NHajzhkWLja0xnFE0KGcgHyKTtnPM5SRJEABT_uS5D3h4.Fev3frpP7zxKaz6numrgc7up_QSLAp5eJ06i-sMZO00&dib_tag=se&keywords=hawk+F450&qid=1723558104&sprefix=hawk+f450%2Caps%2C122&sr=8-2&ufe=app_do%3Aamzn1.fos.d7e5a2de-8759-4da3-993c-d11b6e3d217f

With the mod flys fine, with no warning messages. If you reject fix-type 4 then you get intermittent GPS, so that's not a solution. Maybe you buy a puck to test with. I can only point you at the problem.

Charles Baudouin Chief Technical Architect

Email: @.**@.> Mobile / WhatsApp: +44 7973 146 671 Telephone: +44 1489 884 430 Skype / Teams: @.***

DOMO TACTICAL COMMUNICATIONS (DTC) LTD TRADING AS DTC Registered office Fusion 2, 1100 Parkway, Whiteley, Hampshire, PO15 7AB, United Kingdom Registered in England and Wales, company number 1456922 [cid:dtclogo203x88_8fe7e5cd-210b-49fc-b334-f34189be7d63.png] [cid:dtcbanner310x28_238a1048-71d6-4715-a939-5711d6112998.png]https://www.domotactical.com [cid:dtclinkedin_7ede4504-e8a4-4622-8c8d-cd35b8a00736.png] https://www.linkedin.com/company/domo-tactical-communications-dtc-ltd/ [cid:dtctwitter_4b884fb4-cf7b-4376-8ca7-c6d300a80c2f.png] https://twitter.com/domobroadcast [cid:dtcyoutube_8642fa77-2f6f-494f-bb70-281557d074b8.png] https://www.youtube.com/channel/UC0nBUhsZ9iakjODp9nYRDSw

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From: Peter Barker @.> Sent: 13 August 2024 09:28 To: ArduPilot/ardupilot @.> Cc: Charles Baudouin @.>; Author @.> Subject: Re: [ArduPilot/ardupilot] ublox GPS reports fix type of 4 (Issue #27632)

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Sorry for the delay. The GPS device is ublox NEO-M8L- 1 HW: 00080000 SW: EXT CORE 3.01 (1ec93f) NEO-M8L series | u-bloxhttps://www.u-blox.com/en/product/neo-m8l-serieshttps://www.u-blox.com/en/product/neo-m8l-series Charles. Charles Baudouin Chief Technical Architect Email:

Ah, right. That makes sense now.

I'm guessing this GPS you're using might be connected to something else which is providing additional information to the unit sufficient for it to provide an inertial solution, thus the type-4 from it.

I've created #27825https://github.com/ArduPilot/ardupilot/pull/27825 to move this along - we'll discuss at DevCallEU tomorow. Note my concern on that PR - we may end up having to reject things with that fix-type rather than treat it as fix-type 3. Anything providing a gnss + dead-reckoning solution should probably be coming in via AP_ExternalAHRS, rather than coming in as a GPS.

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peterbarker commented 3 weeks ago

@Baudouin0 per the PR - could you provide a dataflash log for an actual flight with this unit, please?

It's really rather intriguing :-)