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ImpulseRC / OSD

ImpulseOSD - Official Documentation
https://impulserc.com/products/wolf-v3-pdb-osd-kit
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SBAS configuration cause Kiss RTH impossible in EU #102

Open slackista opened 2 years ago

slackista commented 2 years ago

Creating new, because original issue was closed #98 Finally find cause of serious gps bug. After a while SV in use is dropping to 5 from 16(max @10hz). This RTH is impossible. Using latest Neo-M9N unit.

Description

Apparently your SBAS config that is sending to the ublox unit contains configuration "CFG-SBAS-USE_INTEGRITY": "TRUE" The UBLOX manual says:

When SBAS integrity data are applied, the navigation engine stops using all signals for which no integrity data are available (including all non-GPS signals). It is not recommended to enable SBAS integrity on borders of SBAS service regions in order not to inadvertently restrict the number of available signals.

In Europe there is EGNOS. EGNOS augment only GPS(https://defence-industry-space.ec.europa.eu/eu-space-policy/egnos_en) thus unit is dropping all other constellations i.e. GLONASS, Galileo, BeiDou and unit reports only 5 SV. Which is unacceptable for RTH in Kiss, minimum is 6 SVs.

Possible Solutions

  1. Create option to not touch SBAS configuration.
  2. Change CFG that set CFG-SBAS-USE_INTEGRITY": "FALSE" or do not touch that option, most units has that in "false"
slackista commented 2 years ago

Another bug related to this one: In Wolf GPS Advanced Menu setting SBAS: {ON;OFF} Does nothing related to pubx sbas cfg. With OFF option, SBAS is configured exactly the same as with ON i.e. SBAS Subsystem: Enabled Also cfg is setting "CFG-SBAS-USE_TESTMODE": "TRUE" which is for debugging SBAS system without any usefull information regarding navigation. wolf_pdb_gps_sbas_bug

slackista commented 2 years ago

Here it is ready to use bytes of serialized SBAS SET with integrity=0 and test=0:

b5 62 06 16 08 00 01 03 03 00 00 00 00 00 2b b9
slackista commented 2 years ago

Just copy-replace these https://github.com/ImpulseRC/OSD/issues/102#issuecomment-1188239029 bytes in right place. It should take 10 minutes including all builds and pushing them to the servers. Any chance to fix this and let EU people use GNSS with SBAS and prevent dropping quads while RTH is active?