sbf: fix RTCM base functionality

PX4 / PX4-GPSDrivers

Platform independent GPS drivers

BSD 3-Clause "New" or "Revised" License

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sbf: fix RTCM base functionality #153

Closed julianoes closed 6 months ago

julianoes commented 6 months ago

This contains two fixes required to use the Septentrio Mosaic as an RTK base connected via USB to QGroundControl.

Don't try to change baudrate of USB ports.
Actually configure RTCM. This must have been lost somewhere in the past.

See commits for details.

Tested using the Holybro H-RTK mosaic-H

FYI @SeptentrioGNSS and @vincentpoont2

AlexKlimaj commented 6 months ago

Looks good. It also appears that the driver doesn't support RTCM injection or output.

We can also update it to support moving base with two single antenna Mosaic's.

julianoes commented 6 months ago

Oh, I haven't tested the other direction. Yes, I'll work on that then.

julianoes commented 6 months ago

Let's merge this one for now, and then continue with more when I get to it.

SeptentrioGNSS commented 6 months ago

@julianoes Maybe an out of date question but am I correct that in the current version of QGC v4.3.0, if you connect a mosaic Go Heading, the GCS wants to configure it as a base station? I see mixed CLI messages being sent to the receiver. I have found that it is caused by the USB connection of the mosiac to the GCS. But Is there anything I can turn off to not have the config being sent to the receiver. To me it looks like and old and user specific configuration that is defined by GPS_CONFIG_RTCM in the GPSDriver that is causing this. Any feedback on this is helpfull

julianoes commented 6 months ago

I think it will configure it for RTCM, yes. Would you not want that? And is the config saved or only applied until reboot?

SeptentrioGNSS commented 6 months ago

@julianoes , @AlexKlimaj another question, it seems like a fallback is in this code to GPS_CONFIG_RTCM. Who created this Septentrio config as I do not understand the combination into this one macro. Any feedback, otherwise we would like to fine tune this into a more generic config. I am available for a call (possibly the next PX4 dev call) to further discuss this virtually/in-person

AlexKlimaj commented 6 months ago

@julianoes , @AlexKlimaj another question, it seems like a fallback is in this code to GPS_CONFIG_RTCM. Who created this Septentrio config as I do not understand the combination into this one macro. Any feedback, otherwise we would like to fine tune this into a more generic config. I am available for a call (possibly the next PX4 dev call) to further discuss this virtually/in-person

Nobody really "owns" this driver at the moment. Feel free to open a PR with your ideal config as the manufacturer. Nobody knows how to configure these better than you.