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ubx: diff corrections age, fix quality, agc, antenna status and power #200

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ubx: diff corrections age, fix quality, agc, antenna status and power #200

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9942756
ubx: diff corrections age, fix quality, agv, antenna status and power
dakejahl Feb 9, 2026
51103d8
ubx: drop fix_type-based fix_quality derivation
dakejahl Apr 14, 2026
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28 changes: 28 additions & 0 deletions src/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2301,6 +2301,22 @@ GPSDriverUBX::payloadRxDone()
#endif
}

// Parse lastCorrectionAge from flags3 bits 4..1
{
static constexpr uint16_t correction_age_lut[] = {
0xFFFF, 0, 1, 3, 7, 12, 17, 25, 37, 52, 75, 105, 120
};

uint8_t age_bin = (_buf.payload_rx_nav_pvt.flags3 >> 1) & 0xF;

if (age_bin < sizeof(correction_age_lut) / sizeof(correction_age_lut[0])) {
_gps_position->diff_age = correction_age_lut[age_bin];

} else {
_gps_position->diff_age = 120; // >120s
}
}

_gps_position->timestamp = gps_absolute_time();
_last_timestamp_time = _gps_position->timestamp;

Expand Down Expand Up @@ -2621,8 +2637,20 @@ GPSDriverUBX::payloadRxDone()
UBX_TRACE_RXMSG("Rx MON-RF");

_gps_position->noise_per_ms = _buf.payload_rx_mon_rf.block[0].noisePerMS;
_gps_position->automatic_gain_control = _buf.payload_rx_mon_rf.block[0].agcCnt;
_gps_position->jamming_indicator = _buf.payload_rx_mon_rf.block[0].jamInd;
_gps_position->jamming_state = _buf.payload_rx_mon_rf.block[0].flags;
_gps_position->antenna_status = _buf.payload_rx_mon_rf.block[0].antStatus;
_gps_position->antenna_power = _buf.payload_rx_mon_rf.block[0].antPower;

// Derive ANTENNA system error from antStatus
if (_buf.payload_rx_mon_rf.block[0].antStatus == 3 /* SHORT */
|| _buf.payload_rx_mon_rf.block[0].antStatus == 4 /* OPEN */) {
_gps_position->system_error |= sensor_gps_s::SYSTEM_ERROR_ANTENNA;

} else {
_gps_position->system_error &= ~sensor_gps_s::SYSTEM_ERROR_ANTENNA;
}

ret = 1;
break;
Expand Down
9 changes: 5 additions & 4 deletions src/ubx.h
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Expand Up @@ -533,10 +533,11 @@ typedef struct {
uint32_t sAcc; /**< Speed accuracy estimate [mm/s] */
uint32_t headAcc; /**< Heading accuracy estimate (motion and vehicle) [1e-5 deg] */
uint16_t pDOP; /**< Position DOP [0.01] */
uint16_t reserved2;
uint32_t reserved3;
int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D) [1e-5 deg] */
uint32_t reserved4; /**< (ubx8+ only) */
uint16_t flags3; /**< Additional flags (bit0: invalidLlh, bits4..1: lastCorrectionAge) */
uint32_t reserved0;
int32_t headVeh; /**< (ubx8+ only) Heading of vehicle (2-D), this is only valid when headVehValid is set, otherwise the output is set to the heading of motion */
int16_t magDec; /**< (ubx8+ only) Magnetic declination. Only supported in ADR 4.10 and later.*/
uint16_t magAcc; /**< (ubx8+ only) Magnetic declination accuracy. Only supported in ADR 4.10 and later.*/
} ubx_payload_rx_nav_pvt_t;

/* Rx NAV-TIMEUTC */
Expand Down