GPS/Drivers: Update submodule, fix RTK for F9P

This updates the GPS driver submodule to latest main. This includes a
fix for RTK for the uBlox F9P where a config failed and prevent proper
init of the GPS module.

Signed-off-by: Julian Oes <julian@oes.ch>

qgroundcontrol.pro

@@ -818,7 +818,8 @@ HEADERS += \
     src/GPS/RTCM/RTCMMavlink.h \
     src/GPS/definitions.h \
     src/GPS/satellite_info.h \
-    src/GPS/vehicle_gps_position.h \
+    src/GPS/sensor_gps.h \
+    src/GPS/sensor_gnss_relative.h \
     src/Joystick/JoystickSDL.h \
     src/RunGuard.h \
 }

src/GPS/Drivers

@@ -1 +1 @@
-Subproject commit c873a63ef4ba2205a6050e5c2a21726ef7055663
+Subproject commit 915024ccc54c7190d8e5648b68b38d0f0ea0d7cb

src/GPS/GPSManager.cc

@@ -91,7 +91,7 @@ void GPSManager::disconnectGPS(void)
 
 void GPSManager::GPSPositionUpdate(GPSPositionMessage msg)
 {
-    qCDebug(RTKGPSLog) << QString("GPS: got position update: alt=%1, long=%2, lat=%3").arg(msg.position_data.alt).arg(msg.position_data.lon).arg(msg.position_data.lat);
+    qCDebug(RTKGPSLog) << QString("GPS: got position update: alt=%1, long=%2, lat=%3").arg(msg.position_data.altitude_msl_m).arg(msg.position_data.longitude_deg).arg(msg.position_data.latitude_deg);
 }
 void GPSManager::GPSSatelliteUpdate(GPSSatelliteMessage msg)
 {

src/GPS/GPSPositionMessage.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
  *
  * QGroundControl is licensed according to the terms in the file
  * COPYING.md in the root of the source code directory.
@@ -10,7 +10,7 @@
 
 #pragma once
 
-#include "vehicle_gps_position.h"
+#include "sensor_gps.h"
 #include "satellite_info.h"
 #include <QMetaType>
 

src/GPS/GPSProvider.cc

@@ -228,6 +228,10 @@ int GPSProvider::callback(GPSCallbackType type, void *data1, int data2)
         case GPSCallbackType::setClock:
             /* do nothing */
             break;
+
+        case GPSCallbackType::gotRelativePositionMessage:
+            /* do nothing */
+            break;
     }
 
     return 0;

src/GPS/definitions.h

@@ -47,7 +47,8 @@
 #define GPS_WARN(...) qWarning(__VA_ARGS__)
 #define GPS_ERR(...) qCritical(__VA_ARGS__)
 
-#include "vehicle_gps_position.h"
+#include "sensor_gps.h"
+#include "sensor_gnss_relative.h"
 #include "satellite_info.h"
 
 #define M_DEG_TO_RAD 		(M_PI / 180.0)
@@ -55,6 +56,8 @@
 #define M_DEG_TO_RAD_F 		0.01745329251994f
 #define M_RAD_TO_DEG_F 		57.2957795130823f
 
+#define M_PI_2_F M_PI
+
 #include <QThread>
 
 class Sleeper : public QThread

src/GPS/sensor_gnss_relative.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -31,42 +31,37 @@
  *
  ****************************************************************************/
 
-/* Auto-generated by genmsg_cpp from file /home/beat/px4/src/Firmware/msg/vehicle_gps_position.msg */
+/* Auto-generated by genmsg_cpp from file /home/julianoes/src/upstream/PX4-Autopilot/msg/SensorGnssRelative.msg */
 
 
 #pragma once
 #include <stdint.h>
 
 /*
- * This file is auto-generated from https://github.com/PX4/Firmware/blob/master/msg/vehicle_gps_position.msg
+ * This file is auto-generated from https://github.com/PX4/Firmware/blob/master/msg/SensorGnssRelative.msg
  * and was manually copied here.
  */
 
-struct sensor_gps_s {
+struct sensor_gnss_relative_s {
 	uint64_t timestamp;
+	uint64_t timestamp_sample;
 	uint64_t time_utc_usec;
-	int32_t lat;
-	int32_t lon;
-	int32_t alt;
-	int32_t alt_ellipsoid;
-	uint16_t automatic_gain_control;
-	uint8_t jamming_state;
-	float s_variance_m_s;
-	float c_variance_rad;
-	float eph;
-	float epv;
-	float hdop;
-	float vdop;
-	int32_t noise_per_ms;
-	int32_t jamming_indicator;
-	float vel_m_s;
-	float vel_n_m_s;
-	float vel_e_m_s;
-	float vel_d_m_s;
-	float cog_rad;
-	int32_t timestamp_time_relative;
+	uint32_t device_id;
+	float position[3];
+	float position_accuracy[3];
 	float heading;
-	uint8_t fix_type;
-	bool vel_ned_valid;
-	uint8_t satellites_used;
+	float heading_accuracy;
+	float position_length;
+	float accuracy_length;
+	uint16_t reference_station_id;
+	bool gnss_fix_ok;
+	bool differential_solution;
+	bool relative_position_valid;
+	bool carrier_solution_floating;
+	bool carrier_solution_fixed;
+	bool moving_base_mode;
+	bool reference_position_miss;
+	bool reference_observations_miss;
+	bool heading_valid;
+	bool relative_position_normalized;
 };

src/GPS/sensor_gps.h

@@ -0,0 +1,95 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2013-2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* Auto-generated by genmsg_cpp from file /home/julianoes/src/upstream/PX4-Autopilot/msg/SensorGps.msg */
+
+
+#pragma once
+#include <stdint.h>
+
+/*
+ * This file is auto-generated from https://github.com/PX4/Firmware/blob/master/msg/SensorGps.msg
+ * and was manually copied here.
+ */
+
+struct sensor_gps_s {
+	uint64_t timestamp;
+	uint64_t timestamp_sample;
+	double latitude_deg;
+	double longitude_deg;
+	double altitude_msl_m;
+	double altitude_ellipsoid_m;
+	uint64_t time_utc_usec;
+	uint32_t device_id;
+	float s_variance_m_s;
+	float c_variance_rad;
+	float eph;
+	float epv;
+	float hdop;
+	float vdop;
+	int32_t noise_per_ms;
+	int32_t jamming_indicator;
+	float vel_m_s;
+	float vel_n_m_s;
+	float vel_e_m_s;
+	float vel_d_m_s;
+	float cog_rad;
+	int32_t timestamp_time_relative;
+	float heading;
+	float heading_offset;
+	float heading_accuracy;
+	float rtcm_injection_rate;
+	uint16_t automatic_gain_control;
+	uint8_t fix_type;
+	uint8_t jamming_state;
+	uint8_t spoofing_state;
+	bool vel_ned_valid;
+	uint8_t satellites_used;
+	uint8_t selected_rtcm_instance;
+	bool rtcm_crc_failed;
+	uint8_t rtcm_msg_used;
+	uint8_t _padding0[2]; // required for logger
+
+
+	static constexpr uint8_t JAMMING_STATE_UNKNOWN = 0;
+	static constexpr uint8_t JAMMING_STATE_OK = 1;
+	static constexpr uint8_t JAMMING_STATE_WARNING = 2;
+	static constexpr uint8_t JAMMING_STATE_CRITICAL = 3;
+	static constexpr uint8_t SPOOFING_STATE_UNKNOWN = 0;
+	static constexpr uint8_t SPOOFING_STATE_NONE = 1;
+	static constexpr uint8_t SPOOFING_STATE_INDICATED = 2;
+	static constexpr uint8_t SPOOFING_STATE_MULTIPLE = 3;
+	static constexpr uint8_t RTCM_MSG_USED_UNKNOWN = 0;
+	static constexpr uint8_t RTCM_MSG_USED_NOT_USED = 1;
+	static constexpr uint8_t RTCM_MSG_USED_USED = 2;
+};