AP_GPS: add RTKT and RTKR messages

add logging of MSG_STATUS
configure via GPS_DRV_OPTIONS

libraries/AP_GPS/AP_GPS.cpp

@@ -239,7 +239,7 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Param: _DRV_OPTIONS
     // @DisplayName: driver options
     // @Description: Additional backend specific options
-    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel
+    // @Bitmask: 0:Use UART2 for moving baseline on ublox,1:Use base station for GPS yaw on SBF,2:Use baudrate 115200,3:Use dedicated CAN port b/w GPSes for moving baseline,4:Use ellipsoid height instead of AMSL, 5:Override GPS satellite health of L5 band from L1 health, 6:Enable RTCM full parse even for a single channel, 7:Disable automatic full RTCM parsing when RTCM seen on more than one channel, 8:Log RTCM data
     // @User: Advanced
     AP_GROUPINFO("_DRV_OPTIONS", 22, AP_GPS, _driver_options, 0),
 
@@ -279,14 +279,6 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     AP_SUBGROUPINFO(params[1], "2_", 33, AP_GPS, AP_GPS::Params),
 #endif
 
-    // @Param: _RTCM_DATA
-    // @DisplayName: RTCM data logging
-    // @Description: Handles logging RTCM data; on uBlox chips that support RTCM data this will log RXM messages into logger;
-    // @Values: 0:Ignore,1:Always log
-    // @RebootRequired: True
-    // @User: Advanced
-    AP_GROUPINFO("_RTCM_DATA", 34, AP_GPS, _rtcm_data, 0),
-
     AP_GROUPEND
 };
 
@@ -1646,7 +1638,14 @@ bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm
             const uint32_t crc = crc_crc32(0, buf, len);
 
 #if HAL_LOGGING_ENABLED
-            AP::logger().WriteStreaming("RTCM", "TimeUS,Chan,RTCMId,Len,CRC", "s#---", "F----", "QBHHI",
+// @LoggerMessage: RTKR
+// @Description: RTCM parser data
+// @Field: TimeUS: microseconds since system startup
+// @Field: Chan: RTCM channel data
+// @Field: RTCMId: RTCM parser ID
+// @Field: Len: RTCM injection packet length
+// @Field: CRC: RTCM injection packet CRC
+            AP::logger().WriteStreaming("RTKR", "TimeUS,Chan,RTCMId,Len,CRC", "s#---", "F----", "QBHHI",
                                         AP_HAL::micros64(),
                                         uint8_t(chan),
                                         rtcm.parsers[chan]->get_id(),
@@ -1670,6 +1669,21 @@ bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm
             rtcm.sent_idx = (rtcm.sent_idx+1) % ARRAY_SIZE(rtcm.sent_crc);
 
             if (buf != nullptr && len > 0) {
+#if HAL_LOGGING_ENABLED
+// @LoggerMessage: RTKT
+// @Description: RTCM parser data
+// @Field: TimeUS: microseconds since system startup
+// @Field: Chan: RTCM channel data
+// @Field: RTCMId: RTCM parser ID
+// @Field: Len: RTCM injection packet length
+// @Field: CRC: RTCM injection packet CRC
+                AP::logger().WriteStreaming("RTKT", "TimeUS,Chan,RTCMId,Len,CRC", "s#---", "F----", "QBHHI",
+                                            AP_HAL::micros64(),
+                                            uint8_t(chan),
+                                            rtcm.parsers[chan]->get_id(),
+                                            len,
+                                            crc);
+#endif
                 inject_data(buf, len);
             }
             rtcm.parsers[chan]->reset();

libraries/AP_GPS/AP_GPS.h

@@ -614,7 +614,6 @@ class AP_GPS
     AP_Enum<SBAS_Mode> _sbas_mode;
     AP_Int8 _min_elevation;
     AP_Int8 _raw_data;
-    AP_Int8 _rtcm_data;
     AP_Int8 _save_config;
     AP_Int8 _auto_config;
     AP_Int8 _blend_mask;
@@ -632,6 +631,7 @@ class AP_GPS
         GPSL5HealthOverride = (1U << 5),
         AlwaysRTCMDecode = (1U << 6),
         DisableRTCMDecode = (1U << 7),
+        LogRTCMData = (1U << 8),
     };
 
     // check if an option is set

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -409,7 +409,7 @@ AP_GPS_UBLOX::_request_next_config(void)
         break;
     case STEP_RTCM:
 #if UBLOX_RXM_RTCM_LOGGING
-        if(gps._rtcm_data == 0) {
+        if(!option_set(AP_GPS::DriverOptions::LogRTCMData)) {
             _unconfigured_messages &= ~CONFIG_RATE_RTCM;
         } else if(!_request_message_rate(CLASS_RXM, MSG_RXM_RTCM)) {
             _next_message--;
@@ -552,7 +552,11 @@ AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
             config_msg_id = CONFIG_RATE_POSLLH;
             break;
         case MSG_STATUS:
+#if UBLOX_RXM_RTCM_LOGGING
+            desired_rate = RATE_STATUS;
+#else
             desired_rate = havePvtMsg ? 0 : RATE_STATUS;
+#endif
             config_msg_id = CONFIG_RATE_STATUS;
             break;
         case MSG_SOL:
@@ -607,7 +611,7 @@ AP_GPS_UBLOX::_verify_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) {
 #endif // UBLOX_RXM_RAW_LOGGING
 #if UBLOX_RXM_RTCM_LOGGING
         case MSG_RXM_RTCM:
-            desired_rate = gps._rtcm_data;
+            desired_rate = option_set(AP_GPS::DriverOptions::LogRTCMData) ? 1 : 0;
             config_msg_id = CONFIG_RATE_RTCM;
             break;
 #endif // UBLOX_RXM_RTCM_LOGGING
@@ -1002,7 +1006,7 @@ void AP_GPS_UBLOX::log_rxm_rtcm(const struct ubx_rxm_rtcm &rtcm)
 
     uint64_t now = AP_HAL::micros64();
 
-    struct log_GPS_RTCM header = {
+    const struct log_GPS_RTCM header = {
         LOG_PACKET_HEADER_INIT(LOG_GPS_RTCM_MSG),
         time_us    : now,
         version : rtcm.version,
@@ -1013,6 +1017,20 @@ void AP_GPS_UBLOX::log_rxm_rtcm(const struct ubx_rxm_rtcm &rtcm)
     AP::logger().WriteBlock(&header, sizeof(header));
 #endif
 }
+
+void AP_GPS_UBLOX::log_status(const struct ubx_nav_status &status)
+{
+#if HAL_LOGGING_ENABLED
+    if (!should_log()) {
+        return;
+    }
+
+    AP::logger().WriteStreaming("UBX3", "TimeUS,iTOW,fixType,fixStat,diffStat,res,fixTime,uptime", "s-------", "F-------", "QIBBBBII",
+                                AP_HAL::micros64(),
+                                status.itow, status.fix_type, status.fix_status, status.differential_status,
+                                status.res, status.time_to_first_fix, status.uptime);
+#endif
+}
 #endif // UBLOX_RXM_RTCM_LOGGING
 
 void AP_GPS_UBLOX::unexpected_message(void)
@@ -1512,7 +1530,7 @@ AP_GPS_UBLOX::_parse_gps(void)
 #endif // UBLOX_RXM_RAW_LOGGING
 
 #if UBLOX_RXM_RTCM_LOGGING
-    if (_class == CLASS_RXM && _msg_id == MSG_RXM_RTCM && gps._rtcm_data != 0) {
+    if (_class == CLASS_RXM && _msg_id == MSG_RXM_RTCM && option_set(AP_GPS::DriverOptions::LogRTCMData)) {
         log_rxm_rtcm(_buffer.rxm_rtcm);
         return false;
     }
@@ -1563,6 +1581,9 @@ AP_GPS_UBLOX::_parse_gps(void)
         Debug("MSG_STATUS fix_status=%u fix_type=%u",
               _buffer.status.fix_status,
               _buffer.status.fix_type);
+#if UBLOX_RXM_RTCM_LOGGING
+        log_status(_buffer.status);
+#endif
         _check_new_itow(_buffer.status.itow);
         if (havePvtMsg) {
             _unconfigured_messages |= CONFIG_RATE_STATUS;

libraries/AP_GPS/AP_GPS_UBLOX.h

@@ -105,8 +105,8 @@
 #define CONFIG_F9            (1<<19)
 #define CONFIG_M10           (1<<20)
 #define CONFIG_L5            (1<<21)
-#define CONFIG_RATE_RTCM     (1<<21)
-#define CONFIG_LAST          (1<<22) // this must always be the last bit
+#define CONFIG_RATE_RTCM     (1<<22)
+#define CONFIG_LAST          (1<<23) // this must always be the last bit
 
 #define CONFIG_REQUIRED_INITIAL (CONFIG_RATE_NAV | CONFIG_RATE_POSLLH | CONFIG_RATE_STATUS | CONFIG_RATE_VELNED)
 
@@ -861,6 +861,7 @@ class AP_GPS_UBLOX : public AP_GPS_Backend
     void log_rxm_raw(const struct ubx_rxm_raw &raw);
     void log_rxm_rawx(const struct ubx_rxm_rawx &raw);
     void log_rxm_rtcm(const struct ubx_rxm_rtcm &rtcm);
+    void log_status(const struct ubx_nav_status &status);
 
 #if GPS_MOVING_BASELINE
     // see if we should use uart2 for moving baseline config

libraries/AP_GPS/LogStructure.h

@@ -207,9 +207,9 @@ struct PACKED log_GPS_RAWS {
 // @LoggerMessage: GRTK
 // @Description: RTCM input status
 // @Field: TimeUS: Time since system startup
-// @Field: version: Message version (0x02 for this version)
-// @Field: flags: RTCM input status flags (see graphic below)
-// @Field: refStation: Reference station ID
+// @Field: ver: Message version (0x02 for this version)
+// @Field: flgs: RTCM input status flags (see graphic below)
+// @Field: ref: Reference station ID
 // @Field: msgType: Message type
 struct PACKED log_GPS_RTCM {
     LOG_PACKET_HEADER;