gps_ubx_ucenter.c

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/*
 * Copyright (C) 2008-2011 The Paparazzi Team
 *
 * This file is part of paparazzi.
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 *
 * Initial author: C. De Wagter
 */

#include "modules/gps/gps_ubx_ucenter.h"
#include "subsystems/gps/gps_ubx.h"
#include "ubx_protocol.h"
#include "subsystems/datalink/downlink.h"

#if PRINT_DEBUG_GPS_UBX_UCENTER
#include <stdio.h>
#define DEBUG_PRINT(...) printf(__VA_ARGS__)
#else
#define DEBUG_PRINT(...) {}
#endif

//
// UCENTER: init, periodic and event
#ifndef GPS_I2C
static bool gps_ubx_ucenter_autobaud(uint8_t nr);
#endif
static bool gps_ubx_ucenter_configure(uint8_t nr);

#define GPS_UBX_UCENTER_STATUS_STOPPED    0
#define GPS_UBX_UCENTER_STATUS_AUTOBAUD   1
#define GPS_UBX_UCENTER_STATUS_CONFIG     2
#define GPS_UBX_UCENTER_STATUS_WAITING    3

#define GPS_UBX_UCENTER_REPLY_NONE        0
#define GPS_UBX_UCENTER_REPLY_ACK         1
#define GPS_UBX_UCENTER_REPLY_NACK        2
#define GPS_UBX_UCENTER_REPLY_VERSION     3
#define GPS_UBX_UCENTER_REPLY_CFG_PRT     4

// Target baudrate for the module
#define UBX_GPS_BAUD (UBX_GPS_LINK).baudrate

// All U-Center data
struct gps_ubx_ucenter_struct gps_ubx_ucenter;


// Init Function

void gps_ubx_ucenter_init(void)
{
  // Start UCenter
  gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_AUTOBAUD;
  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
  gps_ubx_ucenter.cnt = 0;

  gps_ubx_ucenter.baud_init = 0;
  gps_ubx_ucenter.baud_run = 0;
  gps_ubx_ucenter.baud_target = UBX_GPS_BAUD;

  gps_ubx_ucenter.sw_ver_h = 0;
  gps_ubx_ucenter.sw_ver_l = 0;
  gps_ubx_ucenter.hw_ver_h = 0;
  gps_ubx_ucenter.hw_ver_l = 0;

  for (int i = 0; i < GPS_UBX_UCENTER_CONFIG_STEPS; i++) {
    gps_ubx_ucenter.replies[i] = 0;
  }

  gps_ubx_ucenter.dev = &(UBX_GPS_LINK).device;
}


// Periodic Function
// -time-based configuration

void gps_ubx_ucenter_periodic(void)
{
  switch (gps_ubx_ucenter.status) {
      // Save processing time inflight
    case GPS_UBX_UCENTER_STATUS_STOPPED:
      return;
    break;
      // Automatically Determine Current Baudrate
    case GPS_UBX_UCENTER_STATUS_AUTOBAUD:
#ifdef GPS_I2C
      gps_ubx_ucenter.cnt = 0;
      gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG;
#else
      if (gps_ubx_ucenter_autobaud(gps_ubx_ucenter.cnt) == FALSE) {
        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG;
        gps_ubx_ucenter.cnt = 0;
#if PRINT_DEBUG_GPS_UBX_UCENTER
        if (gps_ubx_ucenter.baud_init > 0) {
          DEBUG_PRINT("Initial ublox baudrate found: %u\n", gps_ubx_ucenter.baud_init);
        } else {
          DEBUG_PRINT("WARNING: Unable to determine the ublox baudrate. Autoconfiguration is unlikely to work.\n");
        }
#endif
      } else {
        gps_ubx_ucenter.cnt++;
      }
#endif /* GPS_I2C */
      break;
      // Send Configuration
    case GPS_UBX_UCENTER_STATUS_CONFIG:
      if (gps_ubx_ucenter_configure(gps_ubx_ucenter.cnt) == FALSE) {
        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_STOPPED;
#ifdef GPS_I2C
        gps_i2c_begin();
#endif
        gps_ubx_ucenter.cnt = 0;
      } else {
        gps_ubx_ucenter.cnt++;
#ifdef GPS_I2C
        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_WAITING;
      }
      break;
    case GPS_UBX_UCENTER_STATUS_WAITING:
      if (gps_i2c_tx_is_ready())
      {
        gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG;
#endif /*GPS_I2C*/
      }
    break;
    default:
      // stop this module now...
      // todo
      break;
  }
}

// Event Function
// -fetch replies: ACK and VERSION info

void gps_ubx_ucenter_event(void)
{
  // Save processing time inflight
  if (gps_ubx_ucenter.status == GPS_UBX_UCENTER_STATUS_STOPPED) {
    return;
  }

  // Read Configuration Reply's
  switch (gps_ubx.msg_class) {
    case UBX_ACK_ID:
      if (gps_ubx.msg_id == UBX_ACK_ACK_ID) {
        gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_ACK;
        DEBUG_PRINT("ACK\n");
      } else if (gps_ubx.msg_id == UBX_ACK_NAK_ID) {
        gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NACK;
        DEBUG_PRINT("NACK\n");
      }
      break;
    case UBX_MON_ID:
      if (gps_ubx.msg_id == UBX_MON_VER_ID) {
        gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_VERSION;
        gps_ubx_ucenter.sw_ver_h = UBX_MON_VER_c(gps_ubx.msg_buf, 0) - '0';
        gps_ubx_ucenter.sw_ver_l = 10 * (UBX_MON_VER_c(gps_ubx.msg_buf, 2) - '0');
        gps_ubx_ucenter.sw_ver_l += UBX_MON_VER_c(gps_ubx.msg_buf, 3) - '0';
        gps_ubx_ucenter.hw_ver_h = UBX_MON_VER_c(gps_ubx.msg_buf, 33) - '0';
        gps_ubx_ucenter.hw_ver_h += 10 * (UBX_MON_VER_c(gps_ubx.msg_buf, 32) - '0');
        gps_ubx_ucenter.hw_ver_l = UBX_MON_VER_c(gps_ubx.msg_buf, 37) - '0';
        gps_ubx_ucenter.hw_ver_l += 10 * (UBX_MON_VER_c(gps_ubx.msg_buf, 36) - '0');

        DEBUG_PRINT("ublox sw_ver: %u.%u\n", gps_ubx_ucenter.sw_ver_h, gps_ubx_ucenter.sw_ver_l);
        DEBUG_PRINT("ublox hw_ver: %u.%u\n", gps_ubx_ucenter.hw_ver_h, gps_ubx_ucenter.hw_ver_l);
      } else if (gps_ubx.msg_id == UBX_MON_GNSS_ID) {
        gps_ubx_ucenter.gnss_in_use = UBX_MON_GNSS_enabled(gps_ubx.msg_buf);
      }
      break;
    case UBX_CFG_ID:
      if (gps_ubx.msg_id == UBX_CFG_PRT_ID) {
        gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_CFG_PRT;
        gps_ubx_ucenter.port_id = UBX_CFG_PRT_PortId(gps_ubx.msg_buf, 0);
        gps_ubx_ucenter.baud_run = UBX_CFG_PRT_Baudrate(gps_ubx.msg_buf, 0);

        DEBUG_PRINT("gps_ubx_ucenter.baud_run: %u\n", gps_ubx_ucenter.baud_run);
        DEBUG_PRINT("gps_ubx_ucenter.port_id: %u\n", gps_ubx_ucenter.port_id);
      }
      break;
    default:
      break;
  }
}

//
// UCENTER Configuration Functions

static inline void gps_ubx_ucenter_config_port_poll(void)
{
  UbxSend_CFG_PRT_POLL(gps_ubx_ucenter.dev);
}

static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate)
{
  UbxSend_CFG_MSG(gps_ubx_ucenter.dev, class, id, rate);
}

#ifndef GPS_I2C
static bool gps_ubx_ucenter_autobaud(uint8_t nr)
{
  switch (nr) {
    case 0:
    case 1:
      // Very important for some modules:
      // Give the GPS some time to boot (up to 0.75 second)
      break;
    case 2:
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B38400); // Try the most common first?
      gps_ubx_ucenter_config_port_poll();
      break;
    case 3:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B9600); // Maybe the factory default?
      gps_ubx_ucenter_config_port_poll();
      break;
    case 4:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B57600); // The high-rate default?
      gps_ubx_ucenter_config_port_poll();
      break;
    case 5:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B4800); // Default NMEA baudrate?
      gps_ubx_ucenter_config_port_poll();
      break;
    case 6:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B115200); // Last possible option for ublox
      gps_ubx_ucenter_config_port_poll();
      break;
     case 7:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B230400); // Last possible option for ublox
      gps_ubx_ucenter_config_port_poll();
      break;
    case 8:
      if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK) {
        gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
        return false;
      }

      // Autoconfig Failed... let's setup the failsafe baudrate
      // Should we try even a different baudrate?
      gps_ubx_ucenter.baud_init = 0; // Set as zero to indicate that we couldn't verify the baudrate
      uart_periph_set_baudrate(&(UBX_GPS_LINK), B9600);
      return false;
    default:
      break;
  }
  return true;
}
#endif /* GPS_I2C */
// UBlox internal Navigation Solution

#define NAV_DYN_STATIONARY  1
#define NAV_DYN_PEDESTRIAN  2
#define NAV_DYN_AUTOMOTIVE  3
#define NAV_DYN_SEA         4
#define NAV_DYN_AIRBORNE_1G 5
#define NAV_DYN_AIRBORNE_2G 6 // paparazzi default
#define NAV_DYN_AIRBORNE_4G 7

#define NAV5_DYN_PORTABLE    0 // ublox default
#define NAV5_DYN_FIXED       1
#define NAV5_DYN_STATIONARY  2
#define NAV5_DYN_PEDESTRIAN  3
#define NAV5_DYN_AUTOMOTIVE  4
#define NAV5_DYN_SEA         5
#define NAV5_DYN_AIRBORNE_1G 6
#define NAV5_DYN_AIRBORNE_2G 7 // paparazzi default
#define NAV5_DYN_AIRBORNE_4G 8

#ifndef GPS_UBX_NAV5_DYNAMICS
#define GPS_UBX_NAV5_DYNAMICS NAV5_DYN_AIRBORNE_2G
#endif

#ifndef GPS_UBX_ENABLE_NMEA_DATA_MASK
#define GPS_UBX_ENABLE_NMEA_DATA_MASK 0x00
#endif

#define NAV5_MASK 0x05 // Apply dynamic model and position fix mode settings

#define NAV5_2D_ONLY 1
#define NAV5_3D_ONLY 2 // paparazzi default
#define NAV5_AUTO    3 // ublox default

#define NAV5_DEFAULT_MIN_ELEV 5 // deg
#define NAV5_DEFAULT_PDOP_MASK 25 // no units
#define NAV5_DEFAULT_TDOP_MASK 25 // no units
#define NAV5_DEFAULT_P_ACC 100 // m
#define NAV5_DEFAULT_T_ACC 300 // m
#define NAV5_DEFAULT_STATIC_HOLD_THRES 0 // cm/s

#define IGNORED 0
#define RESERVED 0

static inline void gps_ubx_ucenter_config_nav(void)
{
  // New ublox firmware v5 or higher uses CFG_NAV5 message, CFG_NAV is no longer available
  // If version message couldn't be fetched, default to NAV5
  DEBUG_PRINT("sw_ver: %i, hw_ver: %i\n", gps_ubx_ucenter.sw_ver_h, gps_ubx_ucenter.hw_ver_h);
  if (gps_ubx_ucenter.sw_ver_h < 5 && gps_ubx_ucenter.hw_ver_h < 6 &&
      gps_ubx_ucenter.sw_ver_h != 0 && gps_ubx_ucenter.hw_ver_h != 0) {
    UbxSend_CFG_NAV(gps_ubx_ucenter.dev,
        NAV_DYN_AIRBORNE_2G, 3, 16, 24, 20, 5, 0, 0x3C,
        0x3C, 0x14, 0x03E8 , 0x0000, 0x0, 0x17, 0x00FA, 0x00FA,
        0x0064, 0x012C, 0x000F, 0x00, 0x00);
  } else {
#if USE_GPS_UBX_RTCM
    UbxSend_CFG_NAV5_HPG(gps_ubx_ucenter.dev,
        NAV5_MASK, GPS_UBX_NAV5_DYNAMICS, NAV5_3D_ONLY, IGNORED, IGNORED, NAV5_DEFAULT_MIN_ELEV, RESERVED,
        NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_TDOP_MASK, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_T_ACC,
        NAV5_DEFAULT_STATIC_HOLD_THRES, 125, 0, 0, RESERVED, 0, 0, RESERVED, RESERVED);
#else
    UbxSend_CFG_NAV5(gps_ubx_ucenter.dev,
        NAV5_MASK, GPS_UBX_NAV5_DYNAMICS, NAV5_3D_ONLY, IGNORED, IGNORED, NAV5_DEFAULT_MIN_ELEV, RESERVED,
        NAV5_DEFAULT_PDOP_MASK, NAV5_DEFAULT_TDOP_MASK, NAV5_DEFAULT_P_ACC, NAV5_DEFAULT_T_ACC,
        NAV5_DEFAULT_STATIC_HOLD_THRES, RESERVED, RESERVED, RESERVED, RESERVED);
#endif
  }
}



// UBlox port and protocol GPS configuration

#ifdef GPS_PORT_ID
#warning "GPS_PORT_ID is no longer needed by the ublox ucenter for automatically configuration. Please remove this defined variable and double check that autoconfig is working as expected."
#endif

// UART mode: 8N1 with reserved1 set for compatability with A4
#define UBX_UART_MODE_MASK 0x000008D0

#define UBX_PROTO_MASK    0x0001
#define NMEA_PROTO_MASK   0x0002
#define RTCM_PROTO_MASK   0x0004
#define RTCM3_PROTO_MASK  0x0020

#define GPS_PORT_DDC      0x00
#define GPS_PORT_UART1    0x01
#define GPS_PORT_UART2    0x02
#define GPS_PORT_USB      0x03
#define GPS_PORT_SPI      0x04
#define GPS_PORT_RESERVED 0x05

#ifndef GPS_UBX_UCENTER_RATE
#define GPS_UBX_UCENTER_RATE 0x00FA // In milliseconds. 0x00FA = 250ms = 4Hz
#endif

static inline void gps_ubx_ucenter_config_port(void)
{
  switch (gps_ubx_ucenter.port_id) {
      // I2C Interface
    case GPS_PORT_DDC:
#ifdef GPS_I2C
      UbxSend_CFG_PRT(gps_ubx_ucenter.dev, gps_ubx_ucenter.port_id, 0x0, 0x0, (0x42<<1), 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
#else
      DEBUG_PRINT("WARNING: Please include the gps_i2c module.\n");
#endif
      break;
      // UART Interface
    case GPS_PORT_UART1:
    case GPS_PORT_UART2:
      UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
          gps_ubx_ucenter.port_id, RESERVED, RESERVED,
          UBX_UART_MODE_MASK, UART_SPEED(gps_ubx_ucenter.baud_target), UBX_PROTO_MASK | NMEA_PROTO_MASK | RTCM3_PROTO_MASK,
          UBX_PROTO_MASK | (NMEA_PROTO_MASK & GPS_UBX_ENABLE_NMEA_DATA_MASK), 0x0, 0x0);
      break;
      // USB Interface
    case GPS_PORT_USB:
      UbxSend_CFG_PRT(gps_ubx_ucenter.dev,
          gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0,
          UBX_PROTO_MASK | NMEA_PROTO_MASK, UBX_PROTO_MASK| (NMEA_PROTO_MASK & GPS_UBX_ENABLE_NMEA_DATA_MASK), 0x0, 0x0);
      break;
    case GPS_PORT_SPI:
      DEBUG_PRINT("WARNING: ublox SPI port is currently not supported.\n");
      break;
    default:
      DEBUG_PRINT("WARNING: Unknown ublox port id: %u\n", gps_ubx_ucenter.port_id);
      break;
  }
}

#define GPS_SBAS_ENABLED       0x01

#define GPS_SBAS_RANGING       0x01
#define GPS_SBAS_CORRECTIONS   0x02
#define GPS_SBAS_INTEGRITY     0x04

#define GPS_SBAS_MAX_SBAS    3 // Default ublox setting uses 3 SBAS channels(?)

#define GPS_SBAS_AUTOSCAN    0x00

static inline void gps_ubx_ucenter_config_sbas(void)
{
  // Since March 2nd 2011 EGNOS is released for aviation purposes
  UbxSend_CFG_SBAS(gps_ubx_ucenter.dev, GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, GPS_SBAS_MAX_SBAS,
                   GPS_SBAS_AUTOSCAN, GPS_SBAS_AUTOSCAN);
  //UbxSend_CFG_SBAS(0x00, 0x00, 0x00, 0x00, 0x00);
}

// Text Telemetry for Debugging
#undef GOT_PAYLOAD

static bool gps_ubx_ucenter_configure(uint8_t nr)
{
  DEBUG_PRINT("gps_ubx_ucenter_configure nr: %u\n", nr);

  // Store the reply of the last configuration step and reset
  if (nr < GPS_UBX_UCENTER_CONFIG_STEPS) {
    gps_ubx_ucenter.replies[nr] = gps_ubx_ucenter.reply;
  }

  switch (nr) {
    case 0:
      // Use old baudrate to issue a baudrate change command
      gps_ubx_ucenter_config_port();
      break;
    case 1:
#ifndef GPS_I2C
#if PRINT_DEBUG_GPS_UBX_UCENTER
      if (gps_ubx_ucenter.reply != GPS_UBX_UCENTER_REPLY_ACK) {
        DEBUG_PRINT("ublox did not acknowledge port configuration.\n");
      } else {
        DEBUG_PRINT("Changed ublox baudrate to: %u\n", UART_SPEED(gps_ubx_ucenter.baud_target));
      }
#endif
      // Now the GPS baudrate should have changed
      uart_periph_set_baudrate(&(UBX_GPS_LINK), gps_ubx_ucenter.baud_target);
      gps_ubx_ucenter.baud_run = UART_SPEED(gps_ubx_ucenter.baud_target);
#endif /*GPS_I2C*/
      UbxSend_MON_GET_VER(gps_ubx_ucenter.dev);
      break;
    case 2:
    case 3:
    case 4:
    case 5:
      // UBX_G5010 takes 0.7 seconds to answer a firmware request
      // Version info is important for proper configuration as different firmwares have different settings
      break;
    case 6:
      // Configure CFG-NAV(5) message
      gps_ubx_ucenter_config_nav();
      break;
    case 7:
      // Geodetic Position Solution
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSLLH_ID, 1);
      break;
    case 8:
      // Velocity Solution in NED
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
      break;
    case 9:
      // Receiver Navigation Status
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_STATUS_ID, 1);
      break;
    case 10:
      // Space Vehicle Information
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SVINFO_ID, 4);
      break;
    case 11:
      // Navigation Solution Information
#if GPS_UBX_UCENTER_SLOW_NAV_SOL
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 8);
#else
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_SOL_ID, 1);
#endif
      break;
    case 12:
#if ! USE_GPS_UBX_RXM_RAW
      // Disable UTM on old Lea4P
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0);
#endif
      break;
    case 13:
      // SBAS Configuration
      gps_ubx_ucenter_config_sbas();
      break;
    case 14:
      // Poll Navigation/Measurement Rate Settings
      UbxSend_CFG_RATE(gps_ubx_ucenter.dev, GPS_UBX_UCENTER_RATE, 0x0001, 0x0000);
      break;
    case 15:
      // Raw Measurement Data
#if USE_GPS_UBX_RXM_RAW
      gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_RAW_ID, 1);
#endif
      break;
    case 16:
      // Subframe Buffer
#if USE_GPS_UBX_RXM_SFRB
      gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_SFRB_ID, 1);
#endif
      break;
#if USE_GPS_UBX_RTCM
    case 17:
      DEBUG_PRINT("CFG_DGNSS\n");
      UbxSend_CFG_DGNSS(gps_ubx_ucenter.dev, 0x03, RESERVED, RESERVED);
      break;
    case 18:
      DEBUG_PRINT("Enable RELPOSNED\n");
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_RELPOSNED_ID, 1);
      break;
    case 19:
      DEBUG_PRINT("Enable HPPPOSLLH\n");
      gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_HPPOSLLH_ID, 1);
      break;
    case 20:
      DEBUG_PRINT("Enable RXM_RTCM\n");
      gps_ubx_ucenter_enable_msg(UBX_RXM_ID, UBX_RXM_RTCM_ID, 1);
      break;
#endif
    case 21:
      // Try to save on non-ROM devices...
      UbxSend_CFG_CFG(gps_ubx_ucenter.dev, 0x00000000, 0xffffffff, 0x00000000);
      break;
    case 22:
      UbxSend_MON_GET_GNSS(gps_ubx_ucenter.dev);
      break;
    case 23:
      break;
    case 24:
#if DEBUG_GPS_UBX_UCENTER
      // Debug Downlink the result of all configuration steps: see messages
      // To view, enable DEBUG message in your telemetry configuration .xml
      DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice, GPS_UBX_UCENTER_CONFIG_STEPS, gps_ubx_ucenter.replies);
      for (int i = 0; i < GPS_UBX_UCENTER_CONFIG_STEPS; i++) {
        DEBUG_PRINT("%u\n", gps_ubx_ucenter.replies[i]);
      }
#endif
#ifdef DOWNLINK_TRANSPORT
      {
        uint8_t sbas = GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY;
        uint8_t gnss = gps_ubx_ucenter.gnss_in_use ;
        DOWNLINK_SEND_UBLOX_INFO(DefaultChannel, DefaultDevice, &gps_ubx_ucenter.baud_run, &gps_ubx_ucenter.sw_ver_h, &gps_ubx_ucenter.sw_ver_l, &gps_ubx_ucenter.hw_ver_h, &gps_ubx_ucenter.hw_ver_l, &sbas, &gnss);
      }
#endif
      return false;
    default:
      break;
  }

  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
  return true; // Continue, except for the last case
}

int gps_ubx_ucenter_get_status(void)
{
  return gps_ubx_ucenter.status;
}