Merge "GPS NMEA: enhance gga fix qualtiy for sensor contributed fix"

core/ContextBase.cpp

@@ -70,7 +70,8 @@ const loc_param_s_type ContextBase::mGps_conf_table[] =
   {"XTRA_SERVER_1",                  &mGps_conf.XTRA_SERVER_1,                  NULL, 's'},
   {"XTRA_SERVER_2",                  &mGps_conf.XTRA_SERVER_2,                  NULL, 's'},
   {"XTRA_SERVER_3",                  &mGps_conf.XTRA_SERVER_3,                  NULL, 's'},
-  {"USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL",  &mGps_conf.USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL,          NULL, 'n'},
+  {"USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL",
+           &mGps_conf.USE_EMERGENCY_PDN_FOR_EMERGENCY_SUPL,          NULL, 'n'},
   {"AGPS_CONFIG_INJECT",             &mGps_conf.AGPS_CONFIG_INJECT,             NULL, 'n'},
   {"EXTERNAL_DR_ENABLED",            &mGps_conf.EXTERNAL_DR_ENABLED,                  NULL, 'n'},
   {"SUPL_HOST",                      &mGps_conf.SUPL_HOST,                      NULL, 's'},
@@ -78,13 +79,19 @@ const loc_param_s_type ContextBase::mGps_conf_table[] =
   {"MODEM_TYPE",                     &mGps_conf.MODEM_TYPE,                     NULL, 'n' },
   {"MO_SUPL_HOST",                   &mGps_conf.MO_SUPL_HOST,                   NULL, 's' },
   {"MO_SUPL_PORT",                   &mGps_conf.MO_SUPL_PORT,                   NULL, 'n' },
-  {"CONSTRAINED_TIME_UNCERTAINTY_ENABLED",       &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED,      NULL, 'n'},
+  {"CONSTRAINED_TIME_UNCERTAINTY_ENABLED",
-  {"CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD",     &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD,    NULL, 'f'},
+           &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENABLED,      NULL, 'n'},
-  {"CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET", &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET, NULL, 'n'},
+  {"CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD",
-  {"POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED",  &mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED, NULL, 'n'},
+           &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_THRESHOLD,    NULL, 'f'},
+  {"CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET",
+           &mGps_conf.CONSTRAINED_TIME_UNCERTAINTY_ENERGY_BUDGET, NULL, 'n'},
+  {"POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED",
+           &mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED, NULL, 'n'},
   {"PROXY_APP_PACKAGE_NAME",         &mGps_conf.PROXY_APP_PACKAGE_NAME,         NULL, 's' },
   {"CP_MTLR_ES",                     &mGps_conf.CP_MTLR_ES,                     NULL, 'n' },
   {"GNSS_DEPLOYMENT",  &mGps_conf.GNSS_DEPLOYMENT, NULL, 'n'},
+  {"CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED",
+           &mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED, NULL, 'n'},
 };
 
 const loc_param_s_type ContextBase::mSap_conf_table[] =
@@ -183,6 +190,7 @@ void ContextBase::readConfig()
         mGps_conf.POSITION_ASSISTED_CLOCK_ESTIMATOR_ENABLED = 0;
         /* default configuration QTI GNSS H/W */
         mGps_conf.GNSS_DEPLOYMENT = 0;
+        mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED = 0;
 
         UTIL_READ_CONF(LOC_PATH_GPS_CONF, mGps_conf_table);
         UTIL_READ_CONF(LOC_PATH_SAP_CONF, mSap_conf_table);

core/ContextBase.h

@@ -74,6 +74,7 @@ typedef struct loc_gps_cfg_s
     char           PROXY_APP_PACKAGE_NAME[LOC_MAX_PARAM_STRING];
     uint32_t       CP_MTLR_ES;
     uint32_t       GNSS_DEPLOYMENT;
+    uint32_t       CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED;
 } loc_gps_cfg_s_type;
 
 /* NOTE: the implementaiton of the parser casts number

etc/gps.conf

@@ -99,6 +99,31 @@ DATUM_TYPE = 0
 ################################
 # NMEA provider (1=Modem Processor, 0=Application Processor)
 NMEA_PROVIDER=0
+
+# Customized NMEA GGA fix quality that can be used to tell
+# whether SENSOR contributed to the fix.
+#
+# When this configuration item is not enabled (set to any value that is not 1),
+# GGA fix quality conforms to NMEA standard spec as below:
+# PPP/DGNSS/SBAS correction fix w/ or w/o sensor: 2
+# RTK fixed fix w/ or w/o sensor: 4
+# RTK float fix w/ or w/o sensor: 5
+# SPE fix w/ or w/o sensor: 1
+# Sensor dead reckoning fix: 6
+#
+# When this configuration is enabled (set to 1), GGA fix quality
+# will be output as below:
+# PPP fix w/o sensor: 59,                  w/ sensor: 69
+# DGNSS/SBAS correction fix w/o sensor: 2, w/ sensor: 62
+# RTK fixed fix w/o sensor: 4,             w/ sensor: 64
+# RTK float fix w/o sensor: 5,             w/ sensor: 65,
+# SPE fix w/o sensor: 1,               and w/ sensor: 61
+# Sensor dead reckoning fix: 6
+#
+# any value that is not 1 - disabled
+# 1 - enabled
+CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED = 0
+
 # Mark if it is a SGLTE target (1=SGLTE, 0=nonSGLTE)
 SGLTE_TARGET=0
 

gnss/GnssAdapter.cpp

@@ -3272,9 +3272,10 @@ GnssAdapter::reportPosition(const UlpLocation& ulpLocation,
                           (0 == ulpLocation.gpsLocation.longitude) &&
                           (LOC_RELIABILITY_NOT_SET == locationExtended.horizontal_reliability));
         uint8_t generate_nmea = (reportToGnssClient && status != LOC_SESS_FAILURE && !blank_fix);
+        bool custom_nmea_gga = (1 == ContextBase::mGps_conf.CUSTOM_NMEA_GGA_FIX_QUALITY_ENABLED);
         std::vector<std::string> nmeaArraystr;
         loc_nmea_generate_pos(ulpLocation, locationExtended, mLocSystemInfo,
-                              generate_nmea, nmeaArraystr);
+                              generate_nmea, custom_nmea_gga, nmeaArraystr);
         stringstream ss;
         for (auto itor = nmeaArraystr.begin(); itor != nmeaArraystr.end(); ++itor) {
             ss << *itor;

utils/loc_nmea.cpp

@@ -1033,47 +1033,56 @@ SIDE EFFECTS
 ===========================================================================*/
 static void loc_nmea_get_fix_quality(const UlpLocation & location,
                                      const GpsLocationExtended & locationExtended,
-                                     char & ggaGpsQuality,
+                                     bool custom_gga_fix_quality,
+                                     char ggaGpsQuality[3],
                                      char & rmcModeIndicator,
                                      char & vtgModeIndicator) {
 
-    ggaGpsQuality = '0';
+    ggaGpsQuality[0] = '0'; // 0 means no fix
-    rmcModeIndicator = 'N';
+    rmcModeIndicator = 'N'; // N means no fix
-    vtgModeIndicator = 'N';
+    vtgModeIndicator = 'N'; // N means no fix
 
     do {
+        // GGA fix quality is defined in NMEA spec as below:
+        // https://www.trimble.com/OEM_ReceiverHelp/V4.44/en/NMEA-0183messages_GGA.html
+        // Fix quality: 0 = invalid
+        //              1 = GPS fix (SPS)
+        //              2 = DGPS fix
+        //              3 = PPS fix
+        //              4 = Real Time Kinematic
+        //              5 = Float RTK
+        //              6 = estimated (dead reckoning) (2.3 feature)
+        //              7 = Manual input mode
+        //              8 = Simulation mode
         if (!(location.gpsLocation.flags & LOC_GPS_LOCATION_HAS_LAT_LONG)){
-            ggaGpsQuality = '0'; // 0 means no fix
-            rmcModeIndicator = 'N';
-            vtgModeIndicator = 'N';
             break;
         }
         // NOTE: Order of the check is important
         if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
             if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
-                ggaGpsQuality = '2';    // 2 means DGPS fix
+                ggaGpsQuality[0] = '2';    // 2 means DGPS fix
                 rmcModeIndicator = 'P'; // P means precise
                 vtgModeIndicator = 'P'; // P means precise
                 break;
             } else if (LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask){
-                ggaGpsQuality = '4';    // 4 means RTK Fixed fix
+                ggaGpsQuality[0] = '4';    // 4 means RTK Fixed fix
                 rmcModeIndicator = 'R'; // use R (RTK fixed)
                 vtgModeIndicator = 'D'; // use D (differential) as
                                         // no RTK fixed defined for VTG in NMEA 183 spec
                 break;
             } else if (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask){
-                ggaGpsQuality = '5';    // 5 means RTK float fix
+                ggaGpsQuality[0] = '5';    // 5 means RTK float fix
                 rmcModeIndicator = 'F'; // F means RTK float fix
                 vtgModeIndicator = 'D'; // use D (differential) as
                                         // no RTK float defined for VTG in NMEA 183 spec
                 break;
             } else if (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask){
-                ggaGpsQuality = '2';    // 2 means DGPS fix
+                ggaGpsQuality[0] = '2';    // 2 means DGPS fix
                 rmcModeIndicator = 'D'; // D means differential
                 vtgModeIndicator = 'D'; // D means differential
                 break;
             } else if (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask){
-                ggaGpsQuality = '2';    // 2 means DGPS fix
+                ggaGpsQuality[0] = '2';    // 2 means DGPS fix
                 rmcModeIndicator = 'D'; // D means differential
                 vtgModeIndicator = 'D'; // D means differential
                 break;
@@ -1082,12 +1091,12 @@ static void loc_nmea_get_fix_quality(const UlpLocation & location,
         // NOTE: Order of the check is important
         if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
             if (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask){
-                ggaGpsQuality = '1'; // 1 means GPS
+                ggaGpsQuality[0] = '1'; // 1 means GPS
                 rmcModeIndicator = 'A'; // A means autonomous
                 vtgModeIndicator = 'A'; // A means autonomous
                 break;
             } else if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
-                ggaGpsQuality = '6'; // 6 means estimated (dead reckoning)
+                ggaGpsQuality[0] = '6'; // 6 means estimated (dead reckoning)
                 rmcModeIndicator = 'E'; // E means estimated (dead reckoning)
                 vtgModeIndicator = 'E'; // E means estimated (dead reckoning)
                 break;
@@ -1095,7 +1104,54 @@ static void loc_nmea_get_fix_quality(const UlpLocation & location,
         }
     } while (0);
 
-    LOC_LOGv("gps quality: %c, rmc mode indicator: %c, vtg mode indicator: %c",
+    do {
+        // check for customized nmea enabled or not
+        // with customized GGA quality enabled
+        // PPP fix w/o sensor: 59, PPP fix w/ sensor: 69
+        // DGNSS/SBAS correction fix w/o sensor: 2, w/ sensor: 62
+        // RTK fixed fix w/o sensor: 4, w/ sensor: 64
+        // RTK float fix w/o sensor: 5, w/ sensor: 65
+        // SPE fix w/o sensor: 1, and w/ sensor: 61
+        // Sensor dead reckoning fix: 6
+        if (true == custom_gga_fix_quality) {
+            if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_NAV_SOLUTION_MASK) {
+                // PPP fix w/o sensor: fix quality will now be 59
+                // PPP fix w sensor: fix quality will now be 69
+                if (LOC_NAV_MASK_PPP_CORRECTION & locationExtended.navSolutionMask) {
+                    if ((locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) &&
+                        (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask)) {
+                        ggaGpsQuality[0] = '6';
+                        ggaGpsQuality[1] = '9';
+                    } else {
+                        ggaGpsQuality[0] = '5';
+                        ggaGpsQuality[1] = '9';
+                    }
+                    break;
+                }
+            }
+
+            if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_POS_TECH_MASK) {
+                if (LOC_POS_TECH_MASK_SENSORS & locationExtended.tech_mask){
+                    char ggaQuality_copy = ggaGpsQuality[0];
+                    ggaGpsQuality[0] = '6'; // 6 sensor assisted
+                    // RTK fixed fix w/ sensor: fix quality will now be 64
+                    // RTK float fix w/ sensor: 65
+                    // DGNSS and/or SBAS correction fix and w/ sensor: 62
+                    // GPS fix without correction and w/ sensor: 61
+                    if ((LOC_NAV_MASK_RTK_FIXED_CORRECTION & locationExtended.navSolutionMask)||
+                            (LOC_NAV_MASK_RTK_CORRECTION & locationExtended.navSolutionMask)||
+                            (LOC_NAV_MASK_DGNSS_CORRECTION & locationExtended.navSolutionMask)||
+                            (LOC_NAV_MASK_SBAS_CORRECTION_IONO & locationExtended.navSolutionMask)||
+                            (LOC_POS_TECH_MASK_SATELLITE & locationExtended.tech_mask)) {
+                        ggaGpsQuality[1] = ggaQuality_copy;
+                        break;
+                    }
+                }
+            }
+        }
+    } while (0);
+
+    LOC_LOGv("gps quality: %s, rmc mode indicator: %c, vtg mode indicator: %c",
              ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
 }
 
@@ -1127,6 +1183,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
                                const GpsLocationExtended &locationExtended,
                                const LocationSystemInfo &systemInfo,
                                unsigned char generate_nmea,
+                               bool custom_gga_fix_quality,
                                std::vector<std::string> &nmeaArraystr)
 {
     ENTRY_LOG();
@@ -1270,10 +1327,10 @@ void loc_nmea_generate_pos(const UlpLocation &location,
             talker[1] = sv_meta.talker[1];
         }
 
-        char ggaGpsQuality = '0';
+        char ggaGpsQuality[3] = {'0', '\0', '\0'};
         char rmcModeIndicator = 'N';
         char vtgModeIndicator = 'N';
-        loc_nmea_get_fix_quality(location, locationExtended,
+        loc_nmea_get_fix_quality(location, locationExtended, custom_gga_fix_quality,
                                  ggaGpsQuality, rmcModeIndicator, vtgModeIndicator);
 
         // -------------------
@@ -1772,12 +1829,12 @@ void loc_nmea_generate_pos(const UlpLocation &location,
             svUsedCount = MAX_SATELLITES_IN_USE;
         if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP)
         {
-            length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,",
+            length = snprintf(pMarker, lengthRemaining, "%s,%02d,%.1f,",
                               ggaGpsQuality, svUsedCount, locationExtended.hdop);
         }
         else
         {   // no hdop
-            length = snprintf(pMarker, lengthRemaining, "%c,%02d,,",
+            length = snprintf(pMarker, lengthRemaining, "%s,%02d,,",
                               ggaGpsQuality, svUsedCount);
         }
 

utils/loc_nmea.h

@@ -79,6 +79,7 @@ void loc_nmea_generate_pos(const UlpLocation &location,
                                const GpsLocationExtended &locationExtended,
                                const LocationSystemInfo &systemInfo,
                                unsigned char generate_nmea,
+                               bool custom_gga_fix_quality,
                                std::vector<std::string> &nmeaArraystr);
 
 #define DEBUG_NMEA_MINSIZE 6