Tilt working on LG290P

Author: nseidle

Firmware/RTK_Everywhere/Begin.ino

@@ -712,7 +712,7 @@ void beginBoard()
         present.brand = BRAND_SPARKPNT;
         present.psram_2mb = true;
         present.gnss_lg290p = true;
-        present.antennaPhaseCenter_mm = 42.0; // Default to SPK6618H APC, average of L1/L2
+        present.antennaPhaseCenter_mm = 37.5; // APC of SPK-6E helical L1/L2/L5 antenna
         present.needsExternalPpl = true;      // Uses the PointPerfect Library
         present.gnss_to_uart = true;
 
@@ -774,7 +774,7 @@ void beginBoard()
         present.brand = BRAND_SPARKPNT;
         present.psram_2mb = true;
 
-        present.antennaPhaseCenter_mm = 42.0; // Default to SPK6618H APC, average of L1/L2
+        present.antennaPhaseCenter_mm = 62.0; // APC from drawings
         present.radio_lora = true;
         present.fuelgauge_bq40z50 = true;
         present.charger_mp2762a = true;
@@ -785,7 +785,7 @@ void beginBoard()
         present.gnss_to_uart = true;
 
         present.gpioExpanderSwitches = true;
-        present.microSd = true;
+        // present.microSd = true; // TODO remove comment out - v1.0 hardware does not have pullup on #CD so card detection does not work
         present.microSdCardDetectLow = true;
 
         present.display_i2c0 = true;

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -39,7 +39,7 @@ void GNSS_LG290P::baseRtcmLowDataRate()
         settings.lg290pMessageRatesRTCMBase[x] = 0;
 
     settings.lg290pMessageRatesRTCMBase[getRtcmMessageNumberByName("RTCM3-1005")] =
-        10;                                                                            // 1005 0.1Hz - Exclude antenna height
+        10; // 1005 0.1Hz - Exclude antenna height
     settings.lg290pMessageRatesRTCMBase[getRtcmMessageNumberByName("RTCM3-107X")] = 2; // 1074 0.5Hz
     settings.lg290pMessageRatesRTCMBase[getRtcmMessageNumberByName("RTCM3-108X")] = 2; // 1084 0.5Hz
     settings.lg290pMessageRatesRTCMBase[getRtcmMessageNumberByName("RTCM3-109X")] = 2; // 1094 0.5Hz
@@ -357,6 +357,31 @@ bool GNSS_LG290P::configureRover()
 
     response &= setMinCnoRadio(settings.minCNO);
 
+    //If we are on a platform that supports tilt
+    if (present.tiltPossible == true)
+    {
+        //And tilt is present and enabled
+        if (present.imu_im19 == true && settings.enableTiltCompensation == true)
+        {
+            //Configure GNSS to support the tilt sensor
+
+            // Tilt sensor requires 5Hz at a minimum
+            if (settings.measurementRateMs > 200)
+            {
+                systemPrintln("Increasing GNSS measurement rate to 5Hz for tilt support");
+                settings.measurementRateMs = 200;
+            }
+
+            // On the LG290P Flex module, UART 3 of the GNSS is connected to the IMU UART 1
+            response &= setBaudRate(3, 115200);
+
+            if (response == false && settings.debugGnss)
+                systemPrintln("configureRover: setBaud failed.");
+
+            // Enable of GGA, RMC, GST for tilt sensor is done in enableNMEA()
+        }
+    }
+
     // Set the fix rate. Default on LG290P is 10Hz so set accordingly.
     response &= setRate(settings.measurementRateMs / 1000.0); // May require save/reset
     if (settings.debugGnss && response == false)
@@ -637,7 +662,6 @@ bool GNSS_LG290P::enableNMEA()
 {
     bool response = true;
     bool gpggaEnabled = false;
-    bool gpzdaEnabled = false;
 
     int portNumber = 1;
 
@@ -674,10 +698,6 @@ bool GNSS_LG290P::enableNMEA()
                     {
                         if (strcmp(lgMessagesNMEA[messageNumber].msgTextName, "GGA") == 0)
                             gpggaEnabled = true;
-
-                        // ZDA not supported on LG290P
-                        // if (strcmp(lgMessagesNMEA[messageNumber].msgTextName, "ZDA") == 0)
-                        // gpzdaEnabled = true;
                     }
                 }
             }
@@ -696,24 +716,47 @@ bool GNSS_LG290P::enableNMEA()
         // If firmware is 4 or higher, use setMessageRateOnPort, otherwise setMessageRate
         if (lg290pFirmwareVersion >= 4)
         {
-            // Enable GGA / ZDA on port 2 (ESP32) only
+            // Enable GGA on UART 2 (connected to ESP32) only
             if (gpggaEnabled == false)
                 response &= _lg290p->setMessageRateOnPort("GGA", 1, 2);
-
-            // if (gpggaEnabled == false)
-            //     response &= _lg290p->setMessageRateOnPort("GGA", 1, 1);
         }
         else
         {
-            // Enable GGA / ZDA on all ports. It's the best we can do.
+            // Enable GGA on all UARTs. It's the best we can do.
             if (gpggaEnabled == false)
                 response &= _lg290p->setMessageRate("GGA", 1);
-
-            // if (gpzdaEnabled == false)
-            //     response &= _lg290p->setMessageRate("ZDA", 1);
         }
     }
 
+    // If this is Flex, we may need to enable NMEA for Tilt IMU
+    if (present.tiltPossible == true)
+    {
+        if (present.imu_im19 == true && settings.enableTiltCompensation == true)
+        {
+            // Regardless of user settings, enable GGA, RMC, GST on UART3
+            // If firmware is 4 or higher, use setMessageRateOnPort, otherwise setMessageRate
+            if (lg290pFirmwareVersion >= 4)
+            {
+                // Enable GGA/RMS/GST on UART 3 (connected to the IMU) only
+                response &= _lg290p->setMessageRateOnPort("GGA", 1, 3);
+                response &= _lg290p->setMessageRateOnPort("RMC", 1, 3);
+                response &= _lg290p->setMessageRateOnPort("GST", 1, 3);
+            }
+            else
+            {
+                // GST not supported below 4
+                systemPrintf(
+                    "Current LG290P firmware: v%d (full form: %s). Tilt compensation requires GST on firmware v4 "
+                    "or newer. Please "
+                    "update the "
+                    "firmware on your LG290P to allow for these features. Please see "
+                    "https://bit.ly/sfe-rtk-lg290p-update\r\n Marking tilt compensation offline.",
+                    lg290pFirmwareVersion, gnssFirmwareVersion);
+
+                present.imu_im19 = false;
+            }
+        }
+    }
     return (response);
 }
 
@@ -826,7 +869,8 @@ bool GNSS_LG290P::enableRTCMRover()
             // So we set all RTCM to 1, and set PQTMCFGRTCM to the lowest value found
 
             // Capture the message with the lowest rate
-            if (settings.lg290pMessageRatesRTCMRover[messageNumber] > 0 && settings.lg290pMessageRatesRTCMRover[messageNumber] < minimumRtcmRate)
+            if (settings.lg290pMessageRatesRTCMRover[messageNumber] > 0 &&
+                settings.lg290pMessageRatesRTCMRover[messageNumber] < minimumRtcmRate)
                 minimumRtcmRate = settings.lg290pMessageRatesRTCMRover[messageNumber];
 
             // Force all RTCM messages to 1 or 0. See above for reasoning.
@@ -847,13 +891,11 @@ bool GNSS_LG290P::enableRTCMRover()
                     if (lg290pFirmwareVersion >= 4)
                     {
                         // If any one of the commands fails, report failure overall
-                        response &= _lg290p->setMessageRateOnPort(lgMessagesRTCM[messageNumber].msgTextName,
-                                                                  rate,
-                                                                  portNumber);
+                        response &=
+                            _lg290p->setMessageRateOnPort(lgMessagesRTCM[messageNumber].msgTextName, rate, portNumber);
                     }
                     else
-                        response &= _lg290p->setMessageRate(lgMessagesRTCM[messageNumber].msgTextName,
-                                                            rate);
+                        response &= _lg290p->setMessageRate(lgMessagesRTCM[messageNumber].msgTextName, rate);
 
                     if (response == false && settings.debugGnss)
                         systemPrintf("Enable RTCM failed at messageNumber %d %s\r\n", messageNumber,
@@ -874,8 +916,7 @@ bool GNSS_LG290P::enableRTCMRover()
                     }
                     else
                         response &= _lg290p->setMessageRate(lgMessagesRTCM[messageNumber].msgTextName,
-                                                            settings.lg290pMessageRatesRTCMRover[messageNumber],
-                                                            0);
+                                                            settings.lg290pMessageRatesRTCMRover[messageNumber], 0);
 
                     if (response == false && settings.debugGnss)
                         systemPrintf("Enable RTCM failed at messageNumber %d %s\r\n", messageNumber,

Firmware/RTK_Everywhere/SD.ino

@@ -117,7 +117,7 @@ bool sdCardPresent(void)
         }
         else
         {
-            //reportFatalError("sdCardPresent: gpioExpander not online.");
+            // reportFatalError("sdCardPresent: gpioExpander not online.");
             return (false);
         }
     }
@@ -168,7 +168,7 @@ bool sdCardPresent(void)
         }
 
         xSemaphoreGive(sdCardSemaphore);
-        
+
         if (response != 1)
         {
             previousCardPresentBySW = false;

Firmware/RTK_Everywhere/Tilt.ino

@@ -60,7 +60,10 @@ void tiltUpdate()
         }
 
         if (tiltState != TILT_STARTED) // If we failed to begin, disable future attempts
+        {
             tiltFailedBegin = true;
+            tiltState = TILT_DISABLED;
+        }
         break;
 
     case TILT_STARTED:
@@ -260,8 +263,8 @@ void printTiltDebug()
 // Start communication with the IM19 IMU
 void beginTilt()
 {
-    tiltSensor = new IM19();
 
+    tiltSensor = new IM19();
     if (SerialForTilt == nullptr)
         SerialForTilt = new HardwareSerial(1); // Use UART1 on the ESP32 to receive IMU corrections
 
@@ -292,8 +295,15 @@ void beginTilt()
     result &= tiltSensor->sendCommand("NAVI_OUTPUT=UART1,ON");
 
     // Set the distance of the IMU from the center line - x:6.78mm y:10.73mm z:19.25mm
-    if (present.imu_im19 == true)
+    if (productVariant == RTK_TORCH)
         result &= tiltSensor->sendCommand("LEVER_ARM=-0.00678,-0.01073,-0.0314"); // From stock firmware
+    else if (productVariant == RTK_FLEX)
+    {
+        result &= tiltSensor->sendCommand("LEVER_ARM=-0.0282,-0.000,-0.0237"); // -28.2, 0. -23.7mm
+
+        //Send AT+INSTALL_ANGLE=180,0,0 if the IM19 module is mounted on the back of the GNSS receiver (so the IM19 faces downward instead of upward), before sending the save command.
+        result &= tiltSensor->sendCommand("INSTALL_ANGLE=180,0,0"); //IMU is mounted facing down
+    }
 
     // Set the overall length of the GNSS setup in meters: rod length 1800mm + internal length 96.45mm + antenna
     // POC 19.25mm = 1915.7mm
@@ -309,7 +319,10 @@ void beginTilt()
     result &= tiltSensor->sendCommand(clubVector);
 
     // Configure interface type. This allows IM19 to receive Unicore-style binary messages
-    result &= tiltSensor->sendCommand("GNSS_CARD=UNICORE");
+    if (productVariant == RTK_TORCH)
+        result &= tiltSensor->sendCommand("GNSS_CARD=UNICORE");
+    else if (productVariant == RTK_FLEX)
+        result &= tiltSensor->sendCommand("GNSS_CARD=OEM");
 
     // Configure as tilt measurement mode
     result &= tiltSensor->sendCommand("WORK_MODE=408"); // From stock firmware
@@ -324,7 +337,7 @@ void beginTilt()
     // Unknown new command for v2
     result &= tiltSensor->sendCommand("CORRECT_HOLDER=ENABLE"); // From stock firmware
 
-    // Trigger IMU on PPS from UM980
+    // Trigger IMU on PPS from GNSS
     result &= tiltSensor->sendCommand("SET_PPS_EDGE=RISING");
 
     // Enable magnetic field mode
@@ -1017,7 +1030,7 @@ void tiltDetect()
     if (present.tiltPossible == false)
         return;
 
-    // Start test if not previously detected
+    // Skip test if previously detected as present
     if (settings.detectedTilt == true)
     {
         present.imu_im19 = true; // Allow tiltUpdate() to run
@@ -1053,6 +1066,7 @@ void tiltDetect()
         {
             present.imu_im19 = true; // Allow tiltUpdate() to run
             settings.detectedTilt = true;
+            settings.gnssConfiguredRover = false; // Update rover settings
             break;
         }
     }
@@ -1061,10 +1075,8 @@ void tiltDetect()
 
 #endif // COMPILE_IM19_IMU
 
-    if (settings.enableImuDebug == true)
-        systemPrintf("Tilt sensor %sdetected\r\n", settings.detectedTilt ? "" : "not ");
-
-    settings.testedTilt = true;
+    systemPrintf("Tilt sensor %sdetected\r\n", settings.detectedTilt ? "" : "not ");
+    settings.testedTilt = true; //Record this test so we don't do it again
     recordSystemSettings();
     return;
 }

Firmware/RTK_Everywhere/menuSystem.ino

@@ -1394,7 +1394,7 @@ void menuInstrument()
         systemPrintf("1) Set Antenna Height (a.k.a. Pole Length): %0.3lfm\r\n",
                      settings.antennaHeight_mm / (double)1000.0);
 
-        systemPrintf("2) Set Antenna Phase Center (a.k.a. ARP): %0.1fmm\r\n", settings.antennaPhaseCenter_mm);
+        systemPrintf("2) Set Antenna Phase Center: %0.1fmm\r\n", settings.antennaPhaseCenter_mm);
 
         systemPrint("3) Report Tip Altitude: ");
         systemPrintf("%s\r\n", settings.outputTipAltitude ? "Enabled" : "Disabled");