[modules] Removed GPS_PORT_ID, added comments, and compile warnings if GPS_PORT_ID is defined.

closes #653 closes #647
2026-06-01 12:57:27 +08:00 · 2014-02-28 08:48:23 -08:00
parent b5bbd5b987
commit a0bc3a70e7
8 changed files with 247 additions and 113 deletions
@@ -160,9 +160,7 @@
      <define name="CHIMU_BIG_ENDIAN" />
    </load>
    <load name="cam_point.xml" />
-    <load name="gps_ubx_ucenter.xml">
-      <define name="GPS_PORT_ID" value="GPS_PORT_UART2" />
-    </load>
+    <load name="gps_ubx_ucenter.xml"/>
  </modules>

  <firmware name="fixedwing">
@@ -169,7 +169,6 @@ ap.CFLAGS += -DMODEM_BAUD=B57600

 ap.CFLAGS += -DRADIO_CONTROL_SPEKTRUM_MODEL_H=\"subsystems/radio_control/spektrum_dx7eu.h\"
 ap.CFLAGS += -DGPS_USE_LATLONG
-ap.CFLAGS += -DGPS_PORT_ID=GPS_PORT_UART1

 include $(PAPARAZZI_SRC)/conf/firmwares/booz2_common.makefile
 include $(CFG_BOOZ)/booz2_autopilot.makefile
@@ -16,7 +16,6 @@
  <makefile target="ap">
    <file name="gps_i2c.c"/>
    <define name="GPS_CONFIGURE" />
-    <define name="GPS_PORT_ID" value="GPS_PORT_DDC"/>
  </makefile>
 </module>

@@ -10,14 +10,12 @@ Automatically configure any Ublox GPS for paparazzi.
 - configures all the messages, and the rates
 - automatic baudrate detection

-Warning: you still need to tell the driver
-1. Which paparazzi uart you use
-2. Inside the ublox gps there are also many ports.
-   The tiny/ppzgps use ublox_internal_port1 (UART1) but if for instance you use a LS-SAM
-   or I2C device you need to set this by defining GPS_PORT_ID.
+Warning: you still need to tell the driver, which paparazzi port you use.
    </description>
-    <define name="GPS_PORT_ID" value="GPS_PORT_UART1" description="Port inside the Ublox GPS (GPS_PORT_DDC, GPS_PORT_UART1, GPS_PORT_UART2, GPS_PORT_USB, GPS_PORT_SPI)"/>
    <define name="GPS_UBX_UCENTER_RATE" value="250" description="Data output rate in ms"/>
+    <define name="GPS_UBX_NAV5_DYNAMICS" 
+            value="NAV5_DYN_PORTABLE|NAV5_DYN_FIXED|NAV5_DYN_STATIONARY|NAV5_DYN_PEDESTRIAN|NAV5_DYN_AUTOMOTIVE|NAV5_DYN_SEA|NAV5_DYN_AIRBORNE_1G|NAV5_DYN_AIRBORNE_2G|NAV5_DYN_AIRBORNE_4G" 
+            description="Dynamic model used by ublox GPS filter. Default:NAV5_DYN_AIRBORNE_2G"/>
    <define name="USE_GPS_UBX_RXM_RAW" description="Activate raw measurments (only available on U-Blox T versions)"/>
  </doc>
  <header>
@@ -114,6 +114,9 @@
      </block>
    </message>

+    <message name="PRT_POLL" ID="0x00" length="0">
+    </message>
+
    <message name="MSG" ID="0x01" length="3">
    	<field name="Class" format="U1"/>
        <field name="MsgId" format="U1"/>
@@ -207,6 +210,14 @@

  <class name="RXM" ID="0x02">

+<!-- 
+Only available with raw data product variant.
+This message contains all information needed to be able to generate a RINEX observation
+file.
+This message outputs pseudorange, doppler and carrier phase measurements for GPS
+satellites once signals have been synchronised. No other GNSS types are currently
+supported.
+-->
    <message name="RAW" ID="0x10">
      <field name="iTOW" format="I4" unit="ms"/>
      <field name="week" format="I2" unit="weeks"/>
@@ -29,6 +29,8 @@

 #include "gps_ubx_ucenter.h"
 #include "subsystems/gps/gps_ubx.h"
+#include "subsystems/datalink/downlink.h"
+#include <stdio.h>

 //////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////
@@ -46,6 +48,7 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr);
 #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

 // All U-Center data
 struct gps_ubx_ucenter_struct gps_ubx_ucenter;
@@ -93,6 +96,16 @@ void gps_ubx_ucenter_periodic(void)
    {
      gps_ubx_ucenter.status = GPS_UBX_UCENTER_STATUS_CONFIG;
      gps_ubx_ucenter.cnt = 0;
+#if DEBUG_GPS_UBX_UCENTER
+      if (gps_ubx_ucenter.baud_init > 0)
+      {
+        printf("Initial ublox baudrate found: %u\n", gps_ubx_ucenter.baud_init);
+      }
+      else
+      {
+        printf("WARNING: Unable to determine the ublox baudrate. Autoconfiguration is unlikely to work.\n");
+      }
+#endif
    }
    else
    {
@@ -129,17 +142,23 @@ void gps_ubx_ucenter_event(void)
    return;

  // Read Configuration Reply's
-  if (gps_ubx.msg_class == UBX_ACK_ID) {
+  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;
+#if DEBUG_GPS_UBX_UCENTER
+      printf("ACK\n");
+#endif
    }
-    else
-    {
+    else {
      gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NACK;
+#if DEBUG_GPS_UBX_UCENTER
+      printf("NACK\n");
+#endif
    }
-  }
-  // Version info
-  else if (gps_ubx.msg_class == UBX_MON_ID) {
+    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';
@@ -149,7 +168,23 @@ void gps_ubx_ucenter_event(void)
      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');
+#if DEBUG_GPS_UBX_UCENTER
+      printf("ublox sw_ver: %u.%u\n", gps_ubx_ucenter.sw_ver_h, gps_ubx_ucenter.sw_ver_l);
+      printf("ublox hw_ver: %u.%u\n", gps_ubx_ucenter.hw_ver_h, gps_ubx_ucenter.hw_ver_l);
+#endif
    }
+    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);
+#if DEBUG_GPS_UBX_UCENTER
+      printf("gps_ubx_ucenter.baud_run: %u\n", gps_ubx_ucenter.baud_run);
+      printf("gps_ubx_ucenter.port_id: %u\n", gps_ubx_ucenter.port_id);
+#endif
+    }
+    break;
  }
 }

@@ -159,7 +194,18 @@ void gps_ubx_ucenter_event(void)
 // UCENTER Configuration Functions

 /**
- * Enable u-blox message at desired rate (Hz).  Will enable the message on the port
+ * Polls the u-blox port configuration
+ * When the payload is omitted (zero length), the configuration for the incoming
+ * (currently used) port is reported.
+ *
+ */
+static inline void gps_ubx_ucenter_config_port_poll(void)
+{
+  UbxSend_CFG_PRT_POLL();
+}
+
+/**
+ * Enable u-blox message at desired period.  Will enable the message on the port
 * that this command is received on. For example, sending this configuration message
 * over UART1 will cause the desired message to be published on UART1.
 *
@@ -168,13 +214,21 @@ void gps_ubx_ucenter_event(void)
 *
 * @param class u-blox message class
 * @param id u-blox message ID
- * @param rate Desired rate in cycles per second (Hz)
+ * @param rate Desired period to send message. Example: Setting 3 would send the message on every 3rd navigation solution.
 */
 static inline void gps_ubx_ucenter_enable_msg(uint8_t class, uint8_t id, uint8_t rate)
 {
  UbxSend_CFG_MSG(class, id, rate);
 }

+/**
+ * Automatically determine the baudrate of the u-blox module.
+ * Only needed when connecting to a UART port on the u-blox.
+ * The discovered baudrate is copied to gps_ubx_ucenter.baud_init.
+ *
+ * @param nr Autobaud step number to perform
+ * @return FALSE when completed
+ */
 static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
 {
  switch (nr)
@@ -187,48 +241,58 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
  case 2:
    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
    GpsUartSetBaudrate(B38400); // Try the most common first?
-    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
+    gps_ubx_ucenter_config_port_poll();
    break;
  case 3:
    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
    {
-      gps_ubx_ucenter.baud_init = 38400;
+      gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
      return FALSE;
    }
    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
    GpsUartSetBaudrate(B9600); // Maybe the factory default?
-    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
+    gps_ubx_ucenter_config_port_poll();
    break;
  case 4:
    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
    {
-      gps_ubx_ucenter.baud_init = 9600;
+      gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
      return FALSE;
    }
    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
    GpsUartSetBaudrate(B57600); // The high-rate default?
-    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
+    gps_ubx_ucenter_config_port_poll();
    break;
  case 5:
    if (gps_ubx_ucenter.reply == GPS_UBX_UCENTER_REPLY_ACK)
    {
-      gps_ubx_ucenter.baud_init = 57600;
+      gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
      return FALSE;
    }
    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-    GpsUartSetBaudrate(B4800); // Default NMEA baudrate finally?
-    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_VELNED_ID, 1);
+    GpsUartSetBaudrate(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 = 4800;
+      gps_ubx_ucenter.baud_init = gps_ubx_ucenter.baud_run;
+      return FALSE;
+    }
+    gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
+    GpsUartSetBaudrate(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;
    }

    // Autoconfig Failed... let's setup the failsafe baudrate
    // Should we try even a different baudrate?
-    gps_ubx_ucenter.baud_init = 0;
+    gps_ubx_ucenter.baud_init = 0; // Set as zero to indicate that we couldn't verify the baudrate
    GpsUartSetBaudrate(B9600);
    return FALSE;
  default:
@@ -245,22 +309,35 @@ static bool_t gps_ubx_ucenter_autobaud(uint8_t nr)
 #define NAV_DYN_AUTOMOTIVE  3
 #define NAV_DYN_SEA         4
 #define NAV_DYN_AIRBORNE_1G 5
-#define NAV_DYN_AIRBORNE_2G 6
+#define NAV_DYN_AIRBORNE_2G 6 // paparazzi default
 #define NAV_DYN_AIRBORNE_4G 7

-#define NAV5_DYN_PORTABLE    0
+#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
+#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
+
+#define NAV5_MASK 0x05 // Apply dynamic model and position fix mode settings
+
 #define NAV5_2D_ONLY 1
-#define NAV5_3D_ONLY 2
-#define NAV5_AUTO    3
+#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
@@ -274,7 +351,9 @@ static inline void gps_ubx_ucenter_config_nav(void)
  }
  else
  {
-      UbxSend_CFG_NAV5(0x05, NAV5_DYN_AIRBORNE_2G, NAV5_3D_ONLY, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, IGNORED, RESERVED, RESERVED, RESERVED, RESERVED);
+    UbxSend_CFG_NAV5(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);
  }
 }

@@ -283,6 +362,13 @@ static inline void gps_ubx_ucenter_config_nav(void)
 /////////////////////////////////////
 // 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
@@ -292,32 +378,44 @@ static inline void gps_ubx_ucenter_config_nav(void)
 #define GPS_PORT_UART2 		0x02
 #define GPS_PORT_USB   		0x03
 #define GPS_PORT_SPI   		0x04
-
-#ifndef GPS_PORT_ID
-#define GPS_PORT_ID GPS_PORT_UART1
-#endif
+#define GPS_PORT_RESERVED   0x05

 #define __UBX_GPS_BAUD(_u) _u##_BAUD
 #define _UBX_GPS_BAUD(_u) __UBX_GPS_BAUD(_u)
 #define UBX_GPS_BAUD _UBX_GPS_BAUD(GPS_LINK)

 #ifndef GPS_UBX_UCENTER_RATE
-#define GPS_UBX_UCENTER_RATE 0x00FA
+#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
-  #if GPS_PORT_ID == GPS_PORT_DDC
-    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+  case GPS_PORT_DDC:
+#ifdef GPS_I2C
+    UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, GPS_I2C_SLAVE_ADDR, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+#else
+    printf("WARNING: Please include the gps_i2c module.\n");
 #endif
+    break;
    // UART Interface
-  #if GPS_PORT_ID == GPS_PORT_UART1 || GPS_PORT_ID == GPS_PORT_UART2
-    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x000008D0, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
-  #endif
-  #if GPS_PORT_ID == GPS_PORT_USB
-    UbxSend_CFG_PRT(GPS_PORT_ID, 0x0, 0x0, 0x0, 0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
-  #endif
+  case GPS_PORT_UART1:
+  case GPS_PORT_UART2:
+    UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, UBX_UART_MODE_MASK, UART_SPEED(UBX_GPS_BAUD), UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+    break;
+    // USB Interface
+  case GPS_PORT_USB:
+    UbxSend_CFG_PRT(gps_ubx_ucenter.port_id, 0x0, 0x0, 0x0, 0x0, UBX_PROTO_MASK, UBX_PROTO_MASK, 0x0, 0x0);
+    break;
+  case GPS_PORT_SPI:
+    printf("WARNING: ublox SPI port is currently not supported.\n");
+    break;
+  default:
+    printf("WARNING: Unknown ublox port id: %u\n", gps_ubx_ucenter.port_id);
+    break;
+  }
 }

 #define GPS_SBAS_ENABLED       0x01
@@ -326,38 +424,59 @@ static inline void gps_ubx_ucenter_config_port(void)
 #define GPS_SBAS_CORRECTIONS   0x02
 #define GPS_SBAS_INTEGRITY     0x04

+#define GPS_SBAS_MAX_SBAS	   1 // 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
-  const uint8_t nrofsat = 1;
-  UbxSend_CFG_SBAS(GPS_SBAS_ENABLED, GPS_SBAS_RANGING | GPS_SBAS_CORRECTIONS | GPS_SBAS_INTEGRITY, nrofsat, 0x00, 0x00);
+  UbxSend_CFG_SBAS(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
-#include "subsystems/datalink/downlink.h"

 static bool_t gps_ubx_ucenter_configure(uint8_t nr)
 {
+#if DEBUG_GPS_UBX_UCENTER
+  printf("gps_ubx_ucenter_configure nr: %u\n",nr);
+#endif
+
  // 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;

-  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
-
  switch (nr) {
  case 0:
-    UbxSend_MON_GET_VER();
+    // Use old baudrate to issue a baudrate change command
+    gps_ubx_ucenter_config_port();
    break;
  case 1:
+#if DEBUG_GPS_UBX_UCENTER
+    if (gps_ubx_ucenter.reply != GPS_UBX_UCENTER_REPLY_ACK)
+    {
+      printf("ublox did not acknowledge port configuration.\n");
+    }
+    else
+    {
+      printf("Changed ublox baudrate to: %u\n", UART_SPEED(UBX_GPS_BAUD));
+    }
+#endif
+    // Now the GPS baudrate should have changed
+    GpsUartSetBaudrate(UBX_GPS_BAUD);
+    gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD);
+    UbxSend_MON_GET_VER();
+    break;
  case 2:
  case 3:
  case 4:
-    // UBX_G5010 takes 0.7 seconds to answer a firmware request
-    // Version info is important for porper configuration as different firmwares have different settings
-    break;
  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:
    // Send some debugging info: detected baudrate, software version etc...
    gps_ubx_ucenter.replies[0] = (gps_ubx_ucenter.baud_init/1000);
    gps_ubx_ucenter.replies[1] = (gps_ubx_ucenter.baud_init - 1000 * gps_ubx_ucenter.replies[0]) / 100;
@@ -368,32 +487,27 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
 #if DEBUG_GPS_UBX_UCENTER
    DOWNLINK_SEND_DEBUG(DefaultChannel, DefaultDevice,6,gps_ubx_ucenter.replies);
 #endif
-
-    //////////////////////////////////
-    // Actual configuration start
-
-    // Use old baudrate to issue a baudrate change command
-    gps_ubx_ucenter_config_port();
-    break;
-  case 6:
-    // Now the GPS baudrate should have changed
-    GpsUartSetBaudrate(UBX_GPS_BAUD);
-    gps_ubx_ucenter.baud_run = UART_SPEED(UBX_GPS_BAUD);
+    // 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
@@ -405,17 +519,21 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
    gps_ubx_ucenter_enable_msg(UBX_NAV_ID, UBX_NAV_POSUTM_ID, 0);
    break;
  case 13:
+    // SBAS Configuration
    gps_ubx_ucenter_config_sbas();
    break;
  case 14:
+    // Poll Navigation/Measurement Rate Settings
    UbxSend_CFG_RATE(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
@@ -427,11 +545,18 @@ static bool_t gps_ubx_ucenter_configure(uint8_t nr)
  case 18:
 #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++)
+    {
+      printf("%u\n", gps_ubx_ucenter.replies[i]);
+    }
 #endif
    return FALSE;
  default:
    break;
  }
+
+  gps_ubx_ucenter.reply = GPS_UBX_UCENTER_REPLY_NONE;
  return TRUE; // Continue, except for the last case
 }
@@ -39,8 +39,8 @@ struct gps_ubx_ucenter_struct
  uint8_t reply;
  uint8_t cnt;

-  uint32_t baud_init;
-  uint32_t baud_run;
+  uint32_t baud_init; // Initial baudrate of the ublox module
+  uint32_t baud_run;  // Current baudrate of the ublox module

  uint8_t sw_ver_h;
  uint8_t sw_ver_l;
@@ -48,6 +48,9 @@ struct gps_ubx_ucenter_struct
  uint16_t hw_ver_h;
  uint16_t hw_ver_l;

+  /// Port identifier number
+  uint8_t port_id;
+
  char replies[GPS_UBX_UCENTER_CONFIG_STEPS];
 };

@@ -25,6 +25,7 @@

 #include "std.h"

+/// Default address for u-blox (and others?)
 #define GPS_I2C_SLAVE_ADDR (0x42 << 1)

 #define GPS_I2C_BUF_SIZE 256