Ublox GPS - Manual hot, warm and cold reset functionality (#2924)

conf/modules/gps_ublox.xml

@@ -5,10 +5,25 @@
     <description>
       U-blox GPS (UART)
       Driver for u-blox GPS modules parsing the binary UBX protocol.
+      
+      The reset variable allows us to manually restart the u-blox GPS. There are three modes:
+        - Hotstart  (GPS_UBX_BOOTRESET = 1)
+        - Warmstart (GPS_UBX_BOOTRESET = 2)
+        - Coldstart (GPS_UBX_BOOTRESET = 3) 
     </description>
     <configure name="UBX_GPS_PORT" value="UARTx" description="UART where the GPS is connected to (UART1, UART2, etc"/>
     <configure name="UBX_GPS_BAUD" value="B38400" description="UART baud rate"/>
+    <configure name="GPS_UBX_BOOTRESET" value="0" description="Force a hot, warm or cold reset when the system boot up"/>
   </doc>
+
+  <settings>
+    <dl_settings>
+      <dl_settings name="gps_ublox">
+        <dl_setting MIN="1" MAX="3" STEP="1" values="Hotstart|Warmstart|Coldstart" module="gps/gps_ubx" VAR="gps_ubx.reset" shortname="reset"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
+
   <dep>
     <depends>uart,gps</depends>
     <provides>gps</provides>

sw/airborne/modules/gps/gps_ubx.c

@@ -86,6 +86,7 @@ extern struct RtcmMan rtcm_man;
 #ifndef INJECT_BUFF_SIZE
 #define INJECT_BUFF_SIZE 1024 + 6
 #endif
+
 /* RTCM control struct type */
 struct rtcm_t {
   uint32_t nbyte;                     ///< number of bytes in message buffer
@@ -96,6 +97,10 @@ struct rtcm_t rtcm = { 0 };
 
 #endif
 
+#ifndef GPS_UBX_BOOTRESET
+#define GPS_UBX_BOOTRESET 0
+#endif
+
 void gps_ubx_init(void)
 {
   gps_ubx.status = UNINIT;
@@ -105,6 +110,8 @@ void gps_ubx_init(void)
   gps_ubx.pacc_valid = false;
 
   gps_ubx.state.comp_id = GPS_UBX_ID;
+
+  gps_ubx.reset = GPS_UBX_BOOTRESET;
 }
 
 void gps_ubx_event(void)
@@ -117,6 +124,16 @@ void gps_ubx_event(void)
       gps_ubx_msg();
     }
   }
+
+  if (gps_ubx.reset > 0) {    
+    switch (gps_ubx.reset) {
+      case 1 : ubx_send_cfg_rst(&(UBX_GPS_LINK).device, CFG_RST_BBR_Hotstart, CFG_RST_Reset_Controlled); break;
+      case 2 : ubx_send_cfg_rst(&(UBX_GPS_LINK).device, CFG_RST_BBR_Warmstart, CFG_RST_Reset_Controlled); break;
+      case 3 : ubx_send_cfg_rst(&(UBX_GPS_LINK).device, CFG_RST_BBR_Coldstart, CFG_RST_Reset_Controlled); break;
+      default: DEBUG_PRINT("Unknown reset id: %i", gps_ubx.reset); break;
+    }
+    gps_ubx.reset = 0;
+  }
 }
 
 void gps_ubx_parse_HITL_UBX(uint8_t *buf)

sw/airborne/modules/gps/gps_ubx.h

@@ -65,6 +65,7 @@ struct GpsUbx {
   uint8_t send_ck_a, send_ck_b;
   uint8_t error_cnt;
   uint8_t error_last;
+  uint8_t reset;
 
   uint8_t status_flags;
   uint8_t sol_flags;