Add rtcmMinElev

Author: PaulZC

Firmware/RTK_Everywhere/AP-Config/index.html

@@ -363,7 +363,7 @@
                         </div>
                     </div>
 
-                    <div id="useMSM7Setting">
+                    <div id="lg290pGnssSettings">
                         <div class="form-check mt-3">
                             <label class="form-check-label" for="useMSM7">MSM7 RTCM Selection</label>
                             <input class="form-check-input" type="checkbox" value="" id="useMSM7">
@@ -372,6 +372,21 @@
                                 <span class="icon-info-circle text-primary ms-2"></span>
                             </span>
                         </div>
+
+                        <div class="form-group row" id="rtcmMinElevConfig">
+                            <div class="form-group row">
+                                <label for="rtcmMinElev" class="col-sm-4 col-6 col-form-label">Min SV Elevation for RTCM:
+                                    <span class="tt" data-bs-placement="right"
+                                        title="Minimum elevation in degrees for a GNSS satellite to be used for RTCM corrections.">
+                                        <span class="icon-info-circle text-primary ms-2"></span>
+                                    </span>
+                                </label>
+                                <div class="col-sm-4 col-6">
+                                    <input type="number" class="form-control" id="rtcmMinElev">
+                                    <p id="rtcmMinElevError" class="inlineError"></p>
+                                </div>
+                            </div>
+                        </div>
                     </div>
 
                     <div class="form-check mt-3">

Firmware/RTK_Everywhere/AP-Config/src/main.js

@@ -112,7 +112,7 @@ function parseIncoming(msg) {
                 hide("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -146,7 +146,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 show("measurementRateInput");
@@ -167,7 +167,7 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
                 hide("galileoHasSetting");
-                hide("useMSM7Setting");
+                hide("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
                 hide("measurementRateInput");
@@ -257,8 +257,8 @@ function parseIncoming(msg) {
                 show("externalPortOptions");
                 show("logToSDCard");
 
-                hide("galileoHasSetting");
-                show("useMSM7Setting");
+                show("galileoHasSetting");
+                show("lg290pGnssSettings");
                 hide("tiltConfig");
                 hide("beeperControl");
 
@@ -273,8 +273,8 @@ function parseIncoming(msg) {
                 show("constellationNavic");
 
                 hide("dynamicModelDropdown"); //Not supported on LG290P
-                hide("minElevConfig"); //Not supported on LG290P
-                hide("minCNOConfig"); //Not supported on LG290P
+                show("minElevConfig");
+                show("minCNOConfig");
 
                 ge("rtcmRateInfoText").setAttribute('data-bs-original-title', 'RTCM is transmitted by the base at a default of 1Hz for messages 1005, 1074, 1084, 1094, 1114, 1124, 1134. This can be lowered for radios with low bandwidth or tailored to transmit any/all RTCM messages. Limits: 0 to 20. Note: The measurement rate is overridden to 1Hz when in Base mode.');
 
@@ -327,8 +327,8 @@ function parseIncoming(msg) {
 
                 hide("constellationSbas"); //Not supported on LG290P
                 show("constellationNavic"); 
-                hide("galileoHasSetting"); //Not supported on LG290P
-                show("useMSM7Setting");
+                show("galileoHasSetting");
+                show("lg290pGnssSettings");
                 hide("tiltConfig"); //Not supported on Torch X2
 
                 show("measurementRateInput");
@@ -341,8 +341,8 @@ function parseIncoming(msg) {
                 hide("enableNmeaOnRadio");
 
                 hide("dynamicModelDropdown"); //Not supported on LG290P
-                hide("minElevConfig"); //Not supported on LG290P
-                hide("minCNOConfig"); //Not supported on LG290P
+                show("minElevConfig");
+                show("minCNOConfig");
 
                 ge("rtcmRateInfoText").setAttribute('data-bs-original-title', 'RTCM is transmitted by the base at a default of 1Hz for messages 1005, 1074, 1084, 1094, 1124, and 0.1Hz for 1033. This can be lowered for radios with low bandwidth or tailored to transmit any/all RTCM messages. Limits: 0 to 20. Note: The measurement rate is overridden to 1Hz when in Base mode.');
 
@@ -714,6 +714,13 @@ function show(id) {
     ge(id).style.display = "block";
 }
 
+function isElementShown(id) {
+    if (ge(id).style.display == "block") {
+        return (true);
+    }
+    return (false);
+}
+
 //Create CSV of all setting data
 function sendData() {
     var settingCSV = "";
@@ -841,6 +848,9 @@ function validateFields() {
 
     checkElementValue("minElev", 0, 90, "Must be between 0 and 90", "collapseGNSSConfig");
     checkElementValue("minCNO", 0, 90, "Must be between 0 and 90", "collapseGNSSConfig");
+    if (isElementShown("lg290pGnssSettings") == true) {
+        checkElementValue("rtcmMinElev", -90, 90, "Must be between -90 and 90", "collapseGNSSConfig");
+    }
 
     if (ge("enableNtripClient").checked == true) {
         checkElementString("ntripClientCasterHost", 1, 45, "Must be 1 to 45 characters", "collapseGNSSConfig");

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -116,7 +116,8 @@ void GNSS_LG290P::begin()
             lg290pFirmwareVersion, gnssFirmwareVersion);
 
         // Determine if the "LG290P03AANR01A03S_PPP_TEMP0812 2025/08/12" firmware is present
-        // This version has support for testing out E6/HAS PPP, but confusingly was released after v05.
+        // Or               "LG290P03AANR01A06S_PPP_TEMP0829 2025/08/29 17:08:39"
+        // The 03S_PPP_TEMP version has support for testing out E6/HAS PPP, but confusingly was released after v05.
         if (strstr(gnssFirmwareVersion, "PPP_TEMP") != nullptr)
         {
             present.galileoHasCapable = true;
@@ -793,6 +794,8 @@ bool GNSS_LG290P::enableRTCMBase()
 
     int portNumber = 1;
 
+    int minimumRtcmRate = 1000;
+
     while (portNumber < 4)
     {
         for (int messageNumber = 0; messageNumber < MAX_LG290P_RTCM_MSG; messageNumber++)
@@ -843,7 +846,12 @@ bool GNSS_LG290P::enableRTCMBase()
 
                 // If any message is enabled, enable RTCM output
                 if (settings.lg290pMessageRatesRTCMBase[messageNumber] > 0)
+                {
                     enableRTCM = true;
+                    // Capture the message with the lowest rate
+                    if (settings.lg290pMessageRatesRTCMBase[messageNumber] < minimumRtcmRate)
+                        minimumRtcmRate = settings.lg290pMessageRatesRTCMBase[messageNumber];
+                }
             }
         }
 
@@ -857,11 +865,14 @@ bool GNSS_LG290P::enableRTCMBase()
     if (enableRTCM == true)
     {
         if (settings.debugGnss)
-            systemPrintln("Enabling Base RTCM output");
+            systemPrintf("Enabling Base RTCM MSM%c output with rate of %d\r\n",
+                         settings.useMSM7 ? '7' : '4', minimumRtcmRate);
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
         char cfgRtcm[40];
-        snprintf(cfgRtcm, sizeof(cfgRtcm), "PQTMCFGRTCM,W,%c,0,-90,07,06,2,1", settings.useMSM7 ? '7' : '4');
+        snprintf(cfgRtcm, sizeof(cfgRtcm), "PQTMCFGRTCM,W,%c,0,%d,07,06,2,%d",
+                                            settings.useMSM7 ? '7' : '4', settings.rtcmMinElev,
+                                            minimumRtcmRate);
         _lg290p->sendOkCommand(
             cfgRtcm); // Enable MSM4/7, output regular intervals, interval (seconds)
     }
@@ -1016,15 +1027,16 @@ bool GNSS_LG290P::enableRTCMRover()
     if (enableRTCM == true)
     {
         if (settings.debugCorrections)
-            systemPrintf("Enabling Rover RTCM MSM output with rate of %d\r\n", minimumRtcmRate);
+            systemPrintf("Enabling Rover RTCM MSM%c output with rate of %d\r\n",
+                         settings.useMSM7 ? '7' : '4', minimumRtcmRate);
 
         // Enable MSM4/7 (for faster PPP CSRS results), output at a rate equal to the minimum RTCM rate (EPH Mode = 2)
         // PQTMCFGRTCM, W, <MSM_Type>, <MSM_Mode>, <MSM_ElevThd>, <Reserved>, <Reserved>, <EPH_Mode>, <EPH_Interval>
         // Set MSM_ElevThd to 15 degrees from rftop suggestion
 
         char msmCommand[40] = {0};
-        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,%c,0,15,07,06,2,%d",
-                 settings.useMSM7 ? '7' : '4', minimumRtcmRate);
+        snprintf(msmCommand, sizeof(msmCommand), "PQTMCFGRTCM,W,%c,0,%d,07,06,2,%d",
+                 settings.useMSM7 ? '7' : '4', settings.rtcmMinElev, minimumRtcmRate);
 
         // PQTMCFGRTCM fails to respond with OK over UART2 of LG290P, so don't look for it
         _lg290p->sendOkCommand(msmCommand);
@@ -1921,6 +1933,8 @@ void GNSS_LG290P::menuMessages()
 
         if (namedSettingAvailableOnPlatform("useMSM7")) // Redundant - but good practice for code reuse
             systemPrintf("13) MSM Selection: MSM%c\r\n", settings.useMSM7 ? '7' : '4');
+        if (namedSettingAvailableOnPlatform("rtcmMinElev")) // Redundant - but good practice for code reuse
+            systemPrintf("14) Minimum Elevation for RTCM: %d\r\n", settings.rtcmMinElev);
 
         systemPrintln("x) Exit");
 
@@ -1997,6 +2011,17 @@ void GNSS_LG290P::menuMessages()
         }
         else if ((incoming == 13) && (namedSettingAvailableOnPlatform("useMSM7"))) // Redundant - but good practice for code reuse)
             settings.useMSM7 ^= 1;
+        else if ((incoming == 14) && (namedSettingAvailableOnPlatform("rtcmMinElev")))
+        {
+            systemPrintf("Enter minimum elevation for RTCM: ");
+
+            int elevation = getUserInputNumber(); // Returns EXIT, TIMEOUT, or long
+
+            if (elevation >= -90 && elevation <= 90)
+            {
+                settings.rtcmMinElev = elevation;
+            }
+        }
 
         else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
             break;
@@ -2353,7 +2378,7 @@ bool GNSS_LG290P::setHighAccuracyService(bool enableGalileoHas)
 {
     bool result = true;
 
-    // E6 reception requires version v03 with 'PPP_TEMP' in firmware title
+    // E6 reception requires version v03/v06 with 'PPP_TEMP' in firmware title
     // Present is set during LG290P begin()
     if (present.galileoHasCapable == false)
         return (result); // We are unable to set this setting to report success

Firmware/RTK_Everywhere/menuMessages.ino

@@ -232,6 +232,8 @@ void menuMessagesBaseRTCM()
 
         if (namedSettingAvailableOnPlatform("useMSM7"))
             systemPrintf("4) MSM Selection: MSM%c\r\n", settings.useMSM7 ? '7' : '4');
+        if (namedSettingAvailableOnPlatform("rtcmMinElev"))
+            systemPrintf("5) Minimum Elevation for RTCM: %d\r\n", settings.rtcmMinElev);
 
         systemPrintln("x) Exit");
 
@@ -261,6 +263,18 @@ void menuMessagesBaseRTCM()
             settings.useMSM7 ^= 1;
             restartBase = true;
         }
+        else if ((incoming == 5) && (namedSettingAvailableOnPlatform("rtcmMinElev")))
+        {
+            systemPrintf("Enter minimum elevation for RTCM: ");
+
+            int elevation = getUserInputNumber(); // Returns EXIT, TIMEOUT, or long
+
+            if (elevation >= -90 && elevation <= 90)
+            {
+                settings.rtcmMinElev = elevation;
+                restartBase = true;
+            }
+        }
 
         else if (incoming == INPUT_RESPONSE_GETNUMBER_EXIT)
             break;
@@ -872,7 +886,7 @@ void checkGNSSArrayDefaults()
         }
         else if (present.gnss_lg290p)
         {
-            // settings.minCNO = 10;                     // Not yet supported
+            settings.minCNO = 10;                    // Default 10 dBHz
             settings.surveyInStartingAccuracy = 2.0; // Default 2m
             settings.measurementRateMs = 500;        // Default 2Hz.
         }

Firmware/RTK_Everywhere/settings.h

@@ -697,6 +697,7 @@ struct Settings
     //   ZED (it has separate messages for MSM4 vs. MSM7)
     //   UM980 (it has separate messages for MSM4 vs. MSM7)
     bool useMSM7 = false;
+    int rtcmMinElev = -90; // LG290P - minimum elevation for RTCM (PQTMCFGRTCM)
 
     // Battery
     bool enablePrintBatteryMessages = true;
@@ -1023,7 +1024,7 @@ struct Settings
     bool enableImuCompensationDebug = false;
     bool enableImuDebug = false; // Turn on to display IMU library debug messages
     bool enableTiltCompensation = true; // Allow user to disable tilt compensation on the models that have an IMU
-    bool enableGalileoHas = true; // Allow E6 corrections if possible
+    bool enableGalileoHas = true; // Allow E6 corrections if possible. Also needed on LG290P
 #ifdef COMPILE_UM980
     uint8_t um980Constellations[MAX_UM980_CONSTELLATIONS] = {254}; // Mark first record with key so defaults will be applied.
     float um980MessageRatesNMEA[MAX_UM980_NMEA_MSG] = {254}; // Mark first record with key so defaults will be applied.
@@ -1203,6 +1204,7 @@ typedef enum
     ALL = (1 << 5) - 1, // ALL - must be the highest single variant
     ZED = ZF9 | ZX2,    // Hybrids are possible (enums don't have to be consecutive)
     MSM = L29,          // Platforms which require parameter selection of MSM7 over MSM4
+    HAS = L29,          // Platforms which support Galileo HAS
 } Facet_Flex_Variant;
 
 typedef bool (* AFTER_CMD)(int cmdIndex);
@@ -1323,7 +1325,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
 //    n  a  f     t  s  o  B  c  F    h
 //    f  n  f  E     a  r  a  a  l
 //    i  d  i  v  V  i  c  n  r  e    X
-//    g  s  x  k  2  c  h  d  d  x    2  Type       Qual                Variable                  Name
+//    g  s  x  k  2  c  h  d  d  x    2  Type       Qual                Variable                  Name              afterSetCmd
 
     // Antenna
     { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _int16_t,  0, & settings.antennaHeight_mm, "antennaHeight_mm", nullptr, },
@@ -1345,6 +1347,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
     { 1, 1, 0, 1, 1, 1, 1, 1, 1, ALL, 1, _float,    2, & settings.observationPositionAccuracy, "observationPositionAccuracy", nullptr, },
     { 0, 1, 0, 1, 1, 0, 1, 1, 1, ALL, 1, _float,    1, & settings.surveyInStartingAccuracy, "surveyInStartingAccuracy", nullptr, },
     { 0, 1, 0, 0, 0, 0, 0, 0, 1, MSM, 1, _bool,     0, & settings.useMSM7, "useMSM7",  nullptr, },
+    { 0, 1, 0, 0, 0, 0, 0, 0, 1, MSM, 1, _int,      0, & settings.rtcmMinElev, "rtcmMinElev",  nullptr, },
 
     // Battery
     { 0, 0, 0, 0, 1, 1, 1, 1, 1, ALL, 1, _bool,     0, & settings.enablePrintBatteryMessages, "enablePrintBatteryMessages", nullptr, },
@@ -1782,7 +1785,7 @@ const RTK_Settings_Entry rtkSettingsEntries[] =
 //    g  s  x  k  2  c  h  d  d  x    2  Type       Qual                Variable                  Name              afterSetCmd
 
     // UM980 GNSS Receiver - TODO these apply to more than UM980
-    { 1, 1, 0, 0, 0, 0, 1, 0, 1, NON, 1, _bool,     0, & settings.enableGalileoHas, "enableGalileoHas", nullptr, },
+    { 1, 1, 0, 0, 0, 0, 1, 0, 1, HAS, 1, _bool,     0, & settings.enableGalileoHas, "enableGalileoHas", nullptr, },
     { 1, 1, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     3, & settings.enableMultipathMitigation, "enableMultipathMitigation", nullptr, },
     { 0, 0, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     0, & settings.enableImuCompensationDebug, "enableImuCompensationDebug", nullptr, },
     { 0, 0, 0, 0, 0, 0, 1, 0, 0, ALL, 0, _bool,     0, & settings.enableImuDebug, "enableImuDebug", nullptr, },