From e5ca71052a80321590b14090b856f84344759054 Mon Sep 17 00:00:00 2001
From: Jan NIJS <dr.oblivium@gmail.com>
Date: Sat, 17 Dec 2016 00:04:44 +0100
Subject: [PATCH] LP-452 Added Galileo as a GNSS configuration option to the
 GCS. System -> Settings -> GPSSettings -> UbxGNSSMode

The options GPS+Galileo and GPS+GLONASS+Galileo have been added.

Also corrected PRN mask for EGNOS SBAS information. Active PRN: 120 & 136 , 123
Ref: https://egnos-user-support.essp-sas.eu/new_egnos_ops/index.php
---
 flight/modules/GPS/GPS.c                   | 18 ++++++++++++++++++
 flight/modules/GPS/inc/UBX.h               |  5 +++--
 flight/modules/GPS/inc/ubx_autoconfig.h    |  1 +
 flight/modules/GPS/ubx_autoconfig.c        |  7 +++++++
 shared/uavobjectdefinition/gpssettings.xml |  2 +-
 5 files changed, 30 insertions(+), 3 deletions(-)

diff --git a/flight/modules/GPS/GPS.c b/flight/modules/GPS/GPS.c
index 305fb7148..dfc2ac2c6 100644
--- a/flight/modules/GPS/GPS.c
+++ b/flight/modules/GPS/GPS.c
@@ -727,31 +727,49 @@ void updateGpsSettings(__attribute__((unused)) UAVObjEvent *ev)
         newconfig.enableGPS     = true;
         newconfig.enableGLONASS = true;
         newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = false;
         break;
     case GPSSETTINGS_UBXGNSSMODE_GLONASS:
         newconfig.enableGPS     = false;
         newconfig.enableGLONASS = true;
         newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = false;
         break;
     case GPSSETTINGS_UBXGNSSMODE_GPS:
         newconfig.enableGPS     = true;
         newconfig.enableGLONASS = false;
         newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = false;
         break;
     case GPSSETTINGS_UBXGNSSMODE_GPSBEIDOU:
         newconfig.enableGPS     = true;
         newconfig.enableGLONASS = false;
         newconfig.enableBeiDou  = true;
+        newconfig.enableGalileo = false;
         break;
     case GPSSETTINGS_UBXGNSSMODE_GLONASSBEIDOU:
         newconfig.enableGPS     = false;
         newconfig.enableGLONASS = true;
         newconfig.enableBeiDou  = true;
+        newconfig.enableGalileo = false;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GPSGALILEO:
+        newconfig.enableGPS     = true;
+        newconfig.enableGLONASS = false;
+        newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = true;
+        break;
+    case GPSSETTINGS_UBXGNSSMODE_GPSGLONASSGALILEO:
+        newconfig.enableGPS     = true;
+        newconfig.enableGLONASS = true;
+        newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = true;
         break;
     default:
         newconfig.enableGPS     = false;
         newconfig.enableGLONASS = false;
         newconfig.enableBeiDou  = false;
+        newconfig.enableGalileo = false;
         break;
     }
 
diff --git a/flight/modules/GPS/inc/UBX.h b/flight/modules/GPS/inc/UBX.h
index 4615a4a15..f622ea87a 100644
--- a/flight/modules/GPS/inc/UBX.h
+++ b/flight/modules/GPS/inc/UBX.h
@@ -460,8 +460,8 @@ struct UBX_CFG_CFG {
 // ------------------------------------10987654321098765432109876543210
 // WAAS 122, 133, 134, 135, 138---------|---------|---------|---------|
 #define UBX_CFG_SBAS_SCANMODE1_WAAS  0b00000000000001001110000000000100
-// EGNOS 120, 124, 126, 131-------------|---------|---------|---------|
-#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000000000100001010001
+// EGNOS 120, 123, 136------------------|---------|---------|---------|
+#define UBX_CFG_SBAS_SCANMODE1_EGNOS 0b00000000000000010000000000001001
 // MSAS 129, 137------------------------|---------|---------|---------|
 #define UBX_CFG_SBAS_SCANMODE1_MSAS  0b00000000000000100000001000000000
 // GAGAN 127, 128-----------------------|---------|---------|---------|
@@ -485,6 +485,7 @@ struct UBX_CFG_SBAS {
 #define UBX_CFG_GNSS_FLAGS_QZSS_L1CA    0x010000
 #define UBX_CFG_GNSS_FLAGS_QZSS_L1SAIF  0x040000
 #define UBX_CFG_GNSS_FLAGS_GLONASS_L1OF 0x010000
+#define UBX_CFG_GNSS_FLAGS_GALILEO_E1   0x010000
 
 #define UBX_CFG_GNSS_NUMCH_VER7         22
 #define UBX_CFG_GNSS_NUMCH_VER8         32
diff --git a/flight/modules/GPS/inc/ubx_autoconfig.h b/flight/modules/GPS/inc/ubx_autoconfig.h
index 8578f1d6b..44045840c 100644
--- a/flight/modules/GPS/inc/ubx_autoconfig.h
+++ b/flight/modules/GPS/inc/ubx_autoconfig.h
@@ -102,6 +102,7 @@ typedef struct {
     bool    enableGPS;
     bool    enableGLONASS;
     bool    enableBeiDou;
+    bool    enableGalileo;
 } ubx_autoconfig_settings_t;
 
 // Sent messages for configuration support
diff --git a/flight/modules/GPS/ubx_autoconfig.c b/flight/modules/GPS/ubx_autoconfig.c
index 9cfb079d3..e4be2cda8 100644
--- a/flight/modules/GPS/ubx_autoconfig.c
+++ b/flight/modules/GPS/ubx_autoconfig.c
@@ -397,6 +397,13 @@ static void config_gnss(uint16_t *bytes_to_send)
                 status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
             }
             break;
+        case UBX_GNSS_ID_GALILEO:
+            if (status->currentSettings.enableGalileo) {
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].flags    = UBX_CFG_GNSS_FLAGS_ENABLED | UBX_CFG_GNSS_FLAGS_GALILEO_E1;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].maxTrkCh = 10;
+                status->working_packet.message.payload.cfg_gnss.cfgBlocks[i].resTrkCh = 8;
+            }
+            break;
         default:
             break;
         }
diff --git a/shared/uavobjectdefinition/gpssettings.xml b/shared/uavobjectdefinition/gpssettings.xml
index 0e0be02c9..c5b28c3dc 100644
--- a/shared/uavobjectdefinition/gpssettings.xml
+++ b/shared/uavobjectdefinition/gpssettings.xml
@@ -18,7 +18,7 @@
         <field name="UbxSBASChannelsUsed" units="" type="uint8" elements="1" defaultvalue="3"/>
         <field name="UbxSBASSats" units="" type="enum" elements="1" options="AutoScan,WAAS,EGNOS,MSAS,GAGAN,SDCM" defaultvalue="AutoScan" />
         <!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and concurrent GNSS only to generation 8 -->
-        <field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou" defaultvalue="Default" />
+        <field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou,GPS+GALILEO,GPS+GLONASS+GALILEO" defaultvalue="Default" />
         <field name="UbxAssistNowAutonomous" units="" type="enum" elements="1" options="False,True" defaultvalue="True"
                description="Enable or disable the AssistNow Autonomous feature"/> 
         <access gcs="readwrite" flight="readwrite"/>