Merging Add_BaseAssist into pcUpdates_ntripServer_CasterEnabled

Firmware/Dockerfile

@@ -81,7 +81,7 @@ RUN arduino-cli lib install "SparkFun BQ40Z50 Battery Manager Arduino Library"@1
 RUN arduino-cli lib install "ArduinoMqttClient"@0.1.8
 RUN arduino-cli lib install "SparkFun u-blox PointPerfect Library"@1.11.4
 RUN arduino-cli lib install "SparkFun IM19 IMU Arduino Library"@1.0.1
-RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.9
+RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.10
 RUN arduino-cli lib install "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
 RUN arduino-cli lib install "SparkFun I2C Expander Arduino Library"@1.0.1
 RUN arduino-cli lib install "SparkFun Apple Accessory Arduino Library"@3.0.9

Firmware/RTK_Everywhere/Display.ino

@@ -346,6 +346,7 @@ void displayUpdate()
                 break;
 
             case (STATE_BASE_CASTER_NOT_STARTED):
+            case (STATE_BASE_ASSIST_NOT_STARTED):
             case (STATE_BASE_NOT_STARTED):
             case (STATE_BASE_CONFIG_WAIT):
                 displayBaseStart(0); // Show 'Base' while the system configures the Base
@@ -1281,6 +1282,7 @@ void setModeIcon(std::vector<iconPropertyBlinking> *iconList)
         break;
 
     case (STATE_BASE_CASTER_NOT_STARTED):
+    case (STATE_BASE_ASSIST_NOT_STARTED):
     case (STATE_BASE_NOT_STARTED):
     case (STATE_BASE_CONFIG_WAIT):
         // Do nothing. Static display shown during state change.

Firmware/RTK_Everywhere/GNSS.h

@@ -21,7 +21,8 @@ typedef enum
 class GNSS
 {
   protected:
-    float _altitude;           // Altitude in meters
+    double _altitude;           // Altitude in meters
+    double _geoidalSeparation; // Geoidal separation in meters
     float _horizontalAccuracy; // Horizontal position accuracy in meters
     double _latitude;          // Latitude in degrees
     double _longitude;         // Longitude in degrees
@@ -166,6 +167,9 @@ class GNSS
     // Returns the fix type or zero if not online
     virtual uint8_t getFixType();
 
+    // Returns the geoidal separation
+    virtual double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     virtual uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.h

@@ -230,6 +230,9 @@ class GNSS_LG290P : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -593,7 +593,10 @@ uint8_t GNSS_LG290P::getActiveRtcmMessageCount()
 double GNSS_LG290P::getAltitude()
 {
     if (online.gnss)
-        return (_lg290p->getAltitude());
+        // See issue #809
+        // getAltitude returns the Altitude above mean sea level (meters)
+        // For Height above Ellipsoid, we need to add the the geoidalSeparation
+        return (_lg290p->getAltitude() + _lg290p->getGeoidalSeparation());
     return (0);
 }
 
@@ -829,6 +832,16 @@ uint8_t GNSS_LG290P::getFixType()
     return 0;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_LG290P::getGeoidalSeparation()
+{
+    if (online.gnss)
+        return (_lg290p->getGeoidalSeparation());
+    return (0);
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline

Firmware/RTK_Everywhere/GNSS_Mosaic.h

@@ -699,6 +699,9 @@ class GNSS_MOSAIC : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -855,6 +855,8 @@ uint8_t GNSS_MOSAIC::getActiveMessageCount()
 //----------------------------------------
 double GNSS_MOSAIC::getAltitude()
 {
+    // _altitude contains the Ellipsoidal height (meters) from SBF Block 4007
+    // We don't need to adjust for the Geoidal Separation (Undulation)
     return _altitude;
 }
 
@@ -952,6 +954,14 @@ uint8_t GNSS_MOSAIC::getFixType()
     return _fixType;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_MOSAIC::getGeoidalSeparation()
+{
+    return _geoidalSeparation;
+}
+
 //----------------------------------------
 // Returns the hours of 24 hour clock or zero if not online
 //----------------------------------------
@@ -2527,7 +2537,8 @@ void GNSS_MOSAIC::storeBlock4007(SEMP_PARSE_STATE *parse)
 {
     _latitude = sempSbfGetF8(parse, 16) * 180.0 / PI; // Convert from radians to degrees
     _longitude = sempSbfGetF8(parse, 24) * 180.0 / PI;
-    _altitude = (float)sempSbfGetF8(parse, 32);
+    _altitude = sempSbfGetF8(parse, 32); // Ellipsoidal height
+    _geoidalSeparation = (double)sempSbfGetF4(parse, 40); // Geoid undulation
     _horizontalAccuracy = ((float)sempSbfGetU2(parse, 90)) / 100.0; // Convert from cm to m
 
     // NrSV is the total number of satellites used in the PVT computation.

Firmware/RTK_Everywhere/GNSS_None.h

@@ -234,6 +234,14 @@ class GNSS_None : public GNSS
         return _fixType;
     }
 
+    // Get the geoidal separation
+    // Outputs:
+    //   Returns the geoidal separation in meters or zero if the GNSS is offline
+    double getGeoidalSeparation()
+    {
+        return _geoidalSeparation;
+    }
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour()
     {

Firmware/RTK_Everywhere/GNSS_UM980.h

@@ -241,6 +241,9 @@ class GNSS_UM980 : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_UM980.ino

@@ -510,7 +510,10 @@ uint8_t GNSS_UM980::getActiveRtcmMessageCount()
 double GNSS_UM980::getAltitude()
 {
     if (online.gnss)
-        return (_um980->getAltitude());
+        // See issue #809
+        // getAltitude returns the Height above mean sea level (meters) from BESTNAVB
+        // For Height above Ellipsoid, we need to add the the geoidalSeparation
+        return (_um980->getAltitude() + _um980->getGeoidalSeparation());
     return (0);
 }
 
@@ -586,6 +589,16 @@ uint8_t GNSS_UM980::getFixType()
     return 0;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_UM980::getGeoidalSeparation()
+{
+    if (online.gnss)
+        return (_um980->getGeoidalSeparation());
+    return (0);
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline

Firmware/RTK_Everywhere/GNSS_ZED.h

@@ -491,6 +491,9 @@ class GNSS_ZED : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -892,6 +892,8 @@ uint8_t GNSS_ZED::getActiveRtcmMessageCount()
 //----------------------------------------
 double GNSS_ZED::getAltitude()
 {
+    // _altitude contains the Height above ellipsoid from NAV-PVT height
+    // We don't need to adjust for the Geoidal Separation (Undulation)
     return _altitude;
 }
 
@@ -936,6 +938,14 @@ uint8_t GNSS_ZED::getFixType()
     return (_fixType);
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_ZED::getGeoidalSeparation()
+{
+    return _geoidalSeparation;
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline
@@ -2542,7 +2552,8 @@ void storePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 //----------------------------------------
 void GNSS_ZED::storePVTdataRadio(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
-    _altitude = ubxDataStruct->height / 1000.0;
+    _altitude = (double)ubxDataStruct->height / 1000.0; // Height above ellipsoid in mm
+    _geoidalSeparation = (double)(ubxDataStruct->height - ubxDataStruct->hMSL) / 1000.0;
 
     _day = ubxDataStruct->day;
     _month = ubxDataStruct->month;

Firmware/RTK_Everywhere/Network.ino

@@ -599,6 +599,20 @@ bool networkConsumerIsConnected(NETCONSUMER_t consumer)
     // Validate the consumer
     networkConsumerValidate(consumer);
 
+    // if (consumer == NETCONSUMER_NTRIP_SERVER_1)
+    // {
+    //     index = networkIndexTable[networkPriority];
+    //     systemPrintf("NETCONSUMER_NTRIP_SERVER_1: %ld %d %d %d %d\r\n",
+    //         networkHasInternet_bm,
+    //         networkConsumerPriority[consumer],
+    //         networkPriority,
+    //         index,
+    //         networkInterfaceHasInternet(index)
+    //         );
+    // }
+
+    // NETCONSUMER_NTRIP_SERVER_1: 2 3 3 3 0
+
     // If the client is using the highest priority network and that
     // network is still available then continue as normal
     if (networkHasInternet_bm && (networkConsumerPriority[consumer] == networkPriority))
@@ -826,7 +840,7 @@ void networkDisplayMode()
 
     if (rtkMode == 0)
     {
-        systemPrintf("rtkMode: 0 (Not specified)\r\n");
+        systemPrintf("rtkMode: 0 (Not Specified or Base Undecided)\r\n");
         return;
     }
 
@@ -2455,11 +2469,14 @@ void networkUpdate()
         }
     }
 
-    // Update the WiFi state
-    wifiStationUpdate();
-
-    // Update Ethernet
-    ethernetUpdate();
+    // Walk the list of network priorities in descending order
+    for (priority = 0; priority < NETWORK_OFFLINE; priority++)
+    {
+        // Update the networks in order of priority
+        index = networkIndexTable[priority];
+        if (networkInterfaceTable[index].updateMethod)
+            networkInterfaceTable[index].updateMethod();
+    }
 
     // Update the network services
     // Start or stop mDNS

Firmware/RTK_Everywhere/RTK_Everywhere.ino

@@ -430,7 +430,7 @@ bool savePossibleSettings = true; // Save possible vs. available settings. See r
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
 #ifdef COMPILE_WIFI
 int packetRSSI;
-RTK_WIFI wifi(false);
+RTK_WIFI wifi(false); // wifi(false); is non-verbose. For verbose, change to wifi(true); 
 #endif // COMPILE_WIFI
 
 // WiFi Globals - For other module direct access