Expose u-blox min elevation and min SNR parameters RTK Fix Improvements

src/drivers/gps/gps.cpp

@@ -736,6 +736,20 @@ GPS::run()
 		param_get(handle, &gps_ubx_dynmodel);
 	}
 
+	int32_t gps_ubx_min_cno = 0;
+	handle = param_find("GPS_UBX_MIN_CNO");
+
+	if (handle != PARAM_INVALID) {
+		param_get(handle, &gps_ubx_min_cno);
+	}
+
+	int32_t gps_ubx_min_elev = 0;
+	handle = param_find("GPS_UBX_MIN_ELEV");
+
+	if (handle != PARAM_INVALID) {
+		param_get(handle, &gps_ubx_min_elev);
+	}
+
 	handle = param_find("GPS_UBX_MODE");
 
 	GPSDriverUBX::UBXMode ubx_mode{GPSDriverUBX::UBXMode::Normal};
@@ -877,7 +891,7 @@ GPS::run()
 		/* FALLTHROUGH */
 		case gps_driver_mode_t::UBX:
 			_helper = new GPSDriverUBX(_interface, &GPS::callback, this, &_sensor_gps, _p_report_sat_info,
-						   gps_ubx_dynmodel, heading_offset, f9p_uart2_baudrate, ubx_mode);
+						   gps_ubx_dynmodel, heading_offset, f9p_uart2_baudrate, ubx_mode, gps_ubx_min_cno, gps_ubx_min_elev);
 			set_device_type(DRV_GPS_DEVTYPE_UBX);
 			break;
 #ifndef CONSTRAINED_FLASH

src/drivers/gps/params.c

@@ -69,6 +69,36 @@ PARAM_DEFINE_INT32(GPS_DUMP_COMM, 0);
  */
 PARAM_DEFINE_INT32(GPS_UBX_DYNMODEL, 7);
 
+/**
+ * u-blox GPS minimum satellite signal level for navigation
+ *
+ * When set to 0 (default), default minimum satellite signal level set by u-blox will be used.
+ *
+ * @min 0
+ * @max 255
+ * @unit dBHz
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_MIN_CNO, 0);
+
+/**
+ * u-blox GPS minimum elevation for a GNSS satellite to be used in navigation
+ *
+ * When set to 0 (default), default minimum elevation set by u-blox will be used.
+ *
+ * @min 0
+ * @max 127
+ * @unit deg
+ *
+ * @reboot_required true
+ *
+ * @group GPS
+ */
+PARAM_DEFINE_INT32(GPS_UBX_MIN_ELEV, 0);
+
 /**
  * Enable sat info (if available)
  *

src/lib/parameters/px4params/srcparser.py

@@ -363,7 +363,7 @@ def Validate(self):
                                 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
                                 'N/(m/s)', 'Nm/rad', 'Nm/(rad/s)', 'Nm', 'N',
                                 'rpm',
-                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD',''])
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD', 'dBHz', ''])
         for group in self.GetParamGroups():
             for param in group.GetParams():
                 name  = param.GetName()

validation/module_schema.yaml

@@ -155,7 +155,7 @@ parameters:
                                 'm/s^3/sqrt(Hz)', 'm/s/sqrt(Hz)', 's/(1000*PWM)', '%m/s', 'min', 'us/C',
                                 'N/(m/s)', 'Nm/(rad/s)', 'Nm', 'N',
                                 'rpm',
-                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD']
+                                'normalized_thrust/s', 'normalized_thrust', 'norm', 'SD', 'dBHz']
                         bit:
                             # description of all bits for type bitmask.
                             # The first bit is 0.