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Add GPS hardware version to MSP and optimize defaults for M8/M9/M10 #11262

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Add GPS hardware version to MSP and optimize defaults for M8/M9/M10 #11262

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5343a7f
Extend MSP_GPSSTATISTICS to include GPS hardware version
sensei-hacker Jan 20, 2026
dda5ffd
Update GPS defaults for better accuracy across M8/M9/M10
sensei-hacker Jan 20, 2026
ebd3769
Explicitly initialize gpsState.hwVersion to 0 in gpsInit()
sensei-hacker Jan 20, 2026
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8 changes: 4 additions & 4 deletions docs/Settings.md
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Expand Up @@ -1734,11 +1734,11 @@ Which SBAS mode to be used

### gps_ublox_nav_hz

Navigation update rate for UBLOX receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer.
Navigation update rate for UBLOX receivers. M9 modules limit satellite tracking to 16 satellites at 10Hz or higher, but use 32 satellites below 10Hz for better accuracy. M10 modules work well at 8Hz with 3 constellations. Some M10 devices with high-performance clock can do up to 25Hz with 4 constellations. 8Hz is a safe, accurate default for M8/M9/M10.

| Default | Min | Max |
| --- | --- | --- |
| 10 | 5 | 200 |
| 8 | 5 | 200 |

---

Expand All @@ -1748,7 +1748,7 @@ Enable use of Beidou satellites. This is at the expense of other regional conste

| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
| ON | OFF | ON |

---

Expand All @@ -1758,7 +1758,7 @@ Enable use of Galileo satellites. This is at the expense of other regional const

| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |
| ON | OFF | ON |

---

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6 changes: 6 additions & 0 deletions docs/development/msp/msp_messages.json
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Expand Up @@ -4896,6 +4896,12 @@
"ctype": "uint16_t",
"desc": "Estimated Vertical Position Accuracy (`gpsSol.epv`)",
"units": "cm"
},
{
"name": "hwVersion",
"ctype": "uint32_t",
"desc": "GPS hardware version (`gpsState.hwVersion`). Values: 500=UBLOX5, 600=UBLOX6, 700=UBLOX7, 800=UBLOX8, 900=UBLOX9, 1000=UBLOX10, 0=UNKNOWN",
"units": "Version code"
}
]
},
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1 change: 1 addition & 0 deletions src/main/fc/fc_msp.c
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Expand Up @@ -1009,6 +1009,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, gpsSol.hdop);
sbufWriteU16(dst, gpsSol.eph);
sbufWriteU16(dst, gpsSol.epv);
sbufWriteU32(dst, gpsState.hwVersion);
Comment on lines 1009 to +1012
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@qodo-code-review qodo-code-review bot Jan 20, 2026

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Suggestion: Gate the new hwVersion field behind an explicit buffer/feature check (or protocol/version check) so legacy/size-assuming consumers don't break and serialization can't overrun a constrained buffer. [Learned best practice, importance: 6]

Suggested change
sbufWriteU16(dst, gpsSol.hdop);
sbufWriteU16(dst, gpsSol.eph);
sbufWriteU16(dst, gpsSol.epv);
sbufWriteU32(dst, gpsState.hwVersion);
sbufWriteU16(dst, gpsSol.hdop);
sbufWriteU16(dst, gpsSol.eph);
sbufWriteU16(dst, gpsSol.epv);
if (sbufBytesRemaining(dst) >= 4) {
sbufWriteU32(dst, gpsState.hwVersion);
}

break;
#endif
case MSP2_ADSB_VEHICLE_LIST:
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8 changes: 4 additions & 4 deletions src/main/fc/settings.yaml
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Expand Up @@ -1757,12 +1757,12 @@ groups:
type: uint8_t
- name: gps_ublox_use_galileo
description: "Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]."
default_value: OFF
default_value: ON
field: ubloxUseGalileo
type: bool
- name: gps_ublox_use_beidou
description: "Enable use of Beidou satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires gps hardware support [OFF/ON]."
default_value: OFF
default_value: ON
field: ubloxUseBeidou
type: bool
- name: gps_ublox_use_glonass
Expand All @@ -1777,8 +1777,8 @@ groups:
min: 5
max: 10
- name: gps_ublox_nav_hz
description: "Navigation update rate for UBLOX receivers. Some receivers may limit the maximum number of satellites tracked when set to a higher rate or even stop sending navigation updates if the value is too high. Some M10 devices can do up to 25Hz. 10 is a safe value for M8 and newer."
default_value: 10
description: "Navigation update rate for UBLOX receivers. M9 modules limit satellite tracking to 16 satellites at 10Hz or higher, but use 32 satellites below 10Hz for better accuracy. M10 modules work well at 8Hz with 3 constellations. Some M10 devices with high-performance clock can do up to 25Hz with 4 constellations. 8Hz is a safe, accurate default for M8/M9/M10."
default_value: 8
field: ubloxNavHz
type: uint8_t
min: 5
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3 changes: 3 additions & 0 deletions src/main/io/gps.c
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Expand Up @@ -451,6 +451,9 @@ void gpsInit(void)
gpsStats.errors = 0;
gpsStats.timeouts = 0;

// Initialize hardware version to unknown (for MSP_GPSSTATISTICS)
gpsState.hwVersion = 0;

// Reset solution, timeout and prepare to start
gpsResetSolution(&gpsSolDRV);
gpsResetSolution(&gpsSol);
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