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feat(gps): add support for UBX_MSG_MON_SPAN - #28173

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feat(gps): add support for UBX_MSG_MON_SPAN#28173
ThomasRigi wants to merge 5 commits into
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pr-ubx-mon-span

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@ThomasRigi

@ThomasRigi ThomasRigi commented Aug 6, 2026

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Solved Problem

Replaces #20474

UBX_MSG_MON_SPAN has a lot of valuable information for debugging degraded GNSS reception.

Solution

Following the example of @dagar in #20474, but extending it for multi-block logging so that the data is

Changelog Entry

For release notes:

New parameter: GPS_UBX_SPECTRUM

Test coverage

tbc

Context

Not advisable to run on low baudrate. The messages are big.

@github-actions github-actions Bot added kind:feature Request or change that adds new functionality. scope:drivers Device drivers and hardware interfaces. scope:sensors Sensor pipeline, calibration, voting, or sensor validation. scope:uorb uORB messages, generated interfaces, or message translation. scope:logging ULog, logger, replay, events, or diagnostics. labels Aug 6, 2026
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github-actions Bot commented Aug 6, 2026 •
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🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 1200 byte (0.06 %)] 
    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.1% +1.16Ki  +0.1% +1.16Ki    .text
    +7.6%    +220  +7.6%    +220    GPSDriverUBX::payloadRxDone()
    +0.1%    +156  +0.1%    +156    [section .text]
    +2.9%    +108  +2.9%    +108    GPSDriverUBX::configureDevice()
    +0.5%    +108  +0.5%    +108    uORB::compressed_fields
   -98.4%     +90 -98.4%     +90    [29 Others]
    +0.0%     +72  +0.0%     +72    g_cromfs_image
    +2.0%     +72  +2.0%     +72    px4::logger::LoggedTopics::add_default_topics()
    [NEW]     +60  [NEW]     +60    GPS::publishSpectrumBlock0()
    [NEW]     +60  [NEW]     +60    GPS::publishSpectrumBlock1()
    +2.4%     +44  +2.4%     +44    GPS::run()
    +6.2%     +44  +6.2%     +44    GPSDriverUBX::payloadRxInit()
    +4.7%     +32  +4.7%     +32    GPS::GPS()
    [NEW]     +20  [NEW]     +20    GPS::publishSpectrum()
    +8.2%     +16  +8.2%     +16    GPS::callback()
    +6.0%     +16  +6.0%     +16    GPS::~GPS()
    [NEW]     +16  [NEW]     +16    __orb_sensor_gnss_spectrum_block0
    [NEW]     +16  [NEW]     +16    __orb_sensor_gnss_spectrum_block1
    +4.3%     +10  +4.3%     +10    GPSDriverUBX::cfgValset<>()
    +4.9%      +8  +4.9%      +8    GPSDriverUBX::GPSDriverUBX()
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    [NEW]     +46  [ = ]       0    GPS::_is_spectrum_block0_main_advertised
    [NEW]     +46  [ = ]       0    GPS::_is_spectrum_block1_main_advertised
    [NEW]     +51  [ = ]       0    GPS::publishSpectrum()
    [NEW]     +57  [ = ]       0    GPS::publishSpectrumBlock0()
    [NEW]     +57  [ = ]       0    GPS::publishSpectrumBlock1()
    +0.1%     +25  [ = ]       0    [section .strtab]
   -26.7%     -16  [ = ]       0    ___ZL19param_get_cplusplustPf.isra.0_veneer
    [NEW]     +34  [ = ]       0    __orb_sensor_gnss_spectrum_block0
    [NEW]     +34  [ = ]       0    __orb_sensor_gnss_spectrum_block1
     +67%     +16  [ = ]       0    __uart_connected_veneer
  +0.0%    +272  [ = ]       0    .symtab
   -33.3%     -16  [ = ]       0    ConstLayer::contains()
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    [NEW]     +32  [ = ]       0    GPS::_is_spectrum_block0_main_advertised
    [NEW]     +32  [ = ]       0    GPS::_is_spectrum_block1_main_advertised
     +50%     +16  [ = ]       0    GPS::publishRTCMCorrections()
   -50.0%     -16  [ = ]       0    GPS::publishRelativePosition()
    [NEW]     +32  [ = ]       0    GPS::publishSpectrum()
    [NEW]     +48  [ = ]       0    GPS::publishSpectrumBlock0()
    [NEW]     +48  [ = ]       0    GPS::publishSpectrumBlock1()
    +5.9%     +16  [ = ]       0    GPSDriverUBX::cfgValset<>()
   -50.0%     -16  [ = ]       0    GPSDriverUBX::cfgValsetPort()
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   -25.0%     -32  [ = ]       0    RcvTopicsPubs::init()
   -93.8%     +48  [ = ]       0    [12 Others]
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   -11.8%     -32  [ = ]       0    ___ZL19param_get_cplusplustPf.isra.0_veneer
   -25.0%     -16  [ = ]       0    ___ZNK3px46atomicIbE4loadEv_veneer
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 -10.4% -1.17Ki  [ = ]       0    [Unmapped]
  +0.1% +34.3Ki  +0.1% +1.17Ki    TOTAL
px4_fmu-v6x [Total VM Diff: 1152 byte (0.06 %)] 
    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.1% +1.12Ki  +0.1% +1.12Ki    .text
    +7.6%    +220  +7.6%    +220    GPSDriverUBX::payloadRxDone()
    +0.1%    +180  +0.1%    +180    [section .text]
    +2.9%    +108  +2.9%    +108    GPSDriverUBX::configureDevice()
    +0.5%    +108  +0.5%    +108    uORB::compressed_fields
    +0.0%     +80  +0.0%     +80    g_cromfs_image
    +2.0%     +72  +2.0%     +72    px4::logger::LoggedTopics::add_default_topics()
    [NEW]     +60  [NEW]     +60    GPS::publishSpectrumBlock0()
    [NEW]     +60  [NEW]     +60    GPS::publishSpectrumBlock1()
    +2.4%     +44  +2.4%     +44    GPS::run()
    +6.2%     +44  +6.2%     +44    GPSDriverUBX::payloadRxInit()
    +4.7%     +32  +4.7%     +32    GPS::GPS()
   -99.5%     +26 -99.5%     +26    [13 Others]
    [NEW]     +20  [NEW]     +20    GPS::publishSpectrum()
    +8.2%     +16  +8.2%     +16    GPS::callback()
    +6.0%     +16  +6.0%     +16    GPS::~GPS()
    [NEW]     +16  [NEW]     +16    __orb_sensor_gnss_spectrum_block0
    [NEW]     +16  [NEW]     +16    __orb_sensor_gnss_spectrum_block1
    +4.3%     +10  +4.3%     +10    GPSDriverUBX::cfgValset<>()
    +4.9%      +8  +4.9%      +8    GPSDriverUBX::GPSDriverUBX()
    +0.1%      +8  +0.1%      +8    px4::parameters
    +0.6%      +8  +0.6%      +8    uorb_topics_list
  +0.1% +1.24Ki  [ = ]       0    .debug_abbrev
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  +0.0%    +124  [ = ]       0    .debug_frame
  +0.1% +27.4Ki  [ = ]       0    .debug_info
  +0.1% +2.30Ki  [ = ]       0    .debug_line
    +400%      +4  [ = ]       0    [Unmapped]
    +0.1% +2.30Ki  [ = ]       0    [section .debug_line]
  +0.0%    +661  [ = ]       0    .debug_loclists
  +0.0%    +183  [ = ]       0    .debug_rnglists
    +200%      +2  [ = ]       0    [Unmapped]
    +0.0%    +181  [ = ]       0    [section .debug_rnglists]
  +0.0% +1.38Ki  [ = ]       0    .debug_str
  -0.8%      -2  [ = ]       0    .shstrtab
  +0.1%    +350  [ = ]       0    .strtab
    [NEW]     +46  [ = ]       0    GPS::_is_spectrum_block0_main_advertised
    [NEW]     +46  [ = ]       0    GPS::_is_spectrum_block1_main_advertised
    [NEW]     +51  [ = ]       0    GPS::publishSpectrum()
    [NEW]     +57  [ = ]       0    GPS::publishSpectrumBlock0()
    [NEW]     +57  [ = ]       0    GPS::publishSpectrumBlock1()
    +0.1%     +25  [ = ]       0    [section .strtab]
    [NEW]     +34  [ = ]       0    __orb_sensor_gnss_spectrum_block0
    [NEW]     +34  [ = ]       0    __orb_sensor_gnss_spectrum_block1
  +0.0%    +272  [ = ]       0    .symtab
    [NEW]     +32  [ = ]       0    GPS::_is_spectrum_block0_main_advertised
    [NEW]     +32  [ = ]       0    GPS::_is_spectrum_block1_main_advertised
     +50%     +16  [ = ]       0    GPS::publishRTCMCorrections()
   -50.0%     -16  [ = ]       0    GPS::publishRelativePosition()
    [NEW]     +32  [ = ]       0    GPS::publishSpectrum()
    [NEW]     +48  [ = ]       0    GPS::publishSpectrumBlock0()
    [NEW]     +48  [ = ]       0    GPS::publishSpectrumBlock1()
    +5.9%     +16  [ = ]       0    GPSDriverUBX::cfgValset<>()
   -50.0%     -16  [ = ]       0    GPSDriverUBX::cfgValsetPort()
     +50%     +16  [ = ]       0    GPSDriverUBX::initCfgValset()
   -50.0%     -16  [ = ]       0    GPSDriverUBX::payloadRxAdd()
     +14%     +16  [ = ]       0    GPSDriverUBX::payloadRxDone()
   -25.0%     -32  [ = ]       0    RcvTopicsPubs::init()
    +0.5%     +64  [ = ]       0    [section .symtab]
    [NEW]     +48  [ = ]       0    __orb_sensor_gnss_spectrum_block0
    [NEW]     +32  [ = ]       0    __orb_sensor_gnss_spectrum_block1
     +25%     +16  [ = ]       0    do_not_explicitly_use_this_namespace::Param<>::Param()
   -50.0%     -32  [ = ]       0    fmodf
    -7.1%     -16  [ = ]       0    px4::atomic<>::load()
    -2.0%     -16  [ = ]       0    uavcan::TimerEventForwarder<>::~TimerEventForwarder()
 -14.7% -1.12Ki  [ = ]       0    [Unmapped]
  +0.1% +34.0Ki  +0.1% +1.12Ki    TOTAL

Updated: 2026-08-06T15:22:02

ThomasRigi
ThomasRigi commented Aug 6, 2026
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Comment thread msg/SensorGnssSpectrum.msg Outdated
@ThomasRigi
ThomasRigi requested review from dagar and dakejahl August 6, 2026 15:53
This was referenced Aug 6, 2026
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dakejahl
dakejahl reviewed Aug 6, 2026
View reviewed changes
Comment thread msg/SensorGnssSpectrum.msg Outdated
Comment thread msg/SensorGnssSpectrum.msg Outdated
Comment thread src/modules/logger/logged_topics.cpp
add_optional_topic_multi("sensor_temp", 100, 4);
add_optional_topic_multi("rpm", 200);
add_optional_topic_multi("sensor_gnss_spectrum_block0", 5000, 2);
add_optional_topic_multi("sensor_gnss_spectrum_block1", 5000, 2);

@dakejahl dakejahl Aug 6, 2026

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optional topics are finicky, they won't get added to the log if the topic hasn't been advertised by the time the logger runs

Comment thread src/drivers/gps/params.yaml Outdated
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kind:feature Request or change that adds new functionality. scope:drivers Device drivers and hardware interfaces. scope:logging ULog, logger, replay, events, or diagnostics. scope:sensors Sensor pipeline, calibration, voting, or sensor validation. scope:uorb uORB messages, generated interfaces, or message translation.

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@ThomasRigi @dakejahl