Lg290p support - #557
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lg290p_tool.py mirrors unicore_tool.py/sept_tool.py's CLI shape (detect, get_model/firmware, reset, save, send_config_file) so it can be wired into install.sh's detect_gnss()/configure_gnss() with minimal changes. Detection is content-based (queries PQTMVERNO) rather than USB VID:PID, since the CH343 USB-serial bridge used on LG290P breakout boards has no vendor- identifying string and the same VID:PID appears on unrelated hardware. receiver_cfg/LG290P_rtkbase_rtcm3.cfg configures base-station mode, MSM7 RTCM3 observations, ephemeris, and station position (RTCM 1005). Verified end-to-end against real hardware, including a working RTK Fixed/Float solution on a separate physical rover. The config's comments document several LG290P firmware quirks found and worked around during testing: a save/reset ordering bug affecting PQTMCFGRTCM/PQTMCFGMSGRATE writes made in the same cycle as a receiver-mode change, a first-ephemeris-broadcast delay tied to PQTMCFGRTCM's EPH_Interval, and unreliable internal survey-in convergence (falls back to fixed-position mode). tools/rtcm_sniff.py is a small standalone CRC-24Q-validated RTCM3 message counter, used throughout testing to verify receiver and caster output independent of any specific consumer.
detect_gnss(): probes for an LG290P via lg290p_tool.py --detect as a last resort, after the existing u-blox/Septentrio USB matching and the F9P/ Unicore UART loop, so it never delays or writes unsolicited commands to other receivers already handled by the existing detection paths. configure_gnss(): new branch matching get_model == 'LG290P', following the same shape as the Unicore branch - factory reset, push receiver_cfg/LG290P_rtkbase_rtcm3.cfg, then record receiver/format/port/ min_free_space in settings.conf. No udev rule was added for /dev/ttyGNSS: the USB-serial bridge's VID:PID is shared with unrelated hardware, so detection is deliberately content-based instead (see lg290p_tool.py). No changes needed in web_app/ - receiver_format 'rtcm3' and the receiver/ model fields are already handled generically there.
Found while getting LG290P time sync working, but applies generally: gpsd can't get a time fix from a raw rtcm3/sbf/etc stream (only NMEA), and raw2nmea.sh already has the logic to skip itself for ubx receivers (which gpsd can read directly) - it just never had an automatic enable path for anyone. This wires it into start_services() the same way modem_check.timer and rtkbase_gnss_web_proxy.service are already conditionally enabled there, so Unicore benefits too, not just LG290P. No dedicated web UI toggle exists for this service (unlike the local NTRIP caster and file-logging services, which already have one), so this was previously a manual systemctl step for every non-ubx receiver.
Operationalizes the fixed-position fallback the base config already
documents as a manual option: converts a real position to WGS84 ECEF
and pushes it to the receiver as PQTMCFGSVIN fixed mode, then saves and
resets (a plain save alone doesn't apply a PQTMCFGSVIN change - see the
cfg file's own notes on this).
Two ways to get the position:
- Live-averaged from rtkbase_raw2nmea's NMEA output over a configurable
duration (default case - no external dependency needed).
- Supplied directly via --llh or --ecef, for feeding in a result from a
post-processing service (AUSPOS, OPUS, etc.) once enough raw data has
been logged for a precise fix - skips live averaging entirely.
Verified end-to-end against real hardware: both input paths produce
matching ECEF output, and the receiver's own PQTMCFGSVIN,R readback
confirms the position is correctly applied after each run.
Note: this only fixes what the RECEIVER broadcasts (RTCM 1005).
RTKBase's "Base coordinates" setting is a separate value fed to
str2str's -p flag, which does not reliably produce a working 1005 for
this receiver in its relay/filter configuration - see the base config's
own notes on this. Making the web UI push a receiver's fixed position
automatically on save is worth doing, but needs a receiver-agnostic
design (every vendor has its own fixed-mode command) - out of scope
here, left as a follow-up.
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##Setup for testing LG290P base station — setup runbookFor a fresh Pi + fresh RTKBase install + factory-reset LG290P. Everything up through step 3 1. Install RTKBase
cd ~
git clone https://github.com/S7ud/rtkbase.git
grep -q '^rtkbase_path=' /etc/environment || echo 'rtkbase_path=/home/<user>/rtkbase' | sudo tee -a /etc/environment
sudo env rtkbase_path=/home/<user>/rtkbase rtkbase/tools/install.sh -d -r -q -t -g( 2. Detect and configure the receiverConnect the LG290P over USB, gpsd/str2str_tcp not yet running (they aren't at this point). cd ~/rtkbase
sudo env rtkbase_path=~/rtkbase tools/install.sh --detect-gnss --configure-gnssThis factory-resets the receiver and pushes 3. Start servicessudo tools/install.sh -sStarts Open the web UI ( 4. Manual steps — do these every time, they don't survive a fresh installa. Enable the outputs you want, via their toggle switches in Settings (not b. Clean up the caster's message list. The default c. Set the receiver's actual base position. Survey-in (the default) is unreliable on this # quick start - averages ~5 min of live single-point fixes from raw2nmea
./tools/lg290p_set_fixed_position.py --port /dev/ttyACM0
# once you have a precise position from a post-processing service (AUSPOS/OPUS/etc),
# after logging raw data for a while - replaces the quick-start value
./tools/lg290p_set_fixed_position.py --port /dev/ttyACM0 --ecef <X> <Y> <Z>Verify it landed: d. Optionally, copy the same position into "Base coordinates" in Settings too — cosmetic |
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added support for LG290P receiver
tested with Waveshare module firmware version LG290P03AANR01A06S