Add GPS preset UI with auto-detection and M9 Precision/Sport modes #2526

sensei-hacker · 2026-01-20T22:52:46Z

User description

Summary

Adds GPS configuration preset system with auto-detection of GPS module type (M8/M9/M10) and optimized presets for each module. Includes educational two-preset approach for M9 modules to help users understand the accuracy vs latency trade-off.

Screenshot:

Changes

New Features

GPS presets including auto-detection and manual settings
Auto-detection uses hwVersion from MSP_GPSSTATISTICS (firmware PR #11262)
M9 Precision Mode (5Hz, 32 sats, HDOP ~1.0-1.3) - default for M9
M9 Sport Mode (10Hz, 16 sats, HDOP ~2.0-2.5) - for racing/sport
Preset info boxes display configuration details and use cases

Files Modified

tabs/gps.js: Added GPS_PRESETS, detectGPSPreset(), applyGPSPreset() functions
tabs/gps.html: Added preset dropdown with 7 options
js/msp/MSPHelper.js: Parse hwVersion from MSP_GPSSTATISTICS (backward compatible)

Preset Configurations

Preset	Rate	Constellations	Use Case
M8	8Hz	GPS+Galileo+Beidou+Glonass	Navigation, position hold
M9 Precision	5Hz	GPS+Galileo+Beidou	Long-range cruise, accuracy ✨ Default
M9 Sport	10Hz	GPS+Galileo+Beidou	Racing, acrobatics, responsiveness
M10	8Hz	GPS+Galileo+Beidou	General use, balanced
M10 High-Perf	10Hz	GPS+Galileo+Beidou+Glonass	High-performance clock only

Research & Citations

This work is based on extensive research and community contributions:

u-blox Forum Research

M9 16-satellite limitation discovered by u-blox community expert Clive Turvey (cturvey)
u-blox forum posts documenting 10Hz threshold:

Clive Turvey's Code Analysis

Documented undocumented configuration key CFG-NAVSPG-CONSTR_GNSS
Code: https://github.com/cturvey/RandomNinjaChef/blob/main/M9_channels.c
Shows M9 hardware enforces 16-sat limit at ≥10Hz, 32-sat below 10Hz

PX4 GPS Driver Decision

PX4 GPS drivers chose 5Hz for M9 for better accuracy (32 satellites)
PR discussion: u-blox: reduce update rate for M9N to 5Hz (instead of 10Hz) PX4/PX4-GPSDrivers#57
Industry consensus: prioritize accuracy over latency for navigation

Field Testing

Jetrell's INAV testing contributed to understanding real-world M9 behavior
Community-reported HDOP improvements: ~1.0-1.3 at 5Hz vs ~2.0-2.5 at 10Hz

Implementation Details

Auto-Detection Logic

User selects "Auto-detect GPS Type" from dropdown
Reads FC.GPS_DATA.hwVersion from MSP_GPSSTATISTICS
Maps hwVersion to preset:
- 800 (UBLOX8) → M8 preset
- 900 (UBLOX9) → M9 Precision Mode (default)
- 1000 (UBLOX10) → M10 preset
- 0 (Unknown) → Falls back to Manual Settings
Applies preset (constellations, rate) and disables controls
Displays preset info box with description

Backward Compatibility

Works with older firmware (hwVersion field check before use)
Gracefully falls back to Manual Settings if hwVersion unavailable
Manual preset selection always available

Testing

Tested ✅

All presets selectable: 7 dropdown options work correctly
M8 auto-detection: Successfully detected M8 (hwVersion=800) and applied M8 preset
Manual presets: All 7 presets apply correct constellation/rate values
Preset info boxes: Display correctly with descriptions
Control disable/enable: Works correctly for presets vs manual
Tab switching: Preserves auto-detected preset when navigating between tabs
Backward compatibility: Older firmware without hwVersion falls back to manual

Testing Needed ⚠️

M9 modules: Community testing needed to verify:
- Auto-detection selects M9 Precision Mode
M10 modules: Community testing needed to verify:
- Auto-detection selects M10 preset

Related PR

Firmware PR: Add GPS hardware version to MSP and optimize defaults for M8/M9/M10 inav#11262
Firmware extends MSP_GPSSTATISTICS to include hwVersion field

Educational Value

The two M9 presets help users understand:

Hardware limitation: M9 can only track 16 satellites at ≥10Hz
Accuracy vs latency trade-off: 5Hz/32 sats vs 10Hz/16 sats
HDOP impact: ~2x better accuracy at lower rate
Flight profile matching: Choose based on aircraft type and mission

Defaults to Precision Mode (matches PX4/ArduPilot) but gives users informed choice.

Testing help appreciated! If you have M9 or M10 modules, please test auto-detection and verify satellite counts at various rates.

PR Type

Enhancement, New Feature

Description

Add GPS preset system with auto-detection for M8/M9/M10 modules
Implement M9 Precision (5Hz) and Sport (10Hz) modes for accuracy/latency trade-off
Expose GPS update rate control in UI with preset-based configuration
Parse hwVersion from MSP_GPSSTATISTICS for automatic GPS module detection

Diagram Walkthrough

flowchart LR
  A["MSP_GPSSTATISTICS<br/>hwVersion field"] -->|"Parse in<br/>MSPHelper.js"| B["FC.GPS_DATA.hwVersion"]
  B -->|"Detect GPS<br/>module type"| C["detectGPSPreset()"]
  C -->|"Map to preset<br/>M8/M9/M10"| D["GPS_PRESETS<br/>object"]
  D -->|"Apply constellation<br/>& rate settings"| E["applyGPSPreset()"]
  E -->|"Update UI<br/>& disable controls"| F["GPS Tab<br/>Configuration"]
  G["User selects<br/>preset dropdown"] -->|"Trigger change<br/>event"| E

File Walkthrough

Relevant files

Enhancement

MSPHelper.js `Parse hwVersion from MSP_GPSSTATISTICS for auto-detection` js/msp/MSPHelper.js Add backward-compatible parsing of `hwVersion` field from MSP_GPSSTATISTICS response Check data buffer length (>= 24 bytes) before reading hwVersion at offset 20 Set hwVersion to 0 (Unknown) for older firmware without extended MSP_GPSSTATISTICS	+6/-0
gps.js `Implement GPS preset detection and application logic` tabs/gps.js Define `GPS_PRESETS` object with 7 preset configurations (M8, M9 Precision/Sport, M10, M10 High-Perf, Manual, Auto) Implement `detectGPSPreset()` function to map hwVersion (800/900/1000) to appropriate preset Implement `applyGPSPreset()` function to apply constellation/rate settings and disable/enable controls Add preset change event handler and initialization logic that auto-detects or defaults to manual mode Display preset info box with description when preset is selected	+142/-0
gps.html `Add GPS preset dropdown and update rate UI controls` tabs/gps.html Add GPS preset mode dropdown with 7 options (Auto-detect, Manual, M8, M9 Precision/Sport, M10, M10 High-Perf) Add preset info display box showing preset name and configuration details Add GPS update rate number input field (previously not exposed in UI) Add IDs and `preset-controlled` class to constellation checkboxes for preset control Add help icons and labels for new preset and update rate controls	+32/-3

Documentation

messages.json `Add i18n strings for GPS preset UI elements` locale/en/messages.json Add translation strings for GPS preset mode label and help text Add translation strings for GPS update rate label and help text Add translation strings for auto-detect success and failure messages	+18/-0

Implement user-friendly GPS configuration presets for M8/M9/M10 modules: - Add GPS preset dropdown with Auto-detect, Manual, M8, M9, M10, and M10-highperf options - Add GPS update rate input field (previously not exposed in UI) - Extend MSP_GPSSTATISTICS to parse hwVersion for auto-detection - Preset configuration disables (but shows) settings when active - Add preset info box explaining each preset's characteristics Presets configured per manager feedback: - M8: 4 constellations @ 8Hz (conservative) - M9: 4 constellations @ 10Hz (hardware limit: 16 sats) - M10: 4 constellations @ 6Hz (default CPU clock safe rate) - M10-highperf: 4 constellations @ 10Hz (for high-perf clock users) - Manual: Full user control (default for existing users) Auto-detection uses FC.GPS_DATA.hwVersion from MSP_GPSSTATISTICS (firmware extension pending - see documentation). Translation strings added for en locale. Related: GPS optimization research based on Jetrell's M10 testing data

…ection - Add GPS_PRESETS object with 7 preset options - Split M9 into Precision (5Hz, 32 sats) and Sport (10Hz, 16 sats) modes - Update M10 presets (3 const @ 8Hz, 4 const @ 10Hz for high-perf) - Add detectGPSPreset() to map hwVersion to preset - Add applyGPSPreset() to apply constellation/rate settings - Extend MSPHelper to parse hwVersion from MSP_GPSSTATISTICS (backward compatible) - Update HTML dropdown with new preset options Research: M9 hardware limits to 16 satellites at >=10Hz, 32 satellites at <10Hz See: claude/developer/docs/gps/m9-16-satellite-limitation-official.md

When navigating away from GPS tab and back, the preset dropdown was resetting to "Manual Settings" every time, even if the GPS module had been auto-detected. Changes: - Check if GPS data (hwVersion) is already available on tab init - If available and valid (>0), auto-detect and apply preset - If not available, fall back to manual mode as before This preserves the auto-detected preset when switching between tabs, providing a smoother user experience. Related: GPS preset UI feature

qodo-code-review · 2026-01-20T22:53:39Z

PR Compliance Guide 🔍

All compliance sections have been disabled in the configurations.

tabs/gps.js

tabs/gps.html

tabs/gps.js

Addresses Qodo code review suggestion to ensure state consistency when programmatically setting GPS configuration values. When presets change constellation checkboxes and rate values, we now trigger their 'change' events. This follows the pattern used in other tabs (firmware_flasher.js, pid_tuning.js, sensors.js) and ensures: - Save button state updates correctly - Any change event handlers fire properly - Configuration tracking remains consistent Without .trigger('change'), programmatic updates bypass event handlers that may be listening for user changes to these controls.

Jetrell · 2026-01-23T12:32:39Z

I loaded this software and the firmware side to give it a try. The concept seems to work as expected. Taking the guess work out of choosing a good update rate for users.

The only issue I found was after making a change to either the update rate or adding/removing a constellation other than GPS. The changes would take place. But the fields would go blank. Requiring the configurator to be restarted for the changes to appear.

sensei-hacker · 2026-01-29T18:05:27Z

I loaded this software and the firmware side to give it a try. The concept seems to work as expected. Taking the guess work out of choosing a good update rate for users.

The only issue I found was after making a change to either the update rate or adding/removing a constellation other than GPS. The changes would take place. But the fields would go blank. Requiring the configurator to be restarted for the changes to appear.

Thanks Jetrell!
This issue should be solved with the latest commit to Configurator.

Fixes issue reported by Jetrell on PR iNavFlight#2526 where GPS fields would go blank after changing update rate or constellation settings in manual mode. Changes: - Fix race condition: await settings load before initializing presets - Remove auto-detection on page load to preserve user's saved settings - Remove data-live from constellation checkboxes (require explicit Save) - Add hardware detection status indicator with "Use optimal settings" action - Keep controls enabled after applying preset (allow user adjustments) Root causes fixed: 1. Settings.configureInputs() loading in background was overwriting fields after user interaction due to async timing 2. Auto-detection was applying presets on every page load, overriding user's saved settings 3. data-live="true" was causing unexpected auto-save without user clicking Save button Result: GPS settings now behave consistently, preserve user settings, and provide helpful hardware detection without being intrusive.

Add namespaced event handlers (.gpsTab) and proper cleanup to prevent memory leaks when tab is reopened or re-rendered. Changes: - Namespace all event handlers with .gpsTab - Add cleanup code to remove all namespaced handlers in TABS.gps.cleanup() - Prevents duplicate handler registration if tab reloads Addresses Qodo bot suggestion (Importance: 6) about event handler memory leak risk.

Jetrell · 2026-01-30T05:04:34Z

@sensei-hacker Yes. It now works correctly with the last commits.

sensei-hacker added 4 commits January 20, 2026 09:38

Update GPS presets to 3 constellations

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sensei-hacker mentioned this pull request Jan 28, 2026

feat(mission-control): add local geo layers to map #2519

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sensei-hacker added Enhancement Enhancement of existing functions In progress New Feature Entirely new feature or major feature change labels Jan 28, 2026

sensei-hacker added 2 commits January 29, 2026 12:05

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Add GPS preset UI with auto-detection and M9 Precision/Sport modes #2526

Add GPS preset UI with auto-detection and M9 Precision/Sport modes #2526

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User description

Summary

Changes

New Features

Files Modified

Preset Configurations

Research & Citations

u-blox Forum Research

Clive Turvey's Code Analysis

PX4 GPS Driver Decision

Field Testing

Implementation Details

Auto-Detection Logic

Backward Compatibility

Testing

Tested ✅

Testing Needed ⚠️

Related PR

Educational Value

PR Type

Description

Diagram Walkthrough

File Walkthrough

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PR Compliance Guide 🔍

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