Add NTRIP support to feed RCTM data

qgroundcontrol.pro

@@ -400,6 +400,7 @@ INCLUDEPATH += \
     src/Joystick \
     src/PlanView \
     src/MissionManager \
+    src/NTRIP \
     src/PositionManager \
     src/QmlControls \
     src/QtLocationPlugin \
@@ -589,6 +590,8 @@ HEADERS += \
     src/Compression/QGCZlib.h \
     src/FirmwarePlugin/PX4/px4_custom_mode.h \
     src/FollowMe/FollowMe.h \
+    src/GPS/Drivers/src/rtcm.h \
+    src/GPS/RTCM/RTCMMavlink.h \
     src/Joystick/Joystick.h \
     src/Joystick/JoystickManager.h \
     src/Joystick/JoystickMavCommand.h \
@@ -638,6 +641,7 @@ HEADERS += \
     src/MissionManager/TransectStyleComplexItem.h \
     src/MissionManager/VisualMissionItem.h \
     src/MissionManager/VTOLLandingComplexItem.h \
+    src/NTRIP/NTRIP.h \
     src/PositionManager/PositionManager.h \
     src/PositionManager/SimulatedPosition.h \
     src/Geo/QGCGeo.h \
@@ -688,6 +692,7 @@ HEADERS += \
     src/Settings/FirmwareUpgradeSettings.h \
     src/Settings/FlightMapSettings.h \
     src/Settings/FlyViewSettings.h \
+    src/Settings/NTRIPSettings.h \
     src/Settings/OfflineMapsSettings.h \
     src/Settings/PlanViewSettings.h \
     src/Settings/RTKSettings.h \
@@ -811,14 +816,12 @@ HEADERS += \
 !MobileBuild {
 HEADERS += \
     src/GPS/Drivers/src/gps_helper.h \
-    src/GPS/Drivers/src/rtcm.h \
     src/GPS/Drivers/src/ashtech.h \
     src/GPS/Drivers/src/ubx.h \
     src/GPS/Drivers/src/sbf.h \
     src/GPS/GPSManager.h \
     src/GPS/GPSPositionMessage.h \
     src/GPS/GPSProvider.h \
-    src/GPS/RTCM/RTCMMavlink.h \
     src/GPS/definitions.h \
     src/GPS/satellite_info.h \
     src/GPS/sensor_gps.h \
@@ -853,6 +856,8 @@ SOURCES += \
     src/Compression/QGCLZMA.cc \
     src/Compression/QGCZlib.cc \
     src/FollowMe/FollowMe.cc \
+    src/GPS/Drivers/src/rtcm.cpp \
+    src/GPS/RTCM/RTCMMavlink.cc \
     src/Joystick/Joystick.cc \
     src/Joystick/JoystickManager.cc \
     src/Joystick/JoystickMavCommand.cc \
@@ -901,6 +906,7 @@ SOURCES += \
     src/MissionManager/TransectStyleComplexItem.cc \
     src/MissionManager/VisualMissionItem.cc \
     src/MissionManager/VTOLLandingComplexItem.cc \
+    src/NTRIP/NTRIP.cc \
     src/PositionManager/PositionManager.cpp \
     src/PositionManager/SimulatedPosition.cc \
     src/Geo/QGCGeo.cc \
@@ -948,6 +954,7 @@ SOURCES += \
     src/Settings/RemoteIDSettings.cc \
     src/Settings/FirmwareUpgradeSettings.cc \
     src/Settings/FlightMapSettings.cc \
+    src/Settings/NTRIPSettings.cc \
     src/Settings/FlyViewSettings.cc \
     src/Settings/OfflineMapsSettings.cc \
     src/Settings/PlanViewSettings.cc \
@@ -1060,17 +1067,17 @@ contains (DEFINES, QGC_ENABLE_PAIRING) {
 !MobileBuild {
 SOURCES += \
     src/GPS/Drivers/src/gps_helper.cpp \
-    src/GPS/Drivers/src/rtcm.cpp \
     src/GPS/Drivers/src/ashtech.cpp \
     src/GPS/Drivers/src/ubx.cpp \
     src/GPS/Drivers/src/sbf.cpp \
     src/GPS/GPSManager.cc \
     src/GPS/GPSProvider.cc \
-    src/GPS/RTCM/RTCMMavlink.cc \
     src/Joystick/JoystickSDL.cc \
     src/RunGuard.cc \
 }
 
+SOURCES += src/GPS/NmeaMessage.cc
+
 #
 # Firmware Plugin Support
 #

qgroundcontrol.qrc

@@ -319,6 +319,7 @@
         <file alias="MavCmdInfoSub.json">src/MissionManager/MavCmdInfoSub.json</file>
         <file alias="MavCmdInfoVTOL.json">src/MissionManager/MavCmdInfoVTOL.json</file>
         <file alias="MissionSettings.FactMetaData.json">src/MissionManager/MissionSettings.FactMetaData.json</file>
+        <file alias="NTRIP.SettingsGroup.json">src/Settings/NTRIP.SettingsGroup.json</file>
         <file alias="OfflineMaps.SettingsGroup.json">src/Settings/OfflineMaps.SettingsGroup.json</file>
         <file alias="PlanView.SettingsGroup.json">src/Settings/PlanView.SettingsGroup.json</file>
         <file alias="QGCMapCircle.Facts.json">src/MissionManager/QGCMapCircle.Facts.json</file>

src/CMakeLists.txt

@@ -140,6 +140,7 @@ if (${QGC_GST_MICROHARD_ENABLED})
   add_subdirectory(Microhard)
 endif ()
 add_subdirectory(MissionManager)
+add_subdirectory(NTRIP)
 add_subdirectory(PlanView)
 add_subdirectory(PositionManager)
 add_subdirectory(QmlControls)
@@ -181,6 +182,7 @@ target_link_libraries(qgc
 		gps
 		Joystick
 		MissionManager
+		NTRIP
 		PositionManager
 		QmlControls
 		QtLocationPlugin

src/GPS/CMakeLists.txt

@@ -9,6 +9,7 @@ add_library(gps
 	Drivers/src/ubx.cpp
 	GPSManager.cc
 	GPSProvider.cc
+	NmeaMessage.cc
 	RTCM/RTCMMavlink.cc
 )
 

src/GPS/NmeaMessage.cc

@@ -0,0 +1,92 @@
+//
+// Created by zdanek on 13.11.24.
+//
+
+#include "NmeaMessage.h"
+
+#include <QDateTime>
+#include <QtCore>
+#include <cmath>
+
+NmeaMessage::NmeaMessage(QGeoCoordinate coordinate) {
+  _coordinate = coordinate;
+}
+
+QString NmeaMessage::getGGA() {
+
+  double lat = _coordinate.latitude();
+  double lng = _coordinate.longitude();
+  double alt = _coordinate.altitude();
+
+  //  qCDebug(NTRIPLog) << "lat : " << lat << " lon : " << lng << " alt : " << alt;
+
+  QString time = QDateTime::currentDateTimeUtc().toString("hhmmss.zzz");
+
+  if (lat != 0 || lng != 0) {
+    if (std::isnan(alt))
+      alt = 0.0;
+
+    int latDegrees = (int)qFabs(lat);
+    double latMinutes = (qFabs(lat) - latDegrees) * 60.0;
+
+    int lngDegrees = (int)qFabs(lng);
+    double lngMinutes = (qFabs(lng) - lngDegrees) * 60.0;
+
+    // Format latitude degrees and minutes with leading zeros
+    QString latDegreesStr = QString("%1").arg(latDegrees, 2, 10, QChar('0'));
+    QString latMinutesStr =
+        QString("%1").arg(latMinutes, 7, 'f', 4, QChar('0'));
+    QString latStr = latDegreesStr + latMinutesStr;
+
+    // Format longitude degrees and minutes with leading zeros
+    QString lngDegreesStr = QString("%1").arg(lngDegrees, 3, 10, QChar('0'));
+    QString lngMinutesStr =
+        QString("%1").arg(lngMinutes, 7, 'f', 4, QChar('0'));
+    QString lngStr = lngDegreesStr + lngMinutesStr;
+
+    QString line =
+        QString("$GPGGA,%1,%2,%3,%4,%5,%6,%7,%8,%9,%10,%11,%12,%13,%14")
+            .arg(time)                // %1 - UTC Time
+            .arg(latStr)              // %2 - Latitude in NMEA format
+            .arg(lat < 0 ? "S" : "N") // %3 - N/S Indicator
+            .arg(lngStr)              // %4 - Longitude in NMEA format
+            .arg(lng < 0 ? "W" : "E") // %5 - E/W Indicator
+            .arg("1")                 // %6 - Fix Quality
+            .arg("10")                // %7 - Number of Satellites
+            .arg("1.0") // %8 - Horizontal Dilution of Precision (HDOP)
+            .arg(QString::number(alt, 'f', 2)) // %9 - Altitude
+            .arg("M")                          // %10 - Altitude Units
+            .arg("0")                          // %11 - Geoidal Separation
+            .arg("M")                          // %12 - Geoidal Separation Units
+            .arg("0.0") // %13 - Age of Differential GPS Data
+            .arg("0");  // %14 - Differential Reference Station ID
+
+    // Calculate checksum and send message
+    QString checkSum = _getCheckSum(line);
+    QString nmeaMessage = line + "*" + checkSum + "\r\n";
+
+    return nmeaMessage;
+  }
+  return QString();
+}
+
+QString NmeaMessage::_getCheckSum(QString line) {
+//  qCDebug(NTRIPLog) << "Calculating checksum";
+  QByteArray temp_Byte = line.toUtf8();
+  const char* buf = temp_Byte.constData();
+
+  char character;
+  int checksum = 0;
+
+  // Start from index 1 to skip the '$' character
+  for(int i = 1; i < line.length(); i++) {
+    character = buf[i];
+    if(character == '*') {
+      break;
+    }
+    checksum ^= character;
+  }
+
+  // Ensure the checksum is a two-digit uppercase hexadecimal string
+  return QString("%1").arg(checksum, 2, 16, QChar('0')).toUpper();
+}

src/GPS/NmeaMessage.h

@@ -0,0 +1,20 @@
+//
+// Created by zdanek on 13.11.24.
+//
+
+#pragma once
+
+#include <QGeoCoordinate>
+#include <QString>
+
+class NmeaMessage {
+public:
+  NmeaMessage(QGeoCoordinate coordinate);
+  QString getGGA();
+
+private:
+  QString _getCheckSum(QString line);
+  QGeoCoordinate _coordinate;
+};
+
+

src/GPS/RTCM/RTCMMavlink.cc

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- * (c) 2009-2020 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
+ * (c) 2009-2024 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
  *
  * QGroundControl is licensed according to the terms in the file
  * COPYING.md in the root of the source code directory.
@@ -15,6 +15,8 @@
 
 #include <cstdio>
 
+QGC_LOGGING_CATEGORY(RTCMMavlinkLog, "RTCMMavlinkLog")
+
 RTCMMavlink::RTCMMavlink(QGCToolbox& toolbox)
     : _toolbox(toolbox)
 {
@@ -23,13 +25,13 @@ RTCMMavlink::RTCMMavlink(QGCToolbox& toolbox)
 
 void RTCMMavlink::RTCMDataUpdate(QByteArray message)
 {
-    /* statistics */
+    qCDebug(RTCMMavlinkLog) << "RTCMDataUpdate: " << message.size() << " bytes";   /* statistics */
     _bandwidthByteCounter += message.size();
     qint64 elapsed = _bandwidthTimer.elapsed();
     if (elapsed > 1000) {
-        printf("RTCM bandwidth: %.2f kB/s\n", (float) _bandwidthByteCounter / elapsed * 1000.f / 1024.f);
-        _bandwidthTimer.restart();
-        _bandwidthByteCounter = 0;
+      qCDebug(RTCMMavlinkLog) << "RTCM bandwidth: " << ((float) _bandwidthByteCounter / elapsed * 1000.f / 1024.f) << " KB/s";
+      _bandwidthTimer.restart();
+      _bandwidthByteCounter = 0;
     }
 
     const int maxMessageLength = MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN;
@@ -72,12 +74,14 @@ void RTCMMavlink::sendMessageToVehicle(const mavlink_gps_rtcm_data_t& msg)
             mavlink_message_t       message;
             SharedLinkInterfacePtr  sharedLink = weakLink.lock();
 
-            mavlink_msg_gps_rtcm_data_encode_chan(mavlinkProtocol->getSystemId(),
-                                                  mavlinkProtocol->getComponentId(),
-                                                  sharedLink->mavlinkChannel(),
-                                                  &message,
-                                                  &msg);
-            vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), message);
+            if (sharedLink->isConnected()) {
+              mavlink_msg_gps_rtcm_data_encode_chan(mavlinkProtocol->getSystemId(),
+                                                    mavlinkProtocol->getComponentId(),
+                                                    sharedLink->mavlinkChannel(),
+                                                    &message,
+                                                    &msg);
+              vehicle->sendMessageOnLinkThreadSafe(sharedLink.get(), message);
+              }
         }
     }
 }

src/GPS/RTCM/RTCMMavlink.h

@@ -13,8 +13,11 @@
 #include <QObject>
 #include <QElapsedTimer>
 
-#include "QGCToolbox.h"
 #include "MAVLinkProtocol.h"
+#include "QGCLoggingCategory.h"
+#include "QGCToolbox.h"
+
+Q_DECLARE_LOGGING_CATEGORY(RTCMMavlinkLog)
 
 /**
  ** class RTCMMavlink

src/NTRIP/CMakeLists.txt

@@ -0,0 +1,14 @@
+add_library(NTRIP
+    NTRIP.cc
+    NTRIP.h
+)
+
+target_link_libraries(NTRIP
+    PUBLIC
+        qgc
+)
+
+target_include_directories(NTRIP
+    PUBLIC
+        ${CMAKE_CURRENT_SOURCE_DIR}
+)