Jacob Dahl 02c82831e0 feat(gps): Galileo HAS mode, correction protocol reporting, GPSDrivers bump (#28335) ...

* feat(gps): Galileo HAS mode for the ZED-X20P and GPSDrivers bump

GPS_UBX_MODE 8 selects the new UBXMode::GalileoHAS. The receiver only
processes HAS while host corrections are off, which makes RTCM and SPARTN
from the autopilot dead input, so it is an explicit mode rather than a
default and the description says what it gives up.

The submodule bump also brings UBX-SEC-SIG jamming state for F9 HPG 1.51
and X20, where the MON-RF flag is deprecated and always 0, and stops the
F9P-L1L2 path from warning about a missing jamming monitor on 1.51.

Assisted-by: Claude:claude-fable-5
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* feat(sensor_gps): report the correction protocol, not just RTCM status

The u-blox driver now reads UBX-RXM-COR, which covers RTCM3, SPARTN and
Galileo HAS, so rtcm_msg_used and rtcm_crc_failed no longer describe
only RTCM. They become corrections_msg_used and corrections_crc_failed,
and corrections_protocol says which protocol the last message was: the
only receiver-side confirmation that a SPARTN stream or HAS is actually
being consumed, and the first time either field has moved on an X20.

Assisted-by: Claude:claude-fable-5
Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

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Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

2026-08-24 13:27:02 -06:00

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