Pigeond: Request sat info msgs (#27529)

request sat info msgs

selfdrive/locationd/test/ublox.py

@@ -54,6 +54,7 @@ MSG_NAV_DOP = 0x04
 MSG_NAV_EKFSTATUS = 0x40
 MSG_NAV_SBAS = 0x32
 MSG_NAV_SOL = 0x06
+MSG_NAV_SAT = 0x35
 
 # RXM messages
 MSG_RXM_RAW = 0x15

selfdrive/locationd/test/ubloxd.py

@@ -60,6 +60,7 @@ def configure_ublox(dev):
   dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1)
+  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1)
 
   # Query the backup restore status
   print("backup restore polling message (implement custom response handler!):")

selfdrive/locationd/ublox_msg.cc

@@ -126,6 +126,9 @@ std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
     return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
   case 0x0a0b:
     return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
+  case 0x0135:
+    // TODO return {"ubloxGnss", gen_nav_sat(static_cast<ubx_t::nav_sat_t*>(body))};
+    return {"ubloxGnss", kj::Array<capnp::word>()};
   default:
     LOGE("Unknown message type %x", ubx_message.msg_type());
     return {"ubloxGnss", kj::Array<capnp::word>()};

system/sensord/pigeond.py

@@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
       cloudlog.debug("pigeon configured")
 
       # try restoring almanac backup