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feat: Enable GPS on RAK 1W kit 🤖🤖 #2640

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feat: Enable GPS on RAK 1W kit 🤖🤖 #2640

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b6e6730
RAK3401: re-enable GPS, fix stale PVT data, prevent radio rail-kill
disq May 28, 2026
c9dfd1b
GPS: drop duplicate lat/lon debug print, throttle the remaining one
disq May 28, 2026
f2ad72e
GPS: require fixType==3 in addition to gnssFixOK before reporting coords
disq May 28, 2026
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64 changes: 44 additions & 20 deletions src/helpers/sensors/EnvironmentSensorManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -168,16 +168,26 @@ class RAK12500LocationProvider : public LocationProvider {
void begin() override { }
void stop() override { }
void loop() override {
if (ublox_GNSS.getGnssFixOk(8)) {
// The numeric arg is maxWait (ms) for the I²C poll, not a field index.
// The previous 2/8 ms values were below the ublox response window, so polls
// routinely timed out and returned stale/garbage PVT data (observed: random
// wrong-hemisphere longitudes despite getGnssFixOk() returning true).
// 250 ms matches the SparkFun library's typical response time.
//
// Require BOTH gnssFixOK (DOP/accuracy mask passed) AND fixType==3 (3D fix).
// Ublox reports gnssFixOK=true with bogus coords during cold start (e.g. an
// unfixed module on first boot reporting coordinates from factory almanac);
// requiring fixType==3 filters those out.
if (ublox_GNSS.getGnssFixOk(250) && ublox_GNSS.getFixType(250) == 3) {
_fix = true;
_lat = ublox_GNSS.getLatitude(2) / 10;
_lng = ublox_GNSS.getLongitude(2) / 10;
_alt = ublox_GNSS.getAltitude(2);
_sats = ublox_GNSS.getSIV(2);
_lat = ublox_GNSS.getLatitude(250) / 10;
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@jakymiwm jakymiwm May 28, 2026 •
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Remove the "/ 10" and add it below?

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@disq disq May 28, 2026

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Nope, this will diverge the code paths between other branches: It normalises ublox's native 1e-7 degree integer down to the implicit LocationProvider interface contract of microdegrees (1e-6).
Touching these has no real benefit other than complicating things, even if we changed it everywhere else. It won't be any faster or any better.

_lng = ublox_GNSS.getLongitude(250) / 10;
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_alt = ublox_GNSS.getAltitudeMSL(250); // height above mean sea level, not ellipsoid
_sats = ublox_GNSS.getSIV(250);
} else {
_fix = false;
}
_epoch = ublox_GNSS.getUnixEpoch(2);
_epoch = ublox_GNSS.getUnixEpoch(250);
}
bool isEnabled() override { return true; }
};
Expand Down Expand Up @@ -702,16 +712,25 @@ void EnvironmentSensorManager::rakGPSInit(){
//search for the correct IO standby pin depending on socket used
if(gpsIsAwake(WB_IO2)){
}
else if(gpsIsAwake(WB_IO4)){
}
else if(gpsIsAwake(WB_IO5)){
}
else{
MESH_DEBUG_PRINTLN("No GPS found");
gps_active = false;
gps_detected = false;
Serial1.end();
return;
else {
// WB_IO2 controls the 3V3_S switched peripheral rail on these RAK boards.
// gpsIsAwake() leaves the pin as INPUT on failure, which drops the rail and
// takes I²C peripherals (RTC, display, the GPS itself) down with it.
// Restore it before probing other sockets.
pinMode(WB_IO2, OUTPUT);
digitalWrite(WB_IO2, HIGH);

if(gpsIsAwake(WB_IO4)){
}
else if(gpsIsAwake(WB_IO5)){
}
else{
MESH_DEBUG_PRINTLN("No GPS found");
gps_active = false;
gps_detected = false;
Serial1.end();
return;
}
}

#ifndef FORCE_GPS_ALIVE // for use with repeaters, until GPS toggle is implimented
Expand Down Expand Up @@ -801,6 +820,7 @@ void EnvironmentSensorManager::stop_gps() {

void EnvironmentSensorManager::loop() {
static long next_gps_update = 0;
static uint8_t gps_debug_skip = 0; // throttle: print roughly every 10th update tick

#if ENV_INCLUDE_GPS
if (gps_active) {
Expand All @@ -813,17 +833,21 @@ void EnvironmentSensorManager::loop() {
if ((i2cGPSFlag || serialGPSFlag) && _location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
if (gps_debug_skip-- == 0) {
gps_debug_skip = 9;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
}
#else
if (_location->isValid()) {
node_lat = ((double)_location->getLatitude())/1000000.;
node_lon = ((double)_location->getLongitude())/1000000.;
MESH_DEBUG_PRINTLN("lat %f lon %f", node_lat, node_lon);
node_altitude = ((double)_location->getAltitude()) / 1000.0;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
if (gps_debug_skip-- == 0) {
gps_debug_skip = 9;
MESH_DEBUG_PRINTLN("lat %f lon %f alt %f", node_lat, node_lon, node_altitude);
}
}
#endif
}
Expand Down
3 changes: 3 additions & 0 deletions variants/rak3401/platformio.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -6,13 +6,16 @@ build_flags = ${nrf52_base.build_flags}
${sensor_base.build_flags}
-I variants/rak3401
-D RAK_3401
-D RAK_BOARD
-D NRF52_POWER_MANAGEMENT
-D RADIO_CLASS=CustomSX1262
-D WRAPPER_CLASS=CustomSX1262Wrapper
-D LORA_TX_POWER=22
-D SX126X_CURRENT_LIMIT=140
-D SX126X_RX_BOOSTED_GAIN=1
-D SX126X_REGISTER_PATCH=1 ; Patch register 0x8B5 for improved RX with SKY66122 FEM
-D FORCE_GPS_ALIVE ; on RAK3401, gpsResetPin ends up = WB_IO2 (kills 3V3_S rail) or
; pin 4 (= SX126X_RESET, holds radio in reset). stop_gps() must not run.
build_src_filter = ${nrf52_base.build_src_filter}
+<../variants/rak3401>
+<helpers/sensors>
Expand Down