Add extra GPS satellite statistics OSD widget

src/main/fc/cli.c

@@ -4800,6 +4800,9 @@ static void cliUbloxPrintSatelites(char *arg)
         }
         cliPrintLinefeed();
     }
+    // Print MON-RF noisePerMS if available
+    cliPrintLinef("MON-RF noisePerMS: %u", gpsGetMonRfNoisePerMs());
+    cliPrintLinef("MON-RF CW Suppression: %u", gpsGetMonRfCWSuppression());
 }
 #endif
 

src/main/io/gps_ublox.c

@@ -87,6 +87,10 @@ static const char * baudInitDataNMEA[GPS_BAUDRATE_COUNT] = {
 
 static ubx_nav_sig_info satelites[UBLOX_MAX_SIGNALS] = {};
 
+// MON-RF noise value (noisePerMS) reported by UBX-MON-RF at payload offset 0x16
+static uint8_t monRfNoisePerMs = 0;
+static uint8_t monCWSuppresion = 0;
+
 // Packet checksum accumulators
 static uint8_t _ck_a;
 static uint8_t _ck_b;
@@ -152,6 +156,14 @@ static union {
     uint8_t bytes[UBLOX_BUFFER_SIZE];
 } _buffer;
 
+// OSD controlled flag: when true, OSD requests periodic MON-RF polling
+static volatile bool osdMonRfWidgetEnabled = false;
+
+void gpsSetOsdMonRfWidgetEnabled(bool enabled)
+{
+    osdMonRfWidgetEnabled = enabled;
+}
+
 bool gpsUbloxHasGalileo(void)
 {
     return (ubx_capabilities.supported & UBX_MON_GNSS_GALILEO_MASK);
@@ -261,6 +273,28 @@ static void pollGnssCapabilities(void)
     sendConfigMessageUBLOX();
 }
 
+// Poll UBX-MON-RF (no ACK expected) - used periodically for RF status on newer modules
+static void pollMonRf(void)
+{
+    uint8_t pkt[8];
+    uint8_t ck_a = 0, ck_b = 0;
+
+    pkt[0] = PREAMBLE1;
+    pkt[1] = PREAMBLE2;
+    pkt[2] = CLASS_MON;
+    pkt[3] = MSG_MON_RF;
+    pkt[4] = 0; // length LSB
+    pkt[5] = 0; // length MSB
+
+    // compute checksum over CLASS, ID and length (4 bytes)
+    ublox_update_checksum(&pkt[2], 4, &ck_a, &ck_b);
+    pkt[6] = ck_a;
+    pkt[7] = ck_b;
+
+    // send without forcing ACK state (so we don't disturb config ACK handling)
+    serialWriteBuf(gpsState.gpsPort, pkt, sizeof(pkt));
+}
+
 
 static const uint8_t default_payload[] = {
     0xFF, 0xFF, 0x03, 0x03, 0x00,           // CFG-NAV5 - Set engine settings (original MWII code)
@@ -732,6 +766,15 @@ static bool gpsParseFrameUBLOX(void)
             }
         }
         break;
+    case MSG_MON_RF:
+        if (_class == CLASS_MON) {
+            // MON-RF payload contains various RF stats; noisePerMS is at offset 0x16 (22)
+            if (_payload_length > 0x10) 
+                monRfNoisePerMs = _buffer.bytes[0x10];
+            if (_payload_length > 0x14) 
+                monCWSuppresion = _buffer.bytes[0x14];
+        }
+        break;
     case MSG_NAV_SAT:
         if (_class == CLASS_NAV) {
             static int satInfoCount = 0;
@@ -1220,10 +1263,19 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
     gpsSetProtocolTimeout(gpsState.baseTimeoutMs);
 
     // GPS is ready - execute the gpsProcessNewSolutionData() based on gpsProtocolReceiverThread semaphore
+    static uint32_t lastMonRfMs = 0;
     while (1) {
         ptSemaphoreWait(semNewDataReady);
         gpsProcessNewSolutionData(false);
 
+        /* Periodically poll MON-RF (~1s) for HW > UBLOX8 if OSD widget requested. Do not change ACK state. */
+        if (gpsState.hwVersion > UBX_HW_VERSION_UBLOX8 && osdMonRfWidgetEnabled) {
+            if ((millis() - lastMonRfMs) > 1000) {
+                lastMonRfMs = millis();
+                pollMonRf();
+            }
+        }
+
         if (gpsState.gpsConfig->autoConfig) {
             if ((millis() - gpsState.lastCapaPoolMs) > GPS_CAPA_INTERVAL) {
                 gpsState.lastCapaPoolMs = millis();
@@ -1313,4 +1365,13 @@ bool ubloxVersionE(uint8_t mj, uint8_t mn)
     return gpsState.swVersionMajor == mj && gpsState.swVersionMinor == mn;
 }
 
+uint8_t gpsGetMonRfNoisePerMs(void)
+{
+    return monRfNoisePerMs;
+}
+uint8_t gpsGetMonRfCWSuppression(void)
+{
+    return monCWSuppresion;
+}
+
 #endif

src/main/io/gps_ublox.h

@@ -506,7 +506,8 @@ typedef enum {
     MSG_CFG_SBAS = 0x16,
     MSG_CFG_GNSS = 0x3e,
     MSG_MON_GNSS = 0x28,
-    MSG_NAV_SIG = 0x43
+    MSG_NAV_SIG = 0x43,
+    MSG_MON_RF = 0x38
 } ubx_protocol_bytes_t;
 
 typedef enum {
@@ -548,6 +549,14 @@ bool ubloxVersionGT(uint8_t mj, uint8_t mn);
 bool ubloxVersionGTE(uint8_t mj, uint8_t mn);
 bool ubloxVersionE(uint8_t mj, uint8_t mn);
 
+// MON-RF access Noise level
+uint8_t gpsGetMonRfNoisePerMs(void);
+// Called by OSD to enable/disable periodic MON-RF polling when widget is used
+void gpsSetOsdMonRfWidgetEnabled(bool enabled);
+
+// MON-RF access CW Suppression
+uint8_t gpsGetMonRfCWSuppression(void);
+
 #ifdef __cplusplus
 }
 #endif

src/main/io/osd.c

@@ -67,6 +67,7 @@
 #include "io/adsb.h"
 #include "io/flashfs.h"
 #include "io/gps.h"
+#include "io/gps_ublox.h"
 #include "io/osd.h"
 #include "io/osd_common.h"
 #include "io/osd_hud.h"
@@ -2258,6 +2259,65 @@ static bool osdDrawSingleElement(uint8_t item)
             osdFormatCentiNumber(&buff[2], centiHDOP, 0, 1, 0, digits, false);
             break;
         }
+
+    case OSD_GPS_EXTRA_STATS:
+        {
+            gpsSetOsdMonRfWidgetEnabled(true);
+
+            // Collect satellite stats grouped by GNSS ID: 0,2,3,6
+            uint8_t stats[4][2] = { {0,0}, {0,0}, {0,0}, {0,0} }; // [group][0]=total, [group][1]=good
+            for (int i = 0; i < UBLOX_MAX_SIGNALS; ++i) {
+                const ubx_nav_sig_info *sat = gpsGetUbloxSatelite(i);
+                if (sat == NULL) continue;
+                int g = -1;
+                switch (sat->gnssId) {
+                    case 0: g = 0; break; // GPS
+                    case 2: g = 1; break; // GALILEO
+                    case 3: g = 2; break; // BEIDOU
+                    case 6: g = 3; break; // GLONASS
+                    default: g = -1; break;
+                }
+                if (g < 0) continue;
+
+                if (sat->quality > UBLOX_SIG_QUALITY_SEARCHING && stats[g][0] < 255) { // Sat is visible
+                    stats[g][0]++;
+                }
+
+                if (sat->quality >= UBLOX_SIG_QUALITY_CODE_LOCK_TIME_SYNC && stats[g][1] < 255) { // Sat is good enough for navigation
+                    stats[g][1]++;
+                }
+            }
+
+            // Write directly to display using displayWriteChar so large symbol indices are handled correctly.
+            int x = elemPosX;
+            for (int g = 0; g < 4; ++g) {
+                uint8_t total = stats[g][0];
+                uint8_t good = stats[g][1];
+
+                // Hex nibble for total (cap at F)
+                char hexc;
+                if (total > 15) hexc = 'F';
+                else if (total < 10) hexc = '0' + total;
+                else hexc = 'A' + (total - 10);
+                displayWriteChar(osdDisplayPort, x++, elemPosY, (uint8_t)hexc);
+
+                // HUD signal icon based on number of good satellites (cap at 4)
+                uint8_t goodClamped = good > 4 ? 4 : good;
+                uint16_t sym = SYM_HUD_SIGNAL_0 + goodClamped;
+                displayWriteChar(osdDisplayPort, x++, elemPosY, sym);
+            }
+
+            // always show RF noise after the stats
+            {
+                uint8_t noise = gpsGetMonRfNoisePerMs();
+                char noiseBuff[4];
+                noiseBuff[0] = SYM_SNR;
+                tfp_sprintf(&noiseBuff[1], (noise > 99) ? "%02X" : "%02u", noise);
+                displayWrite(osdDisplayPort, x, elemPosY, noiseBuff);
+            }
+
+            return true; // already drawn
+        }
 #ifdef USE_ADSB
         case OSD_ADSB_WARNING:
         {
@@ -4195,7 +4255,7 @@ uint8_t osdIncElementIndex(uint8_t elementIndex)
 
     if (!feature(FEATURE_GPS)) {
         if (elementIndex == OSD_GPS_HDOP || elementIndex == OSD_TRIP_DIST || elementIndex == OSD_3D_SPEED || elementIndex == OSD_MISSION ||
-            elementIndex == OSD_AZIMUTH || elementIndex == OSD_BATTERY_REMAINING_CAPACITY || elementIndex == OSD_EFFICIENCY_MAH_PER_KM) {
+            elementIndex == OSD_AZIMUTH || elementIndex == OSD_BATTERY_REMAINING_CAPACITY || elementIndex == OSD_EFFICIENCY_MAH_PER_KM || elementIndex == OSD_GPS_EXTRA_STATS ) {
             elementIndex++;
         }
         if (elementIndex == OSD_HEADING_GRAPH && !sensors(SENSOR_MAG)) {
@@ -4454,7 +4514,8 @@ void pgResetFn_osdLayoutsConfig(osdLayoutsConfig_t *osdLayoutsConfig)
 
     osdLayoutsConfig->item_pos[0][OSD_MISSION] = OSD_POS(0, 10);
     osdLayoutsConfig->item_pos[0][OSD_GPS_SATS] = OSD_POS(0, 11) | OSD_VISIBLE_FLAG;
-    osdLayoutsConfig->item_pos[0][OSD_GPS_HDOP] = OSD_POS(0, 10);
+    osdLayoutsConfig->item_pos[0][OSD_GPS_HDOP] = OSD_POS(0, 10);    
+    osdLayoutsConfig->item_pos[0][OSD_GPS_EXTRA_STATS] = OSD_POS(3, 11);
 
     osdLayoutsConfig->item_pos[0][OSD_GPS_LAT] = OSD_POS(0, 12);
     // Put this on top of the latitude, since it's very unlikely

src/main/io/osd.h

@@ -340,6 +340,7 @@ typedef enum {
     OSD_NAV_FW_ALT_CONTROL_RESPONSE,
     OSD_NAV_MIN_GROUND_SPEED,
     OSD_THROTTLE_GAUGE,
+    OSD_GPS_EXTRA_STATS, 
     OSD_ITEM_COUNT // MUST BE LAST
 } osd_items_e;