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pigeond: overwrite cached AssistNow time with host UTC (#39071)

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* pigeond: fix stale AssistNow time assistance

* pigeond: save GNSS state after stopping receiver

* pigeond: preserve fractional UTC assistance

* Revert "pigeond: save GNSS state after stopping receiver"

This reverts commit 5bf5ea84d8a995f7561a58bdf6d071cc78759703.

* pigeond: send current time after AssistNow assistance

* pigeond: simplify AssistNow initialization filter

* pigeond: send host time only with AssistNow

* pigeond: check host time validity inside send_time

* Update pigeond.py

---------

Co-authored-by: haraschax <6804392+haraschax@users.noreply.github.com>

(cherry picked from commit 4c535577640a1dc8d91b017584de2c9b010f491b)
This commit is contained in:
Harald Schäfer
2026-10-13 11:45:14 -07:00
committed by firestar5683
parent 21d280d92f
commit 06c4fa9aff
1 changed files with 29 additions and 24 deletions
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openpilot/system/ubloxd/pigeond.py
+29 -24
View File
@@ -67,7 +67,9 @@ def get_assistnow_messages() -> list[bytes]:
while len(dat) > 0:
assert dat[:2] == b"\xB5\x62"
msg_len = 6 + (dat[5] << 8 | dat[4]) + 2
msgs.append(dat[:msg_len])
# Skip MGA-INI messages; time from proxyserver is a stale cache
if dat[2:4] != b"\x13\x40":
msgs.append(dat[:msg_len])
dat = dat[msg_len:]
return msgs
@@ -146,6 +148,31 @@ class TTYPigeon:
return True
return False
def send_time(pigeon: TTYPigeon) -> None:
if not system_time_valid():
return
cloudlog.warning("Sending current time to ublox")
# UBX-MGA-INI-TIME_UTC
t_now = datetime.now(UTC).replace(tzinfo=None)
msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack("<BBBBHBBBBBxIHxxI",
0x10,
0x00,
0x00,
0x80,
t_now.year,
t_now.month,
t_now.day,
t_now.hour,
t_now.minute,
t_now.second,
t_now.microsecond * 1000,
30,
0
))
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
def save_almanac(pigeon: TTYPigeon) -> None:
# store almanac in flash
pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
@@ -217,29 +244,6 @@ def init_pigeon(pigeon: TTYPigeon) -> bool:
else:
cloudlog.error(f"failed to restore almanac backup, status: {restore_status}")
# sending time to ublox
if system_time_valid():
t_now = datetime.now(UTC).replace(tzinfo=None)
cloudlog.warning("Sending current time to ublox")
# UBX-MGA-INI-TIME_UTC
msg = add_ubx_checksum(b"\xB5\x62\x13\x40\x18\x00" + struct.pack("<BBBBHBBBBBxIHxxI",
0x10,
0x00,
0x00,
0x80,
t_now.year,
t_now.month,
t_now.day,
t_now.hour,
t_now.minute,
t_now.second,
0,
30,
0
))
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
cloudlog.warning("Pigeon GPS on!")
break
except TimeoutError:
@@ -301,6 +305,7 @@ def run_receiving(duration: int = 0):
try:
for msg in assist_messages:
pigeon.send_with_ack(msg, ack=UBLOX_ASSIST_ACK)
send_time(pigeon)
cloudlog.warning("AssistNow messages sent")
except Exception:
cloudlog.warning("failed to send AssistNow messages")