fix(ArduPlane): Derive GNSS serial protocol from connection (F17)

ardupilot_methodic_configurator/configuration_steps_ArduPlane.json

@@ -594,7 +594,16 @@
             "autoimport_nondefault_regexp": ["BRD_BOOT_DELAY", "GPS.*", "GNSS.*"],
             "derived_parameters": {
                 "GPS_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) < Version('4.6')", "New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" },
-                "GPS1_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.6')","New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" }
+                "GPS1_TYPE": { "if": "Version(vehicle_components['Flight Controller']['Firmware']['Version'].split(' ')[0]) >= Version('4.6')","New Value": "vehicle_components['GNSS Receiver']['FC Connection']['Protocol']", "Change Reason": "Defined in component editor" },
+                "SERIAL1_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL1' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL2_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL2' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL3_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL3' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL4_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL4' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL5_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL5' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL6_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL6' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL7_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL7' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL8_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL8' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" },
+                "SERIAL9_PROTOCOL": { "if": "vehicle_components['GNSS Receiver']['FC Connection']['Type'] == 'SERIAL9' and vehicle_components['GNSS Receiver']['FC Connection']['Protocol'] in ['AUTO', 'uBlox', 'NMEA', 'SiRF', 'SwiftNav', 'Septentrio(SBF)', 'Trimble(GSOF)', 'ERB', 'NOVA', 'HemisphereNMEA', 'uBlox-MovingBaseline-Base', 'uBlox-MovingBaseline-Rover', 'AllyStar', 'UnicoreNMEA', 'UnicoreMovingBaselineNMEA', 'Septentrio-DualAntenna(SBF)']", "New Value": "5", "Change Reason": "Physical GNSS receiver requires GPS serial transport" }
             },
             "rename_connection": "vehicle_components['GNSS Receiver']['FC Connection']['Type']",
             "old_filenames": [],

ardupilot_methodic_configurator/configuration_steps_strings.py

@@ -424,6 +424,7 @@ def configuration_steps_strings() -> None:  # noqa: PLR0915 # pylint: disable=to
     _config_steps_strings = _("PID notch filters require batch logging, not raw logging")
     _config_steps_strings = _("PID notch filters require batch pre- and post- filters logging")
     _config_steps_strings = _("Perform all arming checks. If you have a problem fix its source. Do NOT change this")
+    _config_steps_strings = _("Physical GNSS receiver requires GPS serial transport")
     _config_steps_strings = _("Pitch")
     _config_steps_strings = _("Pitch and Roll")
     _config_steps_strings = _("Q_M_SPIN_ARM plus at least 0.03")

ardupilot_methodic_configurator/data_model_parameter_editor.py

@@ -58,8 +58,8 @@
 from ardupilot_methodic_configurator.plugins.plugin_factory import PluginModelContext, plugin_factory
 from ardupilot_methodic_configurator.tempcal_imu import IMUfit
 
-# GNSS MAVLink protocol default value (ArduPilot GPS_TYPE value 5 = MAVLink GPS)
-_GNSS_MAVLINK_PROTOCOL_VALUE = "5"
+# ArduPilot SERIALn_PROTOCOL value 5 selects GPS serial transport, not a GPS1_TYPE driver.
+_GNSS_SERIAL_GPS_PROTOCOL_VALUE = "5"
 # The rename_connection expression that identifies a GNSS-via-MAVLink step
 _GNSS_FC_CONNECTION_RENAME_EXPR = "vehicle_components['GNSS Receiver']['FC Connection']['Type']"
 
@@ -2806,9 +2806,13 @@ def refresh_current_step_computed_parameters(self) -> None:
             self._refresh_current_step_connection_renames(step_info, variables)
 
     def _apply_gnss_protocol_value(self, target_name: str) -> None:
-        """Set the GNSS MAVLink protocol value on a newly renamed _PROTOCOL parameter, ignoring no-op updates."""
+        """Apply the legacy GNSS serial value only when no step rule owns the destination."""
+        parameter = self.current_step_parameters[target_name]
+        step_info = self._local_filesystem.configuration_steps.get(self.current_file, {})
+        if parameter.is_forced or parameter.is_derived or target_name in step_info.get("derived_parameters", {}):
+            return
         with contextlib.suppress(ParameterUnchangedError):
-            self.current_step_parameters[target_name].set_new_value(_GNSS_MAVLINK_PROTOCOL_VALUE, ignore_out_of_range=True)
+            parameter.set_new_value(_GNSS_SERIAL_GPS_PROTOCOL_VALUE, ignore_out_of_range=True)
 
     def _refresh_current_step_connection_renames(self, step_info: dict, variables: dict) -> None:  # pylint: disable=too-many-branches
         """

ardupilot_methodic_configurator/vehicle_templates/ArduPlane/empty_4.7.x/18_gnss.param

@@ -4,4 +4,3 @@ GPS1_POS_X,0
 GPS1_POS_Y,0
 GPS1_POS_Z,0
 GPS1_TYPE,1  # Defined in component editor
-SERIAL3_PROTOCOL,5

ardupilot_methodic_configurator/vehicle_templates/ArduPlane/normal_plane/18_gnss.param

@@ -4,4 +4,3 @@ GPS_POS1_X,0
 GPS_POS1_Y,0
 GPS_POS1_Z,0
 GPS_TYPE,1  # Defined in component editor
-SERIAL3_PROTOCOL,5

tests/test_arduplane_gnss_serial_default.py

@@ -0,0 +1,156 @@
+#!/usr/bin/env python3
+
+"""
+Regression tests for ArduPlane GNSS serial transport selection.
+
+This file is part of ArduPilot Methodic Configurator. https://github.com/ArduPilot/MethodicConfigurator
+
+SPDX-FileCopyrightText: 2026 ArduPilot Methodic Configurator contributors
+
+SPDX-License-Identifier: GPL-3.0-or-later
+"""
+
+import json
+from pathlib import Path
+from unittest.mock import MagicMock
+
+import pytest
+
+from ardupilot_methodic_configurator.backend_filesystem_configuration_steps import ConfigurationSteps
+from ardupilot_methodic_configurator.data_model_configuration_step import ConfigurationStepProcessor
+from ardupilot_methodic_configurator.data_model_par_dict import Par, ParDict
+from ardupilot_methodic_configurator.data_model_parameter_editor import ParameterEditor
+
+ROOT = Path(__file__).resolve().parents[1] / "ardupilot_methodic_configurator"
+STEP = "18_gnss.param"
+TEMPLATES = ("empty_4.7.x", "normal_plane")
+GPS_DRIVERS = {
+    "None": 0,
+    "AUTO": 1,
+    "uBlox": 2,
+    "NMEA": 5,
+    "HIL": 7,
+    "DroneCAN": 9,
+    "MAVLink": 14,
+    "MSP": 19,
+    "ExternalAHRS": 21,
+}
+
+
+def gnss_filesystem(connection: str, driver: str, version: str, saved: ParDict) -> MagicMock:
+    """Use the real Plane step calculations with a project and component selection."""
+    step = json.loads((ROOT / "configuration_steps_ArduPlane.json").read_text(encoding="utf-8"))["steps"][STEP]
+    calculations = ConfigurationSteps("", "ArduPlane")
+    filesystem = MagicMock()
+    filesystem.file_parameters = {STEP: saved}
+    filesystem.configuration_steps = {STEP: step}
+    filesystem.forced_parameters = calculations.forced_parameters
+    filesystem.derived_parameters = calculations.derived_parameters
+    filesystem.add_parameters = calculations.add_parameters
+    filesystem.param_default_dict = {"GPS1_GNSS_MODE": Par(0), "GPS1_TYPE": Par(1)}
+    filesystem.doc_dict = {
+        "GPS_TYPE": {"values": {str(number): name for name, number in GPS_DRIVERS.items()}},
+        "GPS1_TYPE": {"values": {str(number): name for name, number in GPS_DRIVERS.items()}},
+    }
+    filesystem.get_eval_variables.return_value = {
+        "vehicle_components": {
+            "Flight Controller": {"Firmware": {"Version": version}},
+            "GNSS Receiver": {"FC Connection": {"Type": connection, "Protocol": driver}},
+        },
+        "doc_dict": filesystem.doc_dict,
+    }
+    filesystem.compute_forced_and_derived_parameters.side_effect = calculations.compute_forced_and_derived_parameters
+    filesystem.compute_parameters.side_effect = calculations.compute_parameters
+    filesystem.compute_deletions.side_effect = calculations.compute_deletions
+    filesystem.compute_add_parameters.side_effect = calculations.compute_add_parameters
+    return filesystem
+
+
+@pytest.mark.parametrize("template", TEMPLATES)
+def test_generic_plane_gnss_template_does_not_choose_serial3(template: str) -> None:
+    """The Plane templates keep all other GNSS settings but no UART default."""
+    parameters = ParDict.from_file(str(ROOT / "vehicle_templates" / "ArduPlane" / template / STEP))
+    assert "SERIAL3_PROTOCOL" not in parameters
+    assert "BRD_SAFETY_DEFLT" in parameters
+    assert {name for name in parameters if name.startswith("SERIAL")} == set()
+
+
+@pytest.mark.parametrize("template_case", [("empty_4.7.x", "4.7.2", "GPS1_TYPE"), ("normal_plane", "4.5.7", "GPS_TYPE")])
+@pytest.mark.parametrize(
+    "gnss_case",
+    [
+        ("None", "None", None),
+        ("SERIAL3", "AUTO", "SERIAL3_PROTOCOL"),
+        ("SERIAL2", "uBlox", "SERIAL2_PROTOCOL"),
+        ("SERIAL4", "NMEA", "SERIAL4_PROTOCOL"),
+        ("CAN1", "DroneCAN", None),
+        ("SERIAL3", "MAVLink", None),
+        ("SERIAL3", "MSP", None),
+        ("SERIAL3", "HIL", None),
+        ("SERIAL3", "ExternalAHRS", None),
+    ],
+)
+def test_gnss_step_derives_driver_and_only_physical_gps_serial_transport(
+    template_case: tuple[str, str, str], gnss_case: tuple[str, str, str | None]
+) -> None:
+    """Physical serial GNSS gets transport 5 while other positioning paths do not."""
+    template, version, gps_parameter = template_case
+    saved = ParDict.from_file(str(ROOT / "vehicle_templates" / "ArduPlane" / template / STEP))
+    filesystem = gnss_filesystem(gnss_case[0], gnss_case[1], version, saved)
+    _parameters, errors, _infos, _duplicates, _renames, derived, _imported = ConfigurationStepProcessor(
+        filesystem
+    ).process_configuration_step(STEP, {})
+
+    assert not errors
+    assert derived[gps_parameter].value == GPS_DRIVERS[gnss_case[1]]
+    serial = {name: param.value for name, param in derived.items() if name.startswith("SERIAL")}
+    assert serial == ({gnss_case[2]: 5} if gnss_case[2] else {})
+
+
+def test_saved_serial_setting_and_eligible_fc_import_are_preserved() -> None:
+    """Saved port settings survive and the existing GNSS import rule still applies."""
+    saved = ParDict({"SERIAL2_PROTOCOL": Par(5, "saved GPS port"), "SERIAL2_BAUD": Par(115, "saved baud")})
+    filesystem = gnss_filesystem("SERIAL2", "uBlox", "4.7.2", saved)
+    parameters, errors, _infos, duplicates, renames, derived, imported = ConfigurationStepProcessor(
+        filesystem
+    ).process_configuration_step(
+        STEP, {"SERIAL2_PROTOCOL": 5, "SERIAL2_BAUD": 115, "GPS1_GNSS_MODE": 3, "SERIAL3_PROTOCOL": 2}
+    )
+
+    assert not errors
+    assert not duplicates
+    assert not renames
+    assert parameters["SERIAL2_PROTOCOL"].get_new_value() == 5
+    assert parameters["SERIAL2_BAUD"].get_new_value() == 115
+    assert parameters["SERIAL2_BAUD"].change_reason == "saved baud"
+    assert derived["SERIAL2_PROTOCOL"].value == 5
+    assert imported == {"GPS1_GNSS_MODE"}
+    assert parameters["GPS1_GNSS_MODE"].get_new_value() == 3
+    assert "SERIAL3_PROTOCOL" not in parameters
+
+
+def test_existing_gnss_connection_rename_moves_saved_baud() -> None:
+    """A project baud setting follows the selected port through existing rename logic."""
+    filesystem = gnss_filesystem("SERIAL4", "uBlox", "4.7.2", ParDict({"SERIAL3_BAUD": Par(115)}))
+    _parameters, errors, _infos, _duplicates, renames, derived, _imported = ConfigurationStepProcessor(
+        filesystem
+    ).process_configuration_step(STEP, {})
+
+    assert not errors
+    assert renames == [("SERIAL3_BAUD", "SERIAL4_BAUD")]
+    assert derived["SERIAL4_PROTOCOL"].value == 5
+
+
+def test_editor_displays_derived_gnss_serial_protocol() -> None:
+    """A newly selected physical UART protocol appears in the editor table model."""
+    saved = ParDict.from_file(str(ROOT / "vehicle_templates" / "ArduPlane" / "empty_4.7.x" / STEP))
+    filesystem = gnss_filesystem("SERIAL2", "uBlox", "4.7.2", saved)
+    flight_controller = MagicMock()
+    flight_controller.fc_parameters = {}
+    editor = ParameterEditor(STEP, flight_controller, filesystem)
+
+    errors, _infos = editor._repopulate_configuration_step_parameters()  # pylint: disable=protected-access
+
+    assert not errors
+    assert editor.current_step_parameters["SERIAL2_PROTOCOL"].get_new_value() == 5
+    assert "SERIAL2_PROTOCOL" in editor._added_parameters  # pylint: disable=protected-access