Add detected message when GPS found

Tools/autotest/vehicle_test_suite.py

@@ -13509,11 +13509,11 @@ def GPSTypes(self):
         # if gps_type is None we auto-detect
         sim_gps = [
             # (0, "NONE"),
-            (1, "UBLOX", None, "u-blox", 5, 'detected'),
-            (5, "NMEA", 5, "NMEA", 5, 'detected'),
-            (6, "SBP", None, "SBP", 5, 'detected'),
+            (1, "UBLOX", None, "u-blox", 5, 'probing'),
+            (5, "NMEA", 5, "NMEA", 5, 'probing'),
+            (6, "SBP", None, "SBP", 5, 'probing'),
             # (7, "SBP2", 9, "SBP2", 5),  # broken, "waiting for config data"
-            (8, "NOVA", 15, "NOVA", 5, 'detected'),  # no attempt to auto-detect this in AP_GPS
+            (8, "NOVA", 15, "NOVA", 5, 'probing'),  # no attempt to auto-detect this in AP_GPS
             (11, "GSOF", 11, "GSOF", 5, 'specified'), # no attempt to auto-detect this in AP_GPS
             (19, "MSP", 19, "MSP", 32, 'specified'),  # no attempt to auto-detect this in AP_GPS
             # (9, "FILE"),
@@ -13528,7 +13528,11 @@ def GPSTypes(self):
             self.set_parameter("GPS_TYPE", gps_type)
             self.context_clear_collection('STATUSTEXT')
             self.reboot_sitl()
-            self.wait_statustext("%s as %s" % (detect_prefix, detect_name), check_context=True)
+            if detect_prefix == "probing":
+                self.wait_statustext(f"probing for {detect_name}", check_context=True)
+            else:
+                self.wait_statustext(f"specified as {detect_name}", check_context=True)
+            self.wait_statustext(f"detected {detect_name}", check_context=True)
             n = self.poll_home_position(timeout=120)
             distance = self.get_distance_int(orig, n)
             if distance > 1:
@@ -13565,8 +13569,8 @@ def MultipleGPS(self):
         # AP_GPS::init() at boot time, so it will never be detected.
         self.context_collect("STATUSTEXT")
         self.reboot_sitl()
-        self.wait_statustext("GPS 1: detected as u-blox", check_context=True)
-        self.wait_statustext("GPS 2: detected as u-blox", check_context=True)
+        self.wait_statustext("GPS 1: detected u-blox", check_context=True)
+        self.wait_statustext("GPS 2: detected u-blox", check_context=True)
         m = self.assert_receive_message("GPS2_RAW")
         self.progress(self.dump_message_verbose(m))
         # would be nice for it to take some time to get a fix....

libraries/AP_GPS/AP_GPS.cpp

@@ -999,6 +999,14 @@ void AP_GPS::update_instance(uint8_t instance)
             tnow = state[instance].last_corrected_gps_time_us/1000U;
             state[instance].corrected_timestamp_updated = false;
         }
+
+        // we set delta_time_ms to the timeout value when clearing
+        // state; use it being zero to mark first message
+        if (!state[instance].announced_detection) {
+            state[instance].announced_detection = true;
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "GPS %d: detected %s", instance + 1, drivers[instance]->name());
+        }
+
         // delta will only be correct after parsing two messages
         timing[instance].delta_time_ms = tnow - timing[instance].last_message_time_ms;
         timing[instance].last_message_time_ms = tnow;

libraries/AP_GPS/AP_GPS.h

@@ -212,6 +212,7 @@ class AP_GPS
         float undulation;                   //<height that WGS84 is above AMSL at the current location
         bool have_undulation;               ///<do we have a value for the undulation
         uint32_t last_gps_time_ms;          ///< the system time we got the last GPS timestamp, milliseconds
+        bool announced_detection;           ///< true once we have announced GPS has been seen to the user
         uint64_t last_corrected_gps_time_us;///< the system time we got the last corrected GPS timestamp, microseconds
         bool corrected_timestamp_updated;  ///< true if the corrected timestamp has been updated
         uint32_t lagged_sample_count;       ///< number of samples with 50ms more lag than expected

libraries/AP_GPS/GPS_Backend.cpp

@@ -136,7 +136,7 @@ void AP_GPS_Backend::_detection_message(char *buffer, const uint8_t buflen) cons
 
     if (dstate.auto_detected_baud) {
         hal.util->snprintf(buffer, buflen,
-                 "GPS %d: detected as %s at %d baud",
+                 "GPS %d: probing for %s at %d baud",
                  instance + 1,
                  name(),
                  int(gps._baudrates[dstate.current_baud]));

libraries/SITL/SIM_GPS.cpp

@@ -26,6 +26,8 @@
 #include "SIM_GPS_SBP.h"
 #include "SIM_GPS_UBLOX.h"
 
+#include <GCS_MAVLink/GCS.h>
+
 // the number of GPS leap seconds - copied from AP_GPS.h
 #define GPS_LEAPSECONDS_MILLIS 18000ULL
 
@@ -279,6 +281,9 @@ void GPS::check_backend_allocation()
 #endif
     };
 
+    if (configured_type != Type::NONE && backend == nullptr) {
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "SIM_GPS: No backend for %u", (unsigned)configured_type);
+    }
     allocated_type = configured_type;
 }
 

libraries/SITL/SITL.cpp

@@ -499,7 +499,7 @@ const AP_Param::GroupInfo SIM::var_gps[] = {
     // @Param: GPS_TYPE
     // @DisplayName: GPS 1 type
     // @Description: Sets the type of simulation used for GPS 1
-    // @Values: 0:None, 1:UBlox, 5:NMEA, 6:SBP, 7:File, 8:Nova, 9:SBP, 10:Trimble, 19:MSP
+    // @Values: 0:None, 1:UBlox, 5:NMEA, 6:SBP, 7:File, 8:Nova, 9:SBP2, 11:Trimble, 19:MSP
     // @User: Advanced
     AP_GROUPINFO("GPS_TYPE",       3, SIM,  gps_type[0],  GPS::Type::UBLOX),
     // @Param: GPS_BYTELOSS