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Enable UBX-RXM-RAWX in default receiver config - #155
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leoleovich wants to merge 4 commits into
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The NTRIP client builds MSM7 from UBX-RXM-RAWX and discards the receiver's own 1077/1087/1097/1127. On a dual-band receiver those cost ~985 B per epoch, which is ~86 ms of the 115200-baud UART every second, delaying 1005/1230 and everything else serialized behind them. Drop them from both the runtime enable list and the reference config that check_gnss_config_in_ram() compares against. The two disagreed before (template 0, runtime 1), so every restart saw a mismatch and reconfigured the receiver. Measured on time01.cln3 (ZED-F9T, L1+L2), MSM7 burst to trailing 1005: before 79.9, 120.6, 80.3, 121.1 ms (mean 100.5) after 29.7, 9.5, 29.9, 9.7 ms (mean 19.7) Full epoch completion improved 137.2 -> 49.9 ms. Restarts now log "Receiver already configured to desired configuration".
rtcm_sock_cleanup() unconditionally joined rtcm_accept_thread, but that handle is only assigned when pthread_create() succeeds. rtcm_enabled is set before the socket and thread exist, so a failing rtcm_sock_create() or pthread_create() left the handle uninitialized (the struct comes from malloc, not calloc) and the join ran on garbage. Track whether the thread was started and join only then.
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UBX-RXM-RAWX is always enabled at runtime for per-band satellite monitoring (L1/L2/L5 signal counts). Setting rate=1 on UART1 directly in the default config arrays ensures the receiver's flash matches the desired state on the first boot, avoiding an unnecessary reconfiguration + hardware reset on hosts where gnss-rtcm-enabled is not set.
No release needed (non-critical and on by default on our fleet)