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Introduction
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<a href="../WiFi/" class="md-nav__link">
<span class="md-ellipsis">
WiFi and MQTT by Firmware Type
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</li>
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<a href="../cad_scan_validation/" class="md-nav__link">
<span class="md-ellipsis">
SX1262 channel-scanning hardware results
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</a>
</li>
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<span class="md-ellipsis">
Carrier-wave RF checks
</span>
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</li>
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<span class="md-ellipsis">
CW and CW2 validation
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CLI Availability by Firmware Build
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CLI Command Availability Matrix
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CLI Commands
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<span class="md-ellipsis">
CLI setting dispatch audit
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Full Companion contact caches
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<a href="../companion_contact_cache_results/" class="md-nav__link">
<span class="md-ellipsis">
Contact-cache and NimBLE RAM qualification
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<a href="../companion_offline_queue/" class="md-nav__link">
<span class="md-ellipsis">
Companion Offline Message Queue
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Companion Protocol
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<span class="md-ellipsis">
Full Companion
</span>
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<a href="../companion_usb_ascii_validation/" class="md-nav__link">
<span class="md-ellipsis">
USB Companion ASCII default validation
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<a href="../companion_usb_client_validation/" class="md-nav__link">
<span class="md-ellipsis">
USB Companion client compatibility
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Local Documentation
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<a href="../double_frequency_v4_validation/" class="md-nav__link">
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Double center-frequency write: V4 transmitter / XIAO receiver
</span>
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Classic ESP32 image memory budget
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ESP-NOW bridge: simple setup
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Frequently Asked Questions
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Filter policy playground
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Firmware memory checks
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Firmware picker
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Flood Filtering and Moderation
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<a href="../four_fixed_tx_dwell_validation/" class="md-nav__link">
<span class="md-ellipsis">
Four fixed transmitters: longer dwell repeats
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<a href="../four_fixed_tx_single_pass_validation/" class="md-nav__link">
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Four fixed transmitters / fast single-pass receiver
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<a href="../full_companion_features/" class="md-nav__link">
<span class="md-ellipsis">
Full Companion: turn features on and off
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<a href="../full_companion_usb_switcher/" class="md-nav__link">
<span class="md-ellipsis">
Companion USB CLI and binary switcher
</span>
</a>
</li>
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<a href="../full_usb_logging_validation/" class="md-nav__link">
<span class="md-ellipsis">
Full USB logging repair — 1.17.1.6
</span>
</a>
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GPS Tracking
</span>
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<span class="md-ellipsis">
GPS Tracking
</span>
</a>
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Table of contents
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<li class="md-nav__item">
<a href="#scope" class="md-nav__link">
<span class="md-ellipsis">
Scope
</span>
</a>
</li>
<li class="md-nav__item">
<a href="#freshness" class="md-nav__link">
<span class="md-ellipsis">
Freshness
</span>
</a>
</li>
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<span class="md-ellipsis">
Companion/Client Nodes
</span>
</a>
</li>
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<a href="#sensor-nodes" class="md-nav__link">
<span class="md-ellipsis">
Sensor Nodes
</span>
</a>
</li>
<li class="md-nav__item">
<a href="#advert-location" class="md-nav__link">
<span class="md-ellipsis">
Advert Location
</span>
</a>
</li>
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<a href="#recommended-setup" class="md-nav__link">
<span class="md-ellipsis">
Recommended Setup
</span>
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<li class="md-nav__item">
<a href="../halo_keymind_settings/" class="md-nav__link">
<span class="md-ellipsis">
Halo and Keymind Branch Settings
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../hardware_validation_bluetooth_stealth_2026-09-07/" class="md-nav__link">
<span class="md-ellipsis">
XIAO Bluetooth stealth hardware validation - 2026-09-07
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../hardware_validation_checklist/" class="md-nav__link">
<span class="md-ellipsis">
Hardware validation checklist
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../home_text_spacing/" class="md-nav__link">
<span class="md-ellipsis">
Home-screen text spacing
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../host_cli_service/" class="md-nav__link">
<span class="md-ellipsis">
LoRa CLI Host Service
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../kiss_modem_protocol/" class="md-nav__link">
<span class="md-ellipsis">
MeshCore KISS Modem Protocol
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../lora_ota_automation/" class="md-nav__link">
<span class="md-ellipsis">
Scripted LoRa OTA from start to finish
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../mbedtls-tls-footprint/" class="md-nav__link">
<span class="md-ellipsis">
Shrinking the per-connection TLS footprint on non-PSRAM observers
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../mixed_scan_validation/" class="md-nav__link">
<span class="md-ellipsis">
Mixed-bandwidth two-channel reception test
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../mixed_sf_bw_validation/" class="md-nav__link">
<span class="md-ellipsis">
Equal-symbol-time mixed SF/BW, four-channel test
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../nimble_companion_trial/" class="md-nav__link">
<span class="md-ellipsis">
ESP32-S3 NimBLE Full Companion trial
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../nimble_companion_trial_results/" class="md-nav__link">
<span class="md-ellipsis">
ESP32-S3 NimBLE trial results, 2026-09-08
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../nrf52-usb-ready-fix/" class="md-nav__link">
<span class="md-ellipsis">
nRF52 USB READY hang
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../nrf52_companion_storage_recovery/" class="md-nav__link">
<span class="md-ellipsis">
nRF52 Companion automatic ExtraFS recovery
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../nrf52_power_management/" class="md-nav__link">
<span class="md-ellipsis">
nRF52 Power Management
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../number_allocations/" class="md-nav__link">
<span class="md-ellipsis">
Number Allocations
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_easy/" class="md-nav__link">
<span class="md-ellipsis">
Easy firmware updates over LoRa
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_meshtower_v2_sdcard/" class="md-nav__link">
<span class="md-ellipsis">
MeshTower V2 microSD LoRa OTA
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_nrf52_bootloader_update/" class="md-nav__link">
<span class="md-ellipsis">
nRF52 bootloader updates over LoRa
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_nrf52_qspi/" class="md-nav__link">
<span class="md-ellipsis">
nRF52 repeater LoRa OTA with external QSPI
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_protocol/" class="md-nav__link">
<span class="md-ellipsis">
MeshCore OTA - .mota container &amp; LoRa protocol
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../ota_user_guide/" class="md-nav__link">
<span class="md-ellipsis">
Updating your node over the air (OTA) - user guide
</span>
</a>
</li>
<li class="md-nav__item">
<a href="../packet_format/" class="md-nav__link">
<span class="md-ellipsis">
Packet Format
</span>
</a>
</li>
<li class="md-nav__item">
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<h1 id="gps-tracking">GPS Tracking</h1>
<p>This document describes how GPS telemetry works for companion/client nodes and
sensor nodes.</p>
<h2 id="scope">Scope</h2>
<p>GPS tracking uses the existing CayenneLPP GPS telemetry field. It does not add a
new phone app protocol field.</p>
<p>The GPS telemetry value contains latitude, longitude, and altitude. Speed,
heading, and freshness are not sent as separate telemetry fields.</p>
<p>If the firmware does not have a valid fresh GPS cache, it omits the GPS field
from telemetry. This is intentional: stale or missing fixes are not reported as
zero coordinates.</p>
<h2 id="freshness">Freshness</h2>
<p>GPS telemetry is cached separately from advert location.</p>
<p>The cache behavior is:</p>
<ul>
<li>Refresh the cached GPS value every 2 hours only when at least one contact or
ACL client can receive location telemetry.</li>
<li>Try for up to 15 minutes during a refresh.</li>
<li>If the position stays within about 100 meters for 30 seconds, cache a weighted
average of the stable fixes, with newer fixes weighted more heavily.</li>
<li>If the position moves outside that 100 meter circle during acquisition, cache
the latest valid fix.</li>
<li>Omit GPS from telemetry if there is no fix or if the cached fix is more than
12 hours old.</li>
</ul>
<p>When a telemetry request asks for location, GPS is kept on for 2 hours after the
latest location request. During that hold window, later location telemetry
requests can use fresh GPS data as soon as valid fixes are available.</p>
<p>If GPS is manually enabled, it stays on and valid fixes continue to update the
cache.</p>
<p>If no contact or ACL client can receive location telemetry, the scheduled
2-hour refresh does not run. A real location telemetry request still turns GPS
on for the 2-hour hold window, and manual GPS-on still keeps the cache updated.</p>
<h2 id="companionclient-nodes">Companion/Client Nodes</h2>
<p>Companion/client telemetry uses the existing companion telemetry permission
system:</p>
<ul>
<li>base telemetry</li>
<li>location telemetry</li>
<li>environment telemetry</li>
</ul>
<p>Location telemetry is sent only when the requester's effective telemetry
permissions include location. Those permissions are derived from the companion
telemetry mode settings and contact flags.</p>
<p>The scheduled GPS cache refresh runs only when at least one stored contact has
effective location telemetry access:</p>
<ul>
<li><code>location: allow all</code> with at least one stored contact</li>
<li><code>location: allow flags</code> with at least one stored contact whose flags include
location</li>
</ul>
<p>No new phone app behavior is required. Existing clients see the existing GPS
telemetry field when it is present.</p>
<h2 id="sensor-nodes">Sensor Nodes</h2>
<p>Sensor telemetry access is controlled by:</p>
<pre><code class="language-text">get telemetry.access
set telemetry.access all
set telemetry.access acl
</code></pre>
<p><code>all</code> is the default and matches the previous sensor telemetry behavior. A
request that reaches the normal sensor telemetry request path can receive the
requested telemetry fields, including GPS, subject to the request mask and GPS
freshness rules.</p>
<p><code>acl</code> gates telemetry through the sensor ACL. A requester with read-only or
higher permissions receives the existing telemetry set, including GPS. Guest or
unknown requesters receive no telemetry fields.</p>
<p>The scheduled GPS cache refresh follows the same access setting:</p>
<ul>
<li><code>all</code>: runs only when at least one ACL client exists</li>
<li><code>acl</code>: runs only when at least one ACL client is read-only or higher</li>
</ul>
<p>Use the existing ACL command to grant access:</p>
<pre><code class="language-text">setperm &lt;pubkey&gt; 1
</code></pre>
<p>Permission values:</p>
<ul>
<li><code>1</code>: read-only, suitable for telemetry access</li>
<li><code>2</code>: read-write</li>
<li><code>3</code>: admin</li>
</ul>
<h2 id="advert-location">Advert Location</h2>
<p>Advert location is separate from telemetry GPS. The advert policy is controlled
with:</p>
<pre><code class="language-text">gps advert
gps advert none
gps advert share
gps advert prefs
</code></pre>
<p>Policies:</p>
<ul>
<li><code>none</code>: do not include location in adverts</li>
<li><code>share</code>: use the live/shared sensor manager location</li>
<li><code>prefs</code>: use the stored node latitude and longitude preferences</li>
</ul>
<p><code>prefs</code> is the first-boot default for every repeater, room-server, and sensor
build. Firmware updates retain an explicitly saved policy from the existing
preferences filesystem.</p>
<p>Telemetry GPS can be fresh while advert location is fixed or disabled, depending
on this policy.</p>
<h2 id="recommended-setup">Recommended Setup</h2>
<p>For private sensor tracking:</p>
<pre><code class="language-text">set telemetry.access acl
setperm &lt;owner_pubkey&gt; 3
setperm &lt;trusted_pubkey&gt; 1
</code></pre>
<p>For compatibility with the older sensor behavior:</p>
<pre><code class="language-text">set telemetry.access all
</code></pre>
<p>For GPS telemetry behavior, leave the phone app unchanged. The firmware omits
GPS when it is stale or missing and sends the existing GPS telemetry field when
fresh data is available.</p>
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