Step_5

Author: PaulZC

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -355,6 +355,7 @@ const uint8_t UBX_NAV_ORB = 0x34; //GNSS Orbit Database Info
 constuint8_t UBX_NAV_POSECEF = 0x01; //Position Solution in ECEF
 constuint8_t UBX_NAV_POSLLH = 0x02; //Geodetic Position Solution
 constuint8_t UBX_NAV_PVT = 0x07; //All the things! Position, velocity, time, PDOP, height, h/v accuracies, number of satellites. Navigation Position Velocity Time Solution.
+constuint8_t UBX_NAV_PVAT = 0x17; //Navigation position velocity attitude time solution (ZED-F9R only)
 constuint8_t UBX_NAV_RELPOSNED = 0x3C; //Relative Positioning Information in NED frame
 constuint8_t UBX_NAV_RESETODO = 0x10; //Reset odometer
 constuint8_t UBX_NAV_SAT = 0x35; //Satellite Information
@@ -983,7 +984,7 @@ class SFE_UBLOX_GNSS
 voidflushNAVHPPOSECEF(); //Mark all the data as read/stale
 voidlogNAVHPPOSECEF(bool enabled = true); // Log data to file buffer
 
-boolgetHPPOSLLH(uint16_t maxWait = defaultMaxWait); //Query module for latest group of datums and load global vars: lat, long, alt, speed, SIV, accuracies, etc. If autoPVT is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new HPPOSLLH is available.
+boolgetHPPOSLLH(uint16_t maxWait = defaultMaxWait); // NAV HPPOSLLH
 boolsetAutoHPPOSLLH(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency
 boolsetAutoHPPOSLLH(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic HPPOSLLH reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
 boolsetAutoHPPOSLLHrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic HPPOSLLH reports
@@ -992,6 +993,15 @@ class SFE_UBLOX_GNSS
 voidflushHPPOSLLH(); //Mark all the HPPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure
 voidlogNAVHPPOSLLH(bool enabled = true); // Log data to file buffer
 
+boolgetNAVPVAT(uint16_t maxWait = defaultMaxWait); // NAV PVAT
+boolsetAutoNAVPVAT(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVAT reports at the navigation frequency
+boolsetAutoNAVPVAT(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic PVAT reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
+boolsetAutoNAVPVATrate(uint8_t rate, bool implicitUpdate = true, uint16_t maxWait = defaultMaxWait); //Set the rate for automatic PVAT reports
+boolsetAutoNAVPVATcallback(void (*callbackPointer)(UBX_NAV_PVAT_data_t), uint16_t maxWait = defaultMaxWait); //Enable automatic PVAT reports at the navigation frequency. Data is accessed from the callback.
+boolassumeAutoNAVPVAT(bool enabled, bool implicitUpdate = true); //In case no config access to the GPS is possible and PVAT is send cyclically already
+voidflushNAVPVAT(); //Mark all the PVAT data as read/stale
+voidlogNAVPVAT(bool enabled = true); // Log data to file buffer
+
 boolgetNAVCLOCK(uint16_t maxWait = defaultMaxWait); // NAV CLOCK
 boolsetAutoNAVCLOCK(bool enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic clock reports at the navigation frequency
 boolsetAutoNAVCLOCK(bool enabled, bool implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic clock reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
@@ -1256,6 +1266,13 @@ class SFE_UBLOX_GNSS
 uint32_tgetHorizontalAccuracy(uint16_t maxWait = defaultMaxWait);
 uint32_tgetVerticalAccuracy(uint16_t maxWait = defaultMaxWait);
 
+// Helper functions for PVAT
+
+int32_tgetVehicleRoll(uint16_t maxWait = defaultMaxWait); // Returns vehicle roll in degrees * 10^-5
+int32_tgetVehiclePitch(uint16_t maxWait = defaultMaxWait); // Returns vehicle pitch in degrees * 10^-5
+int32_tgetVehicleHeading(uint16_t maxWait = defaultMaxWait); // Returns vehicle heading in degrees * 10^-5
+int32_tgetMotionHeading(uint16_t maxWait = defaultMaxWait); // Returns the motion heading in degrees * 10^-5
+
 // Helper functions for SVIN
 
 boolgetSurveyInActive(uint16_t maxWait = defaultMaxWait);
@@ -1324,6 +1341,7 @@ class SFE_UBLOX_GNSS
  UBX_NAV_VELNED_t *packetUBXNAVVELNED = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
  UBX_NAV_HPPOSECEF_t *packetUBXNAVHPPOSECEF = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
  UBX_NAV_HPPOSLLH_t *packetUBXNAVHPPOSLLH = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
+ UBX_NAV_PVAT_t *packetUBXNAVPVAT = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
  UBX_NAV_CLOCK_t *packetUBXNAVCLOCK = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
  UBX_NAV_TIMELS_t *packetUBXNAVTIMELS = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
  UBX_NAV_SVIN_t *packetUBXNAVSVIN = NULL; // Pointer to struct. RAM will be allocated for this if/when necessary
@@ -1408,6 +1426,7 @@ class SFE_UBLOX_GNSS
 boolinitPacketUBXNAVVELNED(); // Allocate RAM for packetUBXNAVVELNED and initialize it
 boolinitPacketUBXNAVHPPOSECEF(); // Allocate RAM for packetUBXNAVHPPOSECEF and initialize it
 boolinitPacketUBXNAVHPPOSLLH(); // Allocate RAM for packetUBXNAVHPPOSLLH and initialize it
+boolinitPacketUBXNAVPVAT(); // Allocate RAM for packetUBXNAVPVAT and initialize it
 boolinitPacketUBXNAVCLOCK(); // Allocate RAM for packetUBXNAVCLOCK and initialize it
 boolinitPacketUBXNAVTIMELS(); // Allocate RAM for packetUBXNAVTIMELS and initialize it
 boolinitPacketUBXNAVSVIN(); // Allocate RAM for packetUBXNAVSVIN and initialize it