Adding RELPOSNED basic function

Author: nseidle

keywords.txt

@@ -78,6 +78,8 @@ getProtocolVersionHigh	KEYWORD2
 getProtocolVersionLow	KEYWORD2
 getProtocolVersion  KEYWORD2
 
+getRELPOSNED    KEYWORD2
+
 factoryReset    KEYWORD2
 setAutoPVT  KEYWORD2
 

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1340,3 +1340,22 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
 
   return (true);
 }
+
+//Relative Positioning Information in NED frame
+//Returns true if commands was successful
+boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_NAV;
+  packetCfg.id = UBX_NAV_RELPOSNED;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(packetCfg, maxWait) == false)
+    return (false); //If command send fails then bail
+
+  //We got a response, now parse the bits
+  Serial.print("RELPOSNED: 0x");
+  Serial.println(payloadCfg[38], HEX);
+
+  return (true);
+}

src/SparkFun_Ublox_Arduino_Library.h

@@ -268,6 +268,8 @@ class SFE_UBLOX_GPS
 	uint8_t getProtocolVersionLow(uint16_t maxWait = 1000);	//Returns the PROTVER 00.XX from UBX-MON-VER register
 	boolean getProtocolVersion(uint16_t maxWait = 1000);		 //Queries module, loads low/high bytes
 
+	boolean getRELPOSNED(uint16_t maxWait = 1000); //Get Relative Positioning Information of the NED frame
+
 	//Survey-in specific controls
 	struct svinStructure
 	{