Add support for more RELPOS datums.

Author: nseidle

examples/ZED-F9P/Example5_RelativePositioningInformation/Example5_RelativePositioningInformation.ino

@@ -53,6 +53,20 @@ void loop()
     Serial.print("relPosD: ");
     Serial.println(myGPS.relPosInfo.relPosD, 4);
 
+    Serial.print("relPosLength: ");
+    Serial.println(myGPS.relPosInfo.relPosLength);
+    Serial.print("relPosHeading: ");
+    Serial.println(myGPS.relPosInfo.relPosHeading);
+
+    Serial.print("relPosHPN: ");
+    Serial.println(myGPS.relPosInfo.relPosHPN);
+    Serial.print("relPosHPE: ");
+    Serial.println(myGPS.relPosInfo.relPosHPE);
+    Serial.print("relPosHPD: ");
+    Serial.println(myGPS.relPosInfo.relPosHPD);
+    Serial.print("relPosHPLength: ");
+    Serial.println(myGPS.relPosInfo.relPosHPLength);
+
     Serial.print("accN: ");
     Serial.println(myGPS.relPosInfo.accN, 4);
     Serial.print("accE: ");

examples/ZED-F9P/Example7_SetVal/Example7_SetVal.ino

@@ -57,7 +57,7 @@ void setup()
 
   //Below is the original way we enabled the RTCM message on the I2C port. After that, we show how to do the same
   //but with setVal().
-  //myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
+  //Original: myGPS.enableRTCMmessage(UBX_RTCM_1005, COM_PORT_I2C, 1); //Enable message 1005 to output through I2C port, message every second
   //setValueSuccess = myGPS.setVal(0x209102bd, 1); //Set output rate of msg 1005 over the I2C port to once per second
 
   if(setValueSuccess == true)

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun Ublox Arduino Library
-version=1.3.0
+version=1.3.1
 author=SparkFun Electronics <techsupport@sparkfun.com>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with Ublox modules

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1458,6 +1458,14 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
   tempRelPos = extractLong(16);
   relPosInfo.relPosD = tempRelPos / 100.0; //Convert cm to m
 
+  relPosInfo.relPosLength = extractLong(20);
+  relPosInfo.relPosHeading = extractLong(24);
+
+  relPosInfo.relPosHPN = payloadCfg[32];
+  relPosInfo.relPosHPE = payloadCfg[33];
+  relPosInfo.relPosHPD = payloadCfg[34];
+  relPosInfo.relPosHPLength = payloadCfg[35];
+
   uint32_t tempAcc;
 
   tempAcc = extractLong(24);

src/SparkFun_Ublox_Arduino_Library.h

@@ -289,6 +289,15 @@ class SFE_UBLOX_GPS
 		float relPosN;
 		float relPosE;
 		float relPosD;
+
+		long relPosLength;
+		long relPosHeading;
+
+		int8_t relPosHPN;
+		int8_t relPosHPE;
+		int8_t relPosHPD;
+		int8_t relPosHPLength;
+
 		float accN;
 		float accE;
 		float accD;