NAV-PVT velocity parameters parsed.

Author: balamuruganky

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -986,6 +986,12 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       latitude = extractLong(28 - startingSpot);
       altitude = extractLong(32 - startingSpot);
       altitudeMSL = extractLong(36 - startingSpot);
+      horizontalAccEst = extractLong(40 - startingSpot);
+      verticalAccEst = extractLong(44 - startingSpot);
+      nedNorthVel = extractLong(48 - startingSpot);
+      nedEastVel = extractLong(52 - startingSpot);
+      nedDownVel = extractLong(56 - startingSpot);
+
       groundSpeed = extractLong(60 - startingSpot);
       headingOfMotion = extractLong(64 - startingSpot);
       pDOP = extractInt(76 - startingSpot);
@@ -1007,6 +1013,13 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       moduleQueried.latitude = true;
       moduleQueried.altitude = true;
       moduleQueried.altitudeMSL = true;
+
+      moduleQueried.horizontalAccEst = true;
+      moduleQueried.verticalAccEst = true;
+      moduleQueried.nedNorthVel = true;
+      moduleQueried.nedEastVel = true;
+      moduleQueried.nedDownVel = true;
+
       moduleQueried.SIV = true;
       moduleQueried.fixType = true;
       moduleQueried.carrierSolution = true;
@@ -3308,6 +3321,56 @@ int32_t SFE_UBLOX_GPS::getAltitudeMSL(uint16_t maxWait)
   return (altitudeMSL);
 }
 
+int32_t SFE_UBLOX_GPS::getHorizontalAccEst(uint16_t maxWait)
+{
+  if (moduleQueried.horizontalAccEst == false)
+    getPVT(maxWait);
+  moduleQueried.horizontalAccEst = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (horizontalAccEst);
+}
+
+int32_t SFE_UBLOX_GPS::getVerticalAccEst(uint16_t maxWait)
+{
+  if (moduleQueried.verticalAccEst == false)
+    getPVT(maxWait);
+  moduleQueried.verticalAccEst = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (verticalAccEst);
+}
+
+int32_t SFE_UBLOX_GPS::getNedNorthVel(uint16_t maxWait)
+{
+  if (moduleQueried.nedNorthVel == false)
+    getPVT(maxWait);
+  moduleQueried.nedNorthVel = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (nedNorthVel);
+}
+
+int32_t SFE_UBLOX_GPS::getNedEastVel(uint16_t maxWait)
+{
+  if (moduleQueried.nedEastVel == false)
+    getPVT(maxWait);
+  moduleQueried.nedEastVel = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (nedEastVel);
+}
+
+int32_t SFE_UBLOX_GPS::getNedDownVel(uint16_t maxWait)
+{
+  if (moduleQueried.nedDownVel == false)
+    getPVT(maxWait);
+  moduleQueried.nedDownVel = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (nedDownVel);
+}
+
 //Get the number of satellites used in fix
 uint8_t SFE_UBLOX_GPS::getSIV(uint16_t maxWait)
 {
@@ -3800,4 +3863,4 @@ bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, i
 bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait)
 {
   return (setStaticPosition(ecefXOrLat, 0, ecefYOrLon, 0, ecefZOrAlt, 0, latlong, maxWait));
-}
+}

src/SparkFun_Ublox_Arduino_Library.h

@@ -508,6 +508,13 @@ class SFE_UBLOX_GPS
 	int32_t getLongitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
 	int32_t getAltitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current altitude in mm above ellipsoid
 	int32_t getAltitudeMSL(uint16_t maxWait = getPVTmaxWait);		  //Returns the current altitude in mm above mean sea level
+
+	int32_t getHorizontalAccEst(uint16_t maxWait = getPVTmaxWait);
+	int32_t getVerticalAccEst(uint16_t maxWait = getPVTmaxWait);
+	int32_t getNedNorthVel(uint16_t maxWait = getPVTmaxWait);
+	int32_t getNedEastVel(uint16_t maxWait = getPVTmaxWait);
+	int32_t getNedDownVel(uint16_t maxWait = getPVTmaxWait);
+
 	uint8_t getSIV(uint16_t maxWait = getPVTmaxWait);				  //Returns number of sats used in fix
 	uint8_t getFixType(uint16_t maxWait = getPVTmaxWait);			  //Returns the type of fix: 0=no, 3=3D, 4=GNSS+Deadreckoning
 	uint8_t getCarrierSolutionType(uint16_t maxWait = getPVTmaxWait); //Returns RTK solution: 0=no, 1=float solution, 2=fixed solution
@@ -691,6 +698,11 @@ class SFE_UBLOX_GPS
 	int32_t longitude;		 //Degrees * 10^-7 (more accurate than floats)
 	int32_t altitude;		 //Number of mm above ellipsoid
 	int32_t altitudeMSL;	 //Number of mm above Mean Sea Level
+	uint32_t horizontalAccEst;
+	uint32_t verticalAccEst;
+	int32_t nedNorthVel;
+	int32_t nedEastVel;
+	int32_t nedDownVel;
 	uint8_t SIV;			 //Number of satellites used in position solution
 	uint8_t fixType;		 //Tells us when we have a solution aka lock
 	uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
@@ -877,6 +889,13 @@ class SFE_UBLOX_GPS
 		uint32_t latitude : 1;
 		uint32_t altitude : 1;
 		uint32_t altitudeMSL : 1;
+
+		uint32_t horizontalAccEst : 1;
+		uint32_t verticalAccEst : 1;
+		uint32_t nedNorthVel : 1;
+		uint32_t nedEastVel : 1;
+		uint32_t nedDownVel : 1;
+
 		uint32_t SIV : 1;
 		uint32_t fixType : 1;
 		uint32_t carrierSolution : 1;