getHeadVehValid function added.

keywords.txt

@@ -64,6 +64,7 @@ getInvalidLlh	KEYWORD2
 getHeadVeh	KEYWORD2
 getMagDec	KEYWORD2
 getMagAcc	KEYWORD2
+getHeadVehValid	KEYWORD2
 
 setPortOutput	KEYWORD2
 setPortInput	KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1029,6 +1029,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
  gnssFixOk = extractByte(21 - startingSpot) & 0x1; //Get the 1st bit
  diffSoln = extractByte(21 - startingSpot) >> 1 & 0x1; //Get the 2nd bit
  carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
+ headVehValid = extractByte(21 - startingSpot) >> 5 & 0x1; // Get the 5th bit
  SIV = extractByte(23 - startingSpot);
  longitude = extractSignedLong(24 - startingSpot);
  latitude = extractSignedLong(28 - startingSpot);
@@ -1064,6 +1065,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
  moduleQueried.all = true;
  moduleQueried.gnssFixOk = true;
  moduleQueried.diffSoln = true;
+ moduleQueried.headVehValid = true;
  moduleQueried.longitude = true;
  moduleQueried.latitude = true;
  moduleQueried.altitude = true;
@@ -3850,6 +3852,18 @@ uint8_t SFE_UBLOX_GPS::getCarrierSolutionType(uint16_t maxWait)
  return (carrierSolution);
 }
 
+//Get whether head vehicle valid or not
+bool SFE_UBLOX_GPS::getHeadVehValid(uint16_t maxWait)
+{
+ if (moduleQueried.headVehValid == false)
+ getPVT(maxWait);
+ moduleQueried.headVehValid = false; //Since we are about to give this to user, mark this data as stale
+ moduleQueried.all = false;
+
+ return (headVehValid);
+}
+
+
 //Get the ground speed in mm/s
 int32_t SFE_UBLOX_GPS::getGroundSpeed(uint16_t maxWait)
 {
@@ -3971,6 +3985,7 @@ void SFE_UBLOX_GPS::flushPVT()
  moduleQueried.all = false;
  moduleQueried.gnssFixOk = false;
  moduleQueried.diffSoln = false;
+ moduleQueried.headVehValid = false;
  moduleQueried.longitude = false;
  moduleQueried.latitude = false;
  moduleQueried.altitude = false;
@@ -3980,7 +3995,13 @@ void SFE_UBLOX_GPS::flushPVT()
  moduleQueried.carrierSolution = false;
  moduleQueried.groundSpeed = false;
  moduleQueried.headingOfMotion = false;
+ moduleQueried.speedAccEst = false;
+ moduleQueried.headingAccEst = false;
  moduleQueried.pDOP = false;
+ moduleQueried.invalidLlh = false;
+ moduleQueried.headVeh = false;
+ moduleQueried.magDec = false;
+ moduleQueried.magAcc = false;
 }
 
 //Mark all the HPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure

src/SparkFun_Ublox_Arduino_Library.h

@@ -507,6 +507,7 @@ class SFE_UBLOX_GPS
 
 bool getGnssFixOk(uint16_t maxWait = getPVTmaxWait); //Get whether we have a valid fix (i.e within DOP & accuracy masks)
 bool getDiffSoln(uint16_t maxWait = getPVTmaxWait); //Get whether differential corrections were applied
+bool getHeadVehValid(uint16_t maxWait = getPVTmaxWait);
 int32_t getLatitude(uint16_t maxWait = getPVTmaxWait); //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
 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
@@ -736,6 +737,7 @@ class SFE_UBLOX_GPS
 
 bool gnssFixOk; //valid fix (i.e within DOP & accuracy masks)
 bool diffSoln; //Differential corrections were applied
+bool headVehValid;
 int32_t latitude; //Degrees * 10^-7 (more accurate than floats)
 int32_t longitude; //Degrees * 10^-7 (more accurate than floats)
 int32_t altitude; //Number of mm above ellipsoid
@@ -1032,6 +1034,7 @@ class SFE_UBLOX_GPS
 uint32_t all : 1;
 uint32_t gnssFixOk : 1;
 uint32_t diffSoln : 1;
+uint32_t headVehValid : 1;
 uint32_t longitude : 1;
 uint32_t latitude : 1;
 uint32_t altitude : 1;