Merge pull request #159 from balamuruganky/release_candidate

NAV-PVT : Automotive dead reckoning related parameters, Speed acc estimate and heading acc estimation parametes parsed.

Author: PaulZC

examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino

@@ -54,7 +54,8 @@ void setup()
 void loop()
 {
  // Calling getPVT returns true if there actually is a fresh navigation solution available.
- if (myGPS.getPVT())
+ // Start the reading only when valid LLH is available
+ if (myGPS.getPVT() && (myGPS.getInvalidLlh() == false))
  {
  Serial.println();
  long latitude = myGPS.getLatitude();
@@ -105,6 +106,33 @@ void loop()
  Serial.print(horizontalAccEst);
  Serial.print(F(" (mm)"));
 
+ int speedAccEst = myGPS.getSpeedAccEst();
+ Serial.print(F(" SpeedAccEst: "));
+ Serial.print(speedAccEst);
+ Serial.print(F(" (mm/s)"));
+
+ int headAccEst = myGPS.getHeadingAccEst();
+ Serial.print(F(" HeadAccEst: "));
+ Serial.print(headAccEst);
+ Serial.print(F(" (degrees * 10^-5)"));
+
+ if (myGPS.getHeadVehValid() == true) {
+ int headVeh = myGPS.getHeadVeh();
+ Serial.print(F(" HeadVeh: "));
+ Serial.print(headVeh);
+ Serial.print(F(" (degrees * 10^-5)"));
+
+ int magDec = myGPS.getMagDec();
+ Serial.print(F(" MagDec: "));
+ Serial.print(magDec);
+ Serial.print(F(" (degrees * 10^-2)"));
+
+ int magAcc = myGPS.getMagAcc();
+ Serial.print(F(" MagAcc: "));
+ Serial.print(magAcc);
+ Serial.print(F(" (degrees * 10^-2)"));
+ }
+
  Serial.println();
  } else {
  Serial.print(".");

keywords.txt

@@ -58,6 +58,13 @@ getVerticalAccEst	KEYWORD2
 getNedNorthVel	KEYWORD2
 getNedEastVel	KEYWORD2
 getNedDownVel	KEYWORD2
+getSpeedAccEst	KEYWORD2
+getHeadingAccEst	KEYWORD2
+getInvalidLlh	KEYWORD2
+getHeadVeh	KEYWORD2
+getMagDec	KEYWORD2
+getMagAcc	KEYWORD2
+getHeadVehValid	KEYWORD2
 
 setPortOutput	KEYWORD2
 setPortInput	KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1027,8 +1027,9 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
 
  fixType = extractByte(20 - startingSpot);
  gnssFixOk = extractByte(21 - startingSpot) & 0x1; //Get the 1st bit
- diffSoln = extractByte(21 - startingSpot) >> 1 & 0x1; //Get the 2nd 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);
@@ -1039,10 +1040,15 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
  nedNorthVel = extractSignedLong(48 - startingSpot);
  nedEastVel = extractSignedLong(52 - startingSpot);
  nedDownVel = extractSignedLong(56 - startingSpot);
-
  groundSpeed = extractSignedLong(60 - startingSpot);
  headingOfMotion = extractSignedLong(64 - startingSpot);
+ speedAccEst = extractLong(68 - startingSpot);
+ headingAccEst = extractLong(72 - startingSpot);
  pDOP = extractInt(76 - startingSpot);
+ invalidLlh = extractByte(78 - startingSpot) & 0x1;
+ headVeh = extractSignedLong(84 - startingSpot);
+ magDec = extractSignedInt(88 - startingSpot);
+ magAcc = extractInt(90 - startingSpot);
 
  //Mark all datums as fresh (not read before)
  moduleQueried.gpsiTOW = true;
@@ -1059,23 +1065,28 @@ 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;
  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;
  moduleQueried.groundSpeed = true;
  moduleQueried.headingOfMotion = true;
+ moduleQueried.speedAccEst = true;
+ moduleQueried.headingAccEst = true;
  moduleQueried.pDOP = true;
+ moduleQueried.invalidLlh = true;
+ moduleQueried.headVeh = true;
+ moduleQueried.magDec = true;
+ moduleQueried.magAcc = true;
  }
  else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36)
  {
@@ -3111,6 +3122,19 @@ uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart)
  return (val);
 }
 
+//Just so there is no ambiguity about whether a uint16_t will cast to a int16_t correctly...
+int16_t SFE_UBLOX_GPS::extractSignedInt(int8_t spotToStart)
+{
+ union // Use a union to convert from uint16_t to int16_t
+ {
+ uint16_t unsignedInt;
+ int16_t signedInt;
+ } stSignedInt;
+
+ stSignedInt.unsignedInt = extractInt(spotToStart);
+ return (stSignedInt.signedInt);
+}
+
 //Given a spot, extract a byte from the payload
 uint8_t SFE_UBLOX_GPS::extractByte(uint8_t spotToStart)
 {
@@ -3195,6 +3219,54 @@ bool SFE_UBLOX_GPS::getTimeValid(uint16_t maxWait)
  return (gpsTimeValid);
 }
 
+uint32_t SFE_UBLOX_GPS::getSpeedAccEst(uint16_t maxWait)
+{
+ if (moduleQueried.speedAccEst == false)
+ getPVT(maxWait);
+ moduleQueried.speedAccEst = false; //Since we are about to give this to user, mark this data as stale
+ return (speedAccEst);
+}
+
+uint32_t SFE_UBLOX_GPS::getHeadingAccEst(uint16_t maxWait)
+{
+ if (moduleQueried.headingAccEst == false)
+ getPVT(maxWait);
+ moduleQueried.headingAccEst = false; //Since we are about to give this to user, mark this data as stale
+ return (headingAccEst);
+}
+
+bool SFE_UBLOX_GPS::getInvalidLlh(uint16_t maxWait)
+{
+ if (moduleQueried.invalidLlh == false)
+ getPVT(maxWait);
+ moduleQueried.invalidLlh = false; //Since we are about to give this to user, mark this data as stale
+ return (invalidLlh);
+}
+
+int32_t SFE_UBLOX_GPS::getHeadVeh(uint16_t maxWait)
+{
+ if (moduleQueried.headVeh == false)
+ getPVT(maxWait);
+ moduleQueried.headVeh = false; //Since we are about to give this to user, mark this data as stale
+ return (headVeh);
+}
+
+int16_t SFE_UBLOX_GPS::getMagDec(uint16_t maxWait)
+{
+ if (moduleQueried.magDec == false)
+ getPVT(maxWait);
+ moduleQueried.magDec = false; //Since we are about to give this to user, mark this data as stale
+ return (magDec);
+}
+
+uint16_t SFE_UBLOX_GPS::getMagAcc(uint16_t maxWait)
+{
+ if (moduleQueried.magAcc == false)
+ getPVT(maxWait);
+ moduleQueried.magAcc = false; //Since we are about to give this to user, mark this data as stale
+ return (magAcc);
+}
+
 //Get the current millisecond
 uint16_t SFE_UBLOX_GPS::getMillisecond(uint16_t maxWait)
 {
@@ -3780,6 +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)
 {
@@ -3901,6 +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;
@@ -3910,7 +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

@@ -507,17 +507,16 @@ 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
 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
@@ -535,6 +534,12 @@ class SFE_UBLOX_GPS
 uint32_t getTimeOfWeek(uint16_t maxWait = getPVTmaxWait);
 bool getDateValid(uint16_t maxWait = getPVTmaxWait);
 bool getTimeValid(uint16_t maxWait = getPVTmaxWait);
+uint32_t getSpeedAccEst(uint16_t maxWait = getPVTmaxWait);
+uint32_t getHeadingAccEst(uint16_t maxWait = getPVTmaxWait);
+bool getInvalidLlh(uint16_t maxWait = getPVTmaxWait);
+int32_t getHeadVeh(uint16_t maxWait = getPVTmaxWait);
+int16_t getMagDec(uint16_t maxWait = getPVTmaxWait);
+uint16_t getMagAcc(uint16_t maxWait = getPVTmaxWait);
 
 int32_t getHighResLatitude(uint16_t maxWait = getHPPOSLLHmaxWait);
 int8_t getHighResLatitudeHp(uint16_t maxWait = getHPPOSLLHmaxWait);
@@ -730,9 +735,9 @@ class SFE_UBLOX_GPS
 bool gpsDateValid;
 bool gpsTimeValid;
 
-
 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
@@ -747,7 +752,13 @@ class SFE_UBLOX_GPS
 uint8_t carrierSolution; //Tells us when we have an RTK float/fixed solution
 int32_t groundSpeed; //mm/s
 int32_t headingOfMotion; //degrees * 10^-5
+uint32_t speedAccEst;
+uint32_t headingAccEst;
 uint16_t pDOP; //Positional dilution of precision * 10^-2 (dimensionless)
+bool invalidLlh;
+int32_t headVeh;
+int16_t magDec;
+uint16_t magAcc;
 uint8_t versionLow; //Loaded from getProtocolVersion().
 uint8_t versionHigh;
 
@@ -943,6 +954,7 @@ class SFE_UBLOX_GPS
 uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long
 int32_t extractSignedLong(uint8_t spotToStart);//Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
 uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int
+int16_t extractSignedInt(int8_t spotToStart);
 uint8_t extractByte(uint8_t spotToStart); //Get byte from payload
 int8_t extractSignedChar(uint8_t spotToStart); //Get signed 8-bit value from payload
 void addToChecksum(uint8_t incoming); //Given an incoming byte, adjust rollingChecksumA/B
@@ -1022,23 +1034,28 @@ 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;
 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;
 uint32_t groundSpeed : 1;
 uint32_t headingOfMotion : 1;
+uint32_t speedAccEst : 1;
+uint32_t headingAccEst : 1;
 uint32_t pDOP : 1;
+uint32_t invalidLlh : 1;
+uint32_t headVeh : 1;
+uint32_t magDec : 1;
+uint32_t magAcc : 1;
 uint32_t versionNumber : 1;
 } moduleQueried;