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Merge pull request #160 from sparkfun/release_candidate
Merging release_candidate : version 1.8.9
2 parents d4ded7d + bc2ee9c commit 0b48d58

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Diff for: ‎README.md

+16-1
Original file line numberDiff line numberDiff line change
@@ -51,7 +51,7 @@ Thanks to:
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* [dotMorten](https://github.com/dotMorten) for the MSGOUT keys, autoHPPOSLLH, autoDOP and upgrades to autoPVT.
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* [markuckermann](https://github.com/markuckermann) for spotting the config layer gremlins
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* [vid553](https://github.com/vid553) for the Zephyr port
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* [balamuruganky](https://github.com/balamuruganky) for the NAV-PVT velocity parameters
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* [balamuruganky](https://github.com/balamuruganky) for the NAV-PVT velocity parameters, getSpeedAccEst, getHeadingAccEst, getInvalidLlh, getHeadVeh, getMagDec and getMagAcc
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* [nelarsen](https://github.com/nelarsen) for the buffer overrun improvements
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* [mstranne](https://github.com/mstranne) and [shaneperera](https://github.com/shaneperera) for the pushRawData suggestion
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* [rubienr](https://github.com/rubienr) for spotting the logical AND issues
@@ -113,6 +113,21 @@ packets in its internal buffer (about 500 bytes) and the library will read those
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called, update its internal copy of the nav data 5 times, and return `true` to the sketch. The
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sketch calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
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The library also supports:
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* `autoHPPOSLLH`
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* `autoDOP`
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* `autoHNRAtt`
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* `autoHNRDyn`
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* `autoHNRPVT`
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Memory Usage
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---------------------------------
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Version 1.8.9 introduced support for `autoHNR` on the NEO-M8U, and that tipped the balance in terms of RAM use on the ATmega328.
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The library does still run on the ATmega328 but you will see _**Low memory available, stability problems may occur**_ warnings
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as the global variables now occupy 1540 bytes of RAM. If you do want to run this library on the ATmega328, you may need to regress
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to Version 1.8.8 via the Library Manager.
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Products That Use This Library
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---------------------------------
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* [GPS-16481](https://www.sparkfun.com/products/16481) - SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic)

Diff for: ‎examples/Dead Reckoning/Example5_getHNRData/Example5_getHNRData.ino

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,90 @@
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/*
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By: Paul Clark
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SparkFun Electronics
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Date: December, 2020
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
7+
8+
This example configures the High Navigation Rate on the NEO-M8U and then
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polls and displays the attitude solution, vehicle dynamics information
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and high rate position, velocity and time.
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12+
This example polls the high rate data.
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(The next example uses "autoHNR" to receive the HNR data automatically.)
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15+
Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
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https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
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18+
Feel like supporting open source hardware?
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Buy a board from SparkFun!
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NEO-M8U: https://www.sparkfun.com/products/16329
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22+
Hardware Connections:
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Plug a Qwiic cable into the GPS and a Redboard Qwiic
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If you don't have a platform with a Qwiic connection use the
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SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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Open the serial monitor at 115200 baud to see the output
27+
28+
*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun u-blox Example"));
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Wire.begin();
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//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
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{
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Serial.println(F("Warning! u-blox GPS did not begin correctly."));
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Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
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}
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51+
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
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Serial.println(F("setHNRNavigationRate was successful"));
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else
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Serial.println(F("setHNRNavigationRate was NOT successful"));
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}
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void loop()
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{
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// Poll and print selected HNR data
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if (myGPS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
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{
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Serial.print(F("Roll: "));
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Serial.print(myGPS.hnrAtt.roll);
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Serial.print(F(" Pitch: "));
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Serial.print(myGPS.hnrAtt.pitch);
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Serial.print(F(" Heading: "));
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Serial.println(myGPS.hnrAtt.heading);
71+
}
72+
if (myGPS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
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{
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Serial.print(F("xAccel: "));
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Serial.print(myGPS.hnrVehDyn.xAccel);
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Serial.print(F(" yAccel: "));
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Serial.print(myGPS.hnrVehDyn.yAccel);
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Serial.print(F(" zAccel: "));
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Serial.println(myGPS.hnrVehDyn.zAccel);
80+
}
81+
if (myGPS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
82+
{
83+
Serial.print(F("ns: "));
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Serial.print(myGPS.hnrPVT.nano);
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Serial.print(F(" Lat: "));
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Serial.print(myGPS.hnrPVT.lat);
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Serial.print(F(" Lon: "));
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Serial.println(myGPS.hnrPVT.lon);
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}
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}

Diff for: ‎examples/Dead Reckoning/Example6_getAutoHNRData/Example6_getAutoHNRData.ino

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Original file line numberDiff line numberDiff line change
@@ -0,0 +1,96 @@
1+
/*
2+
By: Paul Clark
3+
SparkFun Electronics
4+
Date: December, 2020
5+
License: MIT. See license file for more information but you can
6+
basically do whatever you want with this code.
7+
8+
This example configures the High Navigation Rate on the NEO-M8U and then
9+
reads and displays the attitude solution, vehicle dynamics information
10+
and high rate position, velocity and time.
11+
12+
This example uses "autoHNR" to receive the HNR data automatically.
13+
14+
Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
15+
https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
16+
17+
Feel like supporting open source hardware?
18+
Buy a board from SparkFun!
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NEO-M8U: https://www.sparkfun.com/products/16329
20+
21+
Hardware Connections:
22+
Plug a Qwiic cable into the GPS and a Redboard Qwiic
23+
If you don't have a platform with a Qwiic connection use the
24+
SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
25+
Open the serial monitor at 115200 baud to see the output
26+
27+
*/
28+
29+
#include <Wire.h> //Needed for I2C to GPS
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31+
#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
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SFE_UBLOX_GPS myGPS;
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34+
boolean usingAutoHNRAtt = false;
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boolean usingAutoHNRDyn = false;
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boolean usingAutoHNRPVT = false;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun u-blox Example"));
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Wire.begin();
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//myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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48+
if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
49+
{
50+
Serial.println(F("Warning! u-blox GPS did not begin correctly."));
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Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
52+
}
53+
54+
myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
56+
57+
if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
58+
Serial.println(F("setHNRNavigationRate was successful"));
59+
else
60+
Serial.println(F("setHNRNavigationRate was NOT successful"));
61+
62+
usingAutoHNRAtt = myGPS.setAutoHNRAtt(true); //Attempt to enable auto HNR attitude messages
63+
usingAutoHNRDyn = myGPS.setAutoHNRDyn(true); //Attempt to enable auto HNR vehicle dynamics messages
64+
usingAutoHNRPVT = myGPS.setAutoHNRPVT(true); //Attempt to enable auto HNR PVT messages
65+
}
66+
67+
void loop()
68+
{
69+
if (usingAutoHNRAtt && (myGPS.getHNRAtt() == true)) // If setAutoHNRAtt was successful and new data is available
70+
{
71+
Serial.print(F("Roll: ")); // Print selected data
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Serial.print(myGPS.hnrAtt.roll);
73+
Serial.print(F(" Pitch: "));
74+
Serial.print(myGPS.hnrAtt.pitch);
75+
Serial.print(F(" Heading: "));
76+
Serial.println(myGPS.hnrAtt.heading);
77+
}
78+
if (usingAutoHNRDyn && (myGPS.getHNRDyn() == true)) // If setAutoHNRDyn was successful and new data is available
79+
{
80+
Serial.print(F("xAccel: ")); // Print selected data
81+
Serial.print(myGPS.hnrVehDyn.xAccel);
82+
Serial.print(F(" yAccel: "));
83+
Serial.print(myGPS.hnrVehDyn.yAccel);
84+
Serial.print(F(" zAccel: "));
85+
Serial.println(myGPS.hnrVehDyn.zAccel);
86+
}
87+
if (usingAutoHNRPVT && (myGPS.getHNRPVT() == true)) // If setAutoHNRPVT was successful and new data is available
88+
{
89+
Serial.print(F("ns: ")); // Print selected data
90+
Serial.print(myGPS.hnrPVT.nano);
91+
Serial.print(F(" Lat: "));
92+
Serial.print(myGPS.hnrPVT.lat);
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Serial.print(F(" Lon: "));
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Serial.println(myGPS.hnrPVT.lon);
95+
}
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}

Diff for: ‎examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino

+29-1
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@@ -54,7 +54,8 @@ void setup()
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void loop()
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{
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// Calling getPVT returns true if there actually is a fresh navigation solution available.
57-
if (myGPS.getPVT())
57+
// Start the reading only when valid LLH is available
58+
if (myGPS.getPVT() && (myGPS.getInvalidLlh() == false))
5859
{
5960
Serial.println();
6061
long latitude = myGPS.getLatitude();
@@ -105,6 +106,33 @@ void loop()
105106
Serial.print(horizontalAccEst);
106107
Serial.print(F(" (mm)"));
107108

109+
int speedAccEst = myGPS.getSpeedAccEst();
110+
Serial.print(F(" SpeedAccEst: "));
111+
Serial.print(speedAccEst);
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Serial.print(F(" (mm/s)"));
113+
114+
int headAccEst = myGPS.getHeadingAccEst();
115+
Serial.print(F(" HeadAccEst: "));
116+
Serial.print(headAccEst);
117+
Serial.print(F(" (degrees * 10^-5)"));
118+
119+
if (myGPS.getHeadVehValid() == true) {
120+
int headVeh = myGPS.getHeadVeh();
121+
Serial.print(F(" HeadVeh: "));
122+
Serial.print(headVeh);
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Serial.print(F(" (degrees * 10^-5)"));
124+
125+
int magDec = myGPS.getMagDec();
126+
Serial.print(F(" MagDec: "));
127+
Serial.print(magDec);
128+
Serial.print(F(" (degrees * 10^-2)"));
129+
130+
int magAcc = myGPS.getMagAcc();
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Serial.print(F(" MagAcc: "));
132+
Serial.print(magAcc);
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Serial.print(F(" (degrees * 10^-2)"));
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}
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108136
Serial.println();
109137
} else {
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Serial.print(".");

Diff for: ‎keywords.txt

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@@ -58,6 +58,13 @@ getVerticalAccEst KEYWORD2
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getNedNorthVel KEYWORD2
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getNedEastVel KEYWORD2
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getNedDownVel KEYWORD2
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getSpeedAccEst KEYWORD2
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getHeadingAccEst KEYWORD2
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getInvalidLlh KEYWORD2
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getHeadVeh KEYWORD2
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getMagDec KEYWORD2
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getMagAcc KEYWORD2
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getHeadVehValid KEYWORD2
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6269
setPortOutput KEYWORD2
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setPortInput KEYWORD2
@@ -175,6 +182,18 @@ setStaticPosition KEYWORD2
175182

176183
pushRawData KEYWORD2
177184

185+
setHNRNavigationRate KEYWORD2
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getHNRNavigationRate KEYWORD2
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assumeAutoHNRAtt KEYWORD2
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setAutoHNRAtt KEYWORD2
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getHNRAtt KEYWORD2
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assumeAutoHNRDyn KEYWORD2
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setAutoHNRDyn KEYWORD2
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getHNRDyn KEYWORD2
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assumeAutoHNRPVT KEYWORD2
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setAutoHNRPVT KEYWORD2
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getHNRPVT KEYWORD2
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178197
#######################################
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# Constants (LITERAL1)
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#######################################

Diff for: ‎library.properties

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name=SparkFun u-blox Arduino Library
2-
version=1.8.8
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version=1.8.9
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author=SparkFun Electronics <[email protected]>
44
maintainer=SparkFun Electronics <sparkfun.com>
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sentence=Library for I2C and Serial Communication with u-blox modules

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