Adding autoHPPOSLLH. Tested on the ZED-F9P.

Author: PaulZC

Diff for: examples/ZED-F9P/Example11_autoHPPOSLLH/Example11_autoHPPOSLLH.ino

@@ -0,0 +1,149 @@
+/*
+  Configuring the GPS to automatically send HPPOSLLH position reports over I2C
+  By: Paul Clark
+  Date: October 27th 2020
+
+  Based on an earlier example:
+  By: Nathan Seidle and Thorsten von Eicken
+  SparkFun Electronics
+  Date: January 3rd, 2019
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to configure the U-Blox GPS the send navigation reports automatically
+  and retrieving the latest one via getHPPOSLLH. This eliminates the blocking in getHPPOSLLH while the GPS
+  produces a fresh navigation solution at the expense of returning a slighly old solution.
+
+  This can be used over serial or over I2C, this example shows the I2C use. With serial the GPS
+  simply outputs the UBX_NAV_HPPOSLLH packet. With I2C it queues it into its internal I2C buffer (4KB in
+  size?) where it can be retrieved in the next I2C poll.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun Ublox Example");
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable lots of helpful debug messages
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  // Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
+  //myGPS.factoryDefault(); delay(5000);
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
+  
+  myGPS.setNavigationFrequency(1); //Produce one solution per second
+  
+
+  // The acid test: all four of these combinations should work seamlessly :-)
+  
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+  
+  //myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  //myGPS.setAutoHPPOSLLH(false); // Library will poll each reading
+
+  // This combination causes the PVT data to be overwritten by HPPOSLLH.
+  // But that's OK. Both sets of readings are still extracted OK.
+  //myGPS.setAutoPVT(false); // Library will poll each reading
+  //myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+  
+  myGPS.setAutoPVT(true); // Tell the GPS to "send" each solution automatically
+  myGPS.setAutoHPPOSLLH(true); // Tell the GPS to "send" each hi res solution automatically
+  
+}
+
+void loop()
+{
+  Serial.println();
+
+  // PVT first
+  
+  long latitude = myGPS.getLatitude();
+  Serial.print(F("Lat: "));
+  Serial.print(latitude);
+
+  long longitude = myGPS.getLongitude();
+  Serial.print(F(" Long: "));
+  Serial.print(longitude);
+
+  long highResLatitude = myGPS.getHighResLatitude();
+  Serial.print(F(" Hi Res Lat: "));
+  Serial.print(highResLatitude);
+
+  int highResLatitudeHp = myGPS.getHighResLatitudeHp();
+  Serial.print(F(" "));
+  Serial.print(highResLatitudeHp);
+
+  long highResLongitude = myGPS.getHighResLongitude();
+  Serial.print(F(" Hi Res Long: "));
+  Serial.print(highResLongitude);
+
+  int highResLongitudeHp = myGPS.getHighResLongitudeHp();
+  Serial.print(F(" "));
+  Serial.print(highResLongitudeHp);
+
+  unsigned long horizAccuracy = myGPS.getHorizontalAccuracy();
+  Serial.print(F(" Horiz accuracy: "));
+  Serial.println(horizAccuracy);
+
+  delay(750);
+
+  Serial.println();
+    
+  // HPPOSLLH first
+  
+  highResLatitude = myGPS.getHighResLatitude();
+  Serial.print(F("Hi Res Lat: "));
+  Serial.print(highResLatitude);
+
+  highResLatitudeHp = myGPS.getHighResLatitudeHp();
+  Serial.print(F(" "));
+  Serial.print(highResLatitudeHp);
+
+  highResLongitude = myGPS.getHighResLongitude();
+  Serial.print(F(" Hi Res Long: "));
+  Serial.print(highResLongitude);
+
+  highResLongitudeHp = myGPS.getHighResLongitudeHp();
+  Serial.print(F(" "));
+  Serial.print(highResLongitudeHp);
+
+  horizAccuracy = myGPS.getHorizontalAccuracy();
+  Serial.print(F(" Horiz accuracy: "));
+  Serial.print(horizAccuracy);
+
+  latitude = myGPS.getLatitude();
+  Serial.print(F(" Lat: "));
+  Serial.print(latitude);
+
+  longitude = myGPS.getLongitude();
+  Serial.print(F(" Long: "));
+  Serial.println(longitude);
+
+  delay(750);
+}

Diff for: src/SparkFun_Ublox_Arduino_Library.cpp

@@ -3013,6 +3013,15 @@ boolean SFE_UBLOX_GPS::getPVT(uint16_t maxWait)
     if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
       return (true);
 
+    if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_HPPOSLLH))
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("getPVT: data was OVERWRITTEN by HPPOSLLH (but that's OK)"));
+      }
+      return (true);
+    }
+
     if (_printDebug == true)
     {
       _debugSerial->print(F("getPVT retVal: "));
@@ -3180,6 +3189,15 @@ boolean SFE_UBLOX_GPS::getHPPOSLLH(uint16_t maxWait)
     if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
       return (true);
 
+    if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_PVT))
+    {
+      if (_printDebug == true)
+      {
+        _debugSerial->println(F("getHPPOSLLH: data was OVERWRITTEN by PVT (but that's OK)"));
+      }
+      return (true);
+    }
+
     if (_printDebug == true)
     {
       _debugSerial->print(F("getHPPOSLLH retVal: "));