Merge pull request #224 from cyclops1982/PositionAccuracy

Add get/setNAV5PositionAccuracy

Author: PaulZC

Diff for: keywords.txt

@@ -195,6 +195,10 @@ powerOffWithInterrupt	KEYWORD2
 setDynamicModel	KEYWORD2
 getDynamicModel	KEYWORD2
 
+setNAV5PositionAccuracy	KEYWORD2
+getNAV5PositionAccuracy	KEYWORD2
+
+
 resetOdometer	KEYWORD2
 enableOdometer	KEYWORD2
 getOdometerConfig	KEYWORD2

Diff for: src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -8197,6 +8197,53 @@ bool SFE_UBLOX_GNSS::setupPowerMode(sfe_ublox_rxm_mode_e mode, uint16_t maxWait)
   return sendCommand(&packetCfg, maxWait);
 }
 
+
+// Position Accuracy
+
+// Change the Position Accuracy using UBX-CFG-NAV5
+// Value provided in meters
+bool SFE_UBLOX_GNSS::setNAV5PositionAccuracy(uint16_t metres, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  payloadCfg[0] |= 0x10; // mask: set the posMask, leave other bits unchanged
+  payloadCfg[18] = metres & 0xFF;
+  payloadCfg[19] = metres >> 8;
+
+  packetCfg.len = 36;
+  packetCfg.startingSpot = 0;
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
+// Get the position accuracy using UBX-CFG-NAV5
+// Returns meters. 0 if the sendCommand fails
+uint16_t SFE_UBLOX_GNSS::getNAV5PositionAccuracy(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAV5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  // Ask module for the current navigation model settings. Loads into payloadCfg.
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return 0;
+
+
+  uint16_t pAcc = ((uint16_t)payloadCfg[19]) << 8;
+  pAcc |= payloadCfg[18];
+  return (pAcc);
+}
+
+
+
 // Dynamic Platform Model
 
 // Change the dynamic platform model using UBX-CFG-NAV5
@@ -8216,8 +8263,7 @@ bool SFE_UBLOX_GNSS::setDynamicModel(dynModel newDynamicModel, uint16_t maxWait)
   if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
     return (false);
 
-  payloadCfg[0] = 0x01;            // mask: set only the dyn bit (0)
-  payloadCfg[1] = 0x00;            // mask
+  payloadCfg[0] |= 0x01;            // mask: set only the dyn bit (0)
   payloadCfg[2] = newDynamicModel; // dynModel
 
   packetCfg.len = 36;

Diff for: src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -950,6 +950,11 @@ class SFE_UBLOX_GNSS
   bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = defaultMaxWait);
   uint8_t getDynamicModel(uint16_t maxWait = defaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails
 
+  // Change the position accuracy using UBX-CFG-NAV5
+  bool setNAV5PositionAccuracy(uint16_t metres, uint16_t maxWait = defaultMaxWait);
+  uint16_t getNAV5PositionAccuracy(uint16_t maxWait = defaultMaxWait); // Get the position accuracy - returns 0 if the sendCommand fails
+
+
   // Reset / enable / configure the odometer
   bool resetOdometer(uint16_t maxWait = defaultMaxWait); // Reset the odometer
   bool enableOdometer(bool enable = true, uint16_t maxWait = defaultMaxWait); // Enable / disable the odometer