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Add get/setNAV5PositionAccuracy #224

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Merged
merged 8 commits into from
May 30, 2024
Merged

Add get/setNAV5PositionAccuracy #224

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f8047a5
Merge pull request #218 from sparkfun/release_candidate
PaulZC May 16, 2024
a06eaca
Add get/setNAV5PositionAccuracy
cyclops1982 May 30, 2024
1a3ffed
Update keywords
cyclops1982 May 30, 2024
ddea771
Meters -> metres & correct setting of value
cyclops1982 May 30, 2024
0e6e0a6
Correctly return uint16
cyclops1982 May 30, 2024
5dc0bb5
Also update setDynamicModel
cyclops1982 May 30, 2024
689e063
Remove default on setNAV5PositionAccuracy
cyclops1982 May 30, 2024
3ff04e7
Typo
cyclops1982 May 30, 2024
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44 changes: 44 additions & 0 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8197,6 +8197,50 @@ 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 meters, 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 only the posMark
payloadCfg[1] = 0x00; // mask
payloadCfg[18] = meters;

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;

return (payloadCfg[18]);
}



// Dynamic Platform Model

// Change the dynamic platform model using UBX-CFG-NAV5
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5 changes: 5 additions & 0 deletions src/SparkFun_u-blox_GNSS_Arduino_Library.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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 meters = 100, 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
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