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Add support for MAX-7 series #76

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Add support for MAX-7 series #76

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11 changes: 7 additions & 4 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 @@ -2014,7 +2014,8 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
}
}
}
else if (msg->id == UBX_NAV_PVT && msg->len == UBX_NAV_PVT_LEN)
else if (msg->id == UBX_NAV_PVT
&& (msg->len == UBX_NAV_PVT_LEN || msg->len == UBX_7_NAV_PVT_LEN))
{
//Parse various byte fields into storage - but only if we have memory allocated for it
if (packetUBXNAVPVT != NULL)
Expand Down Expand Up @@ -2048,9 +2049,11 @@ void SFE_UBLOX_GNSS::processUBXpacket(ubxPacket *msg)
packetUBXNAVPVT->data.headAcc = extractLong(msg, 72);
packetUBXNAVPVT->data.pDOP = extractInt(msg, 76);
packetUBXNAVPVT->data.flags3.all = extractByte(msg, 78);
packetUBXNAVPVT->data.headVeh = extractSignedLong(msg, 84);
packetUBXNAVPVT->data.magDec = extractSignedInt(msg, 88);
packetUBXNAVPVT->data.magAcc = extractInt(msg, 90);
if(msg->len == UBX_NAV_PVT_LEN) {
packetUBXNAVPVT->data.headVeh = extractSignedLong(msg, 84);
packetUBXNAVPVT->data.magDec = extractSignedInt(msg, 88);
packetUBXNAVPVT->data.magAcc = extractInt(msg, 90);
}

//Mark all datums as fresh (not read before)
packetUBXNAVPVT->moduleQueried.moduleQueried1.all = 0xFFFFFFFF;
Expand Down
1 change: 1 addition & 0 deletions src/u-blox_structs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -340,6 +340,7 @@ typedef struct

// UBX-NAV-PVT (0x01 0x07): Navigation position velocity time solution
const uint16_t UBX_NAV_PVT_LEN = 92;
const uint16_t UBX_7_NAV_PVT_LEN = 84;

typedef struct
{
Expand Down