Add extra defs for NMEA THS

Author: PaulZC

src/u-blox_Class_and_ID.h

@@ -130,6 +130,7 @@ const uint8_t UBX_NMEA_GST = 0x07; // GxGST (GNSS Pseudo Range Error Statistics)
 const uint8_t UBX_NMEA_GSV = 0x03; // GxGSV (GNSS satellites in view)
 const uint8_t UBX_NMEA_RLM = 0x0B; // GxRMC (Return link message (RLM))
 const uint8_t UBX_NMEA_RMC = 0x04; // GxRMC (Recommended minimum data)
+const uint8_t UBX_NMEA_THS = 0x0E; // GxTHS (True heading and status)
 const uint8_t UBX_NMEA_TXT = 0x41; // GxTXT (text transmission)
 const uint8_t UBX_NMEA_VLW = 0x0F; // GxVLW (dual ground/water distance)
 const uint8_t UBX_NMEA_VTG = 0x05; // GxVTG (course over ground and Ground speed)
@@ -237,9 +238,9 @@ const uint8_t UBX_MON_VER = 0x04;   // Receiver/Software Version. Used for obtai
 // The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
 const uint8_t UBX_NAV_ATT = 0x05;       // Vehicle "Attitude" Solution
 const uint8_t UBX_NAV_CLOCK = 0x22;     // Clock Solution
-const uint8_t UBX_NAV_COV = 0x36;     // Covariance matrices
+const uint8_t UBX_NAV_COV = 0x36;       // Covariance matrices
 const uint8_t UBX_NAV_DOP = 0x04;       // Dilution of precision
-const uint8_t UBX_NAV_EELL = 0x3D;       // Position error ellipse parameters
+const uint8_t UBX_NAV_EELL = 0x3D;      // Position error ellipse parameters
 const uint8_t UBX_NAV_EOE = 0x61;       // End of Epoch
 const uint8_t UBX_NAV_GEOFENCE = 0x39;  // Geofencing status. Used to poll the geofence status
 const uint8_t UBX_NAV_HPPOSECEF = 0x13; // High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
@@ -254,8 +255,8 @@ const uint8_t UBX_NAV_PVAT = 0x17;      // Navigation position velocity attitude
 const uint8_t UBX_NAV_RELPOSNED = 0x3C; // Relative Positioning Information in NED frame
 const uint8_t UBX_NAV_RESETODO = 0x10;  // Reset odometer
 const uint8_t UBX_NAV_SAT = 0x35;       // Satellite Information
-const uint8_t UBX_NAV_SBAS = 0x32;       // SBAS subsystem
-const uint8_t UBX_NAV_SLAS = 0x42;       // QZSS L1S SLAS status data
+const uint8_t UBX_NAV_SBAS = 0x32;      // SBAS subsystem
+const uint8_t UBX_NAV_SLAS = 0x42;      // QZSS L1S SLAS status data
 const uint8_t UBX_NAV_SIG = 0x43;       // Signal Information
 const uint8_t UBX_NAV_STATUS = 0x03;    // Receiver Navigation Status
 const uint8_t UBX_NAV_SVIN = 0x3B;      // Survey-in data. Used for checking Survey In status
@@ -269,7 +270,6 @@ const uint8_t UBX_NAV_VELECEF = 0x11;   // Velocity Solution in ECEF
 const uint8_t UBX_NAV_VELNED = 0x12;    // Velocity Solution in NED
 const uint8_t UBX_NAV_AOPSTATUS = 0x60; // AssistNow Autonomous status
 
-
 // Class: RXM
 // The following are used to configure the RXM UBX messages (receiver manager messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 36)
 const uint8_t UBX_RXM_COR = 0x34;       // Differential correction input status

src/u-blox_GNSS.cpp

@@ -2144,6 +2144,8 @@ bool DevUBLOXGNSS::logThisNMEA()
     logMe = true;
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_logNMEA.bits.UBX_NMEA_RMC == 1))
     logMe = true;
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_THS == 1))
+    logMe = true;
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_TXT == 1))
     logMe = true;
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_logNMEA.bits.UBX_NMEA_VLW == 1))
@@ -2202,6 +2204,8 @@ bool DevUBLOXGNSS::isNMEAHeaderValid()
     return (true);
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C'))
     return (true);
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S'))
+    return (true);
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T'))
     return (true);
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W'))
@@ -2255,6 +2259,8 @@ bool DevUBLOXGNSS::processThisNMEA()
     return (true);
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_processNMEA.bits.UBX_NMEA_RMC == 1))
     return (true);
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S') && (_processNMEA.bits.UBX_NMEA_THS == 1))
+    return (true);
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_processNMEA.bits.UBX_NMEA_TXT == 1))
     return (true);
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_processNMEA.bits.UBX_NMEA_VLW == 1))

src/u-blox_external_typedefs.h

@@ -131,6 +131,7 @@ typedef struct
       uint32_t UBX_NMEA_VLW : 1;
       uint32_t UBX_NMEA_VTG : 1;
       uint32_t UBX_NMEA_ZDA : 1;
+      uint32_t UBX_NMEA_THS : 1;
     } bits;
   };
 } sfe_ublox_nmea_filtering_t;