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Step_6.6

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This commit is contained in:
PaulZC
2022-01-11 15:10:55 +00:00
parent e394ae003a
commit 318e76383e
1 changed files with 54 additions and 0 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
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@@ -12773,6 +12773,60 @@ uint32_t SFE_UBLOX_GNSS::getVerticalAccuracy(uint16_t maxWait)
return (packetUBXNAVHPPOSLLH->data.vAcc);
}
// ***** PVAT Helper Functions
int32_t SFE_UBLOX_GNSS::getVehicleRoll(uint16_t maxWait)
{
if (packetUBXNAVPVAT == NULL) initPacketUBXNAVPVAT(); //Check that RAM has been allocated for the PVAT data
if (packetUBXNAVPVAT == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehRoll == false)
getNAVPVAT(maxWait);
packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehRoll = false; //Since we are about to give this to user, mark this data as stale
packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
return (packetUBXNAVPVAT->data.vehRoll);
}
int32_t SFE_UBLOX_GNSS::getVehiclePitch(uint16_t maxWait)
{
if (packetUBXNAVPVAT == NULL) initPacketUBXNAVPVAT(); //Check that RAM has been allocated for the PVAT data
if (packetUBXNAVPVAT == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehPitch == false)
getNAVPVAT(maxWait);
packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehPitch = false; //Since we are about to give this to user, mark this data as stale
packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
return (packetUBXNAVPVAT->data.vehPitch);
}
int32_t SFE_UBLOX_GNSS::getVehicleHeading(uint16_t maxWait)
{
if (packetUBXNAVPVAT == NULL) initPacketUBXNAVPVAT(); //Check that RAM has been allocated for the PVAT data
if (packetUBXNAVPVAT == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehHeading == false)
getNAVPVAT(maxWait);
packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.vehHeading = false; //Since we are about to give this to user, mark this data as stale
packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
return (packetUBXNAVPVAT->data.vehHeading);
}
int32_t SFE_UBLOX_GNSS::getMotionHeading(uint16_t maxWait)
{
if (packetUBXNAVPVAT == NULL) initPacketUBXNAVPVAT(); //Check that RAM has been allocated for the PVAT data
if (packetUBXNAVPVAT == NULL) //Bail if the RAM allocation failed
return 0;
if (packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.motHeading == false)
getNAVPVAT(maxWait);
packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.motHeading = false; //Since we are about to give this to user, mark this data as stale
packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
return (packetUBXNAVPVAT->data.motHeading);
}
// ***** SVIN Helper Functions
bool SFE_UBLOX_GNSS::getSurveyInActive(uint16_t maxWait)