Add getAopCfg and setAopCfg - for AssistNow Autonomous

src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

@@ -334,6 +334,12 @@ void SFE_UBLOX_GNSS::end(void)
     packetUBXESFRAW = NULL; // Redundant?
   }
 
+  if (packetUBXMGAACK != NULL)
+  {
+    delete packetUBXMGAACK;
+    packetUBXMGAACK = NULL; // Redundant?
+  }
+
   if (packetUBXHNRATT != NULL)
   {
     if (packetUBXHNRATT->callbackData != NULL)
@@ -6026,6 +6032,48 @@ bool SFE_UBLOX_GNSS::setAckAiding(uint8_t ackAiding, uint16_t maxWait) // Set th
   return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+//AssistNow Autonomous support
+//UBX-CFG-NAVX5 - get the AssistNow Autonomous configuration (aopCfg) - returns 255 if the sendCommand fails
+uint8_t SFE_UBLOX_GNSS::getAopCfg(uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAVX5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (255);
+
+  // Extract the aopCfg byte
+  // There are three versions of UBX-CFG-NAVX5 but aopCfg is always in byte 27
+  return (extractByte(&packetCfg, 27));
+}
+// Set the aopCfg byte and the aopOrdMaxErr word
+bool SFE_UBLOX_GNSS::setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr, uint16_t maxWait)
+{
+  packetCfg.cls = UBX_CLASS_CFG;
+  packetCfg.id = UBX_CFG_NAVX5;
+  packetCfg.len = 0;
+  packetCfg.startingSpot = 0;
+
+  if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED) // We are expecting data and an ACK
+    return (false);
+
+  // Set the aopCfg byte
+  // There are three versions of UBX-CFG-NAVX5 but aopCfg is always in byte 27 and aopOrbMaxErr is always in bytes 30 & 31
+  payloadCfg[27] = aopCfg;
+  payloadCfg[30] = (uint8_t)(aopOrbMaxErr & 0xFF); // aopOrbMaxErr LSB
+  payloadCfg[31] = (uint8_t)(aopOrbMaxErr >> 8); // aopOrbMaxErr MSB
+
+  // There are three versions of UBX-CFG-NAVX5 but the aop flag is always in bit 14 of mask1
+  payloadCfg[2] = 0x00; // Clear the LS byte of mask1
+  payloadCfg[3] = 0x40; // Set _only_ the aop flag = bit 14 of mask1 = bit 6 of the MS byte
+  payloadCfg[4] = 0x00; // Clear the LS byte of mask2, just in case
+  payloadCfg[5] = 0x00; // Clear the LS byte of mask2, just in case
+
+  return (sendCommand(&packetCfg, maxWait) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
+}
+
 // CONFIGURATION INTERFACE (protocol v27 and above)
 
 //Form 32-bit key from group/id/size

src/SparkFun_u-blox_GNSS_Arduino_Library.h

@@ -846,6 +846,11 @@ public:
 	uint8_t getAckAiding(uint16_t maxWait = defaultMaxWait); // Get the ackAiding byte - returns 255 if the sendCommand fails
 	bool setAckAiding(uint8_t ackAiding, uint16_t maxWait = defaultMaxWait); // Set the ackAiding byte
 
+	//AssistNow Autonomous support
+	//UBX-CFG-NAVX5 - get/set the aopCfg byte and set the aopOrdMaxErr word. If aopOrbMaxErr is 0 (default), the max orbit error is reset to the firmware default.
+	uint8_t getAopCfg(uint16_t maxWait = defaultMaxWait); // Get the AssistNow Autonomous configuration (aopCfg) - returns 255 if the sendCommand fails
+	bool setAopCfg(uint8_t aopCfg, uint16_t aopOrbMaxErr = 0, uint16_t maxWait = defaultMaxWait); // Set the aopCfg byte and the aopOrdMaxErr word
+
 	//General configuration (used only on protocol v27 and higher - ie, ZED-F9P)
 
 	//It is probably safe to assume that users of the ZED-F9P will be using I2C / Qwiic.