getHeadVehValid function added.

Author: balamuruganky

keywords.txt

@@ -64,6 +64,7 @@ getInvalidLlh	KEYWORD2
 getHeadVeh	KEYWORD2
 getMagDec	KEYWORD2
 getMagAcc	KEYWORD2
+getHeadVehValid	KEYWORD2
 
 setPortOutput	KEYWORD2
 setPortInput	KEYWORD2

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -1029,6 +1029,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       gnssFixOk = extractByte(21 - startingSpot) & 0x1; //Get the 1st bit
       diffSoln = extractByte(21 - startingSpot) >> 1 & 0x1; //Get the 2nd bit
       carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
+      headVehValid = extractByte(21 - startingSpot) >> 5 & 0x1; // Get the 5th bit
       SIV = extractByte(23 - startingSpot);
       longitude = extractSignedLong(24 - startingSpot);
       latitude = extractSignedLong(28 - startingSpot);
@@ -1064,6 +1065,7 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
       moduleQueried.all = true;
       moduleQueried.gnssFixOk = true;
       moduleQueried.diffSoln = true;
+      moduleQueried.headVehValid = true;
       moduleQueried.longitude = true;
       moduleQueried.latitude = true;
       moduleQueried.altitude = true;
@@ -3850,6 +3852,18 @@ uint8_t SFE_UBLOX_GPS::getCarrierSolutionType(uint16_t maxWait)
   return (carrierSolution);
 }
 
+//Get whether head vehicle valid or not
+bool SFE_UBLOX_GPS::getHeadVehValid(uint16_t maxWait)
+{
+  if (moduleQueried.headVehValid == false)
+    getPVT(maxWait);
+  moduleQueried.headVehValid = false; //Since we are about to give this to user, mark this data as stale
+  moduleQueried.all = false;
+
+  return (headVehValid);
+}
+
+
 //Get the ground speed in mm/s
 int32_t SFE_UBLOX_GPS::getGroundSpeed(uint16_t maxWait)
 {
@@ -3971,6 +3985,7 @@ void SFE_UBLOX_GPS::flushPVT()
   moduleQueried.all = false;
   moduleQueried.gnssFixOk = false;
   moduleQueried.diffSoln = false;
+  moduleQueried.headVehValid = false;
   moduleQueried.longitude = false;
   moduleQueried.latitude = false;
   moduleQueried.altitude = false;
@@ -3980,7 +3995,13 @@ void SFE_UBLOX_GPS::flushPVT()
   moduleQueried.carrierSolution = false;
   moduleQueried.groundSpeed = false;
   moduleQueried.headingOfMotion = false;
+  moduleQueried.speedAccEst = false;
+  moduleQueried.headingAccEst = false;
   moduleQueried.pDOP = false;
+  moduleQueried.invalidLlh = false;
+  moduleQueried.headVeh = false;
+  moduleQueried.magDec = false;
+  moduleQueried.magAcc = false;
 }
 
 //Mark all the HPPOSLLH data as read/stale. This is handy to get data alignment after CRC failure

src/SparkFun_Ublox_Arduino_Library.h

@@ -507,6 +507,7 @@ class SFE_UBLOX_GPS
 
 	bool getGnssFixOk(uint16_t maxWait = getPVTmaxWait);          //Get whether we have a valid fix (i.e within DOP & accuracy masks)
 	bool getDiffSoln(uint16_t maxWait = getPVTmaxWait);           //Get whether differential corrections were applied
+	bool getHeadVehValid(uint16_t maxWait = getPVTmaxWait);
 	int32_t getLatitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current latitude in degrees * 10^-7. Auto selects between HighPrecision and Regular depending on ability of module.
 	int32_t getLongitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current longitude in degrees * 10-7. Auto selects between HighPrecision and Regular depending on ability of module.
 	int32_t getAltitude(uint16_t maxWait = getPVTmaxWait);			  //Returns the current altitude in mm above ellipsoid
@@ -736,6 +737,7 @@ class SFE_UBLOX_GPS
 
 	bool gnssFixOk;      //valid fix (i.e within DOP & accuracy masks)
 	bool diffSoln;       //Differential corrections were applied
+	bool headVehValid;
 	int32_t latitude;		 //Degrees * 10^-7 (more accurate than floats)
 	int32_t longitude;		 //Degrees * 10^-7 (more accurate than floats)
 	int32_t altitude;		 //Number of mm above ellipsoid
@@ -1032,6 +1034,7 @@ class SFE_UBLOX_GPS
 		uint32_t all : 1;
 		uint32_t gnssFixOk : 1;
 		uint32_t diffSoln : 1;
+		uint32_t headVehValid : 1;
 		uint32_t longitude : 1;
 		uint32_t latitude : 1;
 		uint32_t altitude : 1;