From 5df906624edadfa5038e7f530d11f71a2026e879 Mon Sep 17 00:00:00 2001
From: m-elias <eliaschief@gmail.com>
Date: Fri, 19 Apr 2024 18:51:10 -0500
Subject: [PATCH] additional REL flag parsing, fixed PVT carr_soln

parsing additional RELPOSNED flags, added functions to get PVT & REL flag data, fixed PVT carr_soln_ parsing to return fixed(2), float(1) or none(0).
---
 src/ubx.cpp | 5 ++++-
 src/ubx.h   | 9 +++++++++
 2 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/src/ubx.cpp b/src/ubx.cpp
index bd92fae..6810cfa 100644
--- a/src/ubx.cpp
+++ b/src/ubx.cpp
@@ -142,7 +142,7 @@ void Ubx::ProcessNavData() {
   /* Fix */
   gnss_fix_ok_ = ubx_nav_pvt_.payload.flags & 0x01;
   diff_soln_ = ubx_nav_pvt_.payload.flags & 0x02;
-  carr_soln_ = ubx_nav_pvt_.payload.flags >> 6;
+  carr_soln_ = (ubx_nav_pvt_.payload.flags & 0xC0) >> 6;
   if (gnss_fix_ok_) {
     switch (ubx_nav_pvt_.payload.fix_type) {
       case 2: {
@@ -298,7 +298,10 @@ void Ubx::ProcessNavData() {
   }
   /* Relative position */
   if (rel_pos_data_) {
+    rel_pos_gnss_fix_ok_ = ubx_nav_pvt_.payload.flags & 0x01;
+    rel_pos_diff_soln_ = ubx_nav_pvt_.payload.flags & 0x02;
     rel_pos_avail_ = ubx_nav_rel_pos_ned_.payload.flags & 0x04;
+    rel_pos_carr_soln_ = (ubx_nav_rel_pos_ned_.payload.flags & 0x18) >> 3;
     rel_pos_moving_baseline_ = ubx_nav_rel_pos_ned_.payload.flags & 0x20;
     rel_pos_ref_pos_miss_ = ubx_nav_rel_pos_ned_.payload.flags & 0x40;
     rel_pos_ref_obs_miss_ = ubx_nav_rel_pos_ned_.payload.flags & 0x80;
diff --git a/src/ubx.h b/src/ubx.h
index 1194318..b4e0ac3 100644
--- a/src/ubx.h
+++ b/src/ubx.h
@@ -56,6 +56,9 @@ class Ubx {
   /* Reads NAV data and returns true on EOE */
   bool Read();
   /* Data output */
+  inline bool gnss_fix_ok() const {return gnss_fix_ok_;}
+  inline bool diff_soln() const {return diff_soln_;}
+  inline int8_t carr_soln() const {return carr_soln_;}
   inline Fix fix() const {return fix_;}
   inline int8_t num_sv() const {return num_sv_;}
   inline int16_t utc_year() const {return year_;}
@@ -101,7 +104,10 @@ class Ubx {
   inline float ndop() const {return ndop_;}
   inline float edop() const {return edop_;}
   /* Relative position data */
+  inline bool rel_pos_gnss_fix_ok() const {return rel_pos_gnss_fix_ok_;}
+  inline bool rel_pos_diff_soln() const {return rel_pos_diff_soln_;}
   inline bool rel_pos_avail() const {return rel_pos_avail_;}
+  inline int8_t rel_pos_carr_soln() const {return rel_pos_carr_soln_;}
   inline bool rel_pos_moving_baseline() const {return rel_pos_moving_baseline_;}
   inline bool rel_pos_ref_pos_miss() const {return rel_pos_ref_pos_miss_;}
   inline bool rel_pos_ref_obs_miss() const {return rel_pos_ref_obs_miss_;}
@@ -174,7 +180,10 @@ class Ubx {
   bool tow_valid_, week_valid_, leap_valid_;
   bool confirmed_date_, confirmed_time_, valid_time_and_date_;
   bool invalid_llh_, invalid_ecef_;
+  bool rel_pos_gnss_fix_ok_ = false;
+  bool rel_pos_diff_soln_ = false;
   bool rel_pos_avail_ = false;
+  int8_t rel_pos_carr_soln_ = 0;
   bool rel_pos_moving_baseline_ = false;
   bool rel_pos_ref_pos_miss_ = false;
   bool rel_pos_ref_obs_miss_ = false;