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Added additional REL flag parsing, fixed PVT carr_soln parsing #22

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Added additional REL flag parsing, fixed PVT carr_soln parsing #22

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5 changes: 4 additions & 1 deletion src/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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: {
Expand Down Expand Up @@ -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;
Expand Down
9 changes: 9 additions & 0 deletions src/ubx.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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_;}
Expand Down Expand Up @@ -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_;}
Expand Down Expand Up @@ -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;
Expand Down