Add getGeoidalSeparation()

Author: PaulZC

keywords.txt

@@ -86,6 +86,7 @@ getEcefZ	KEYWORD2
 getEcefXDeviation	KEYWORD2
 getEcefYDeviation	KEYWORD2
 getEcefZDeviation	KEYWORD2
+getGeoidalSeparation	KEYWORD2
 getSIV	KEYWORD2
 getSatellitesUsed	KEYWORD2
 getSatellitesTracked	KEYWORD2

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun UM980 Triband RTK GNSS Arduino Library
-version=1.0.9
+version=1.0.10
 author=SparkFun Electronics
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for Serial Communication and Configuration of the UM980

src/SparkFun_Unicore_GNSS_Arduino_Library.cpp

@@ -1249,6 +1249,7 @@ void UM980::unicoreHandler(uint8_t *response, uint16_t length)
         memcpy(&packetBESTNAV->data.latitude, &data[offsetBestnavLat], sizeof(double));
         memcpy(&packetBESTNAV->data.longitude, &data[offsetBestnavLon], sizeof(double));
         memcpy(&packetBESTNAV->data.altitude, &data[offsetBestnavHgt], sizeof(double));
+        memcpy(&packetBESTNAV->data.geoidalSeparation, &data[offsetBestnavUndulation], sizeof(float));
         memcpy(&packetBESTNAV->data.horizontalSpeed, &data[offsetBestnavHorSpd], sizeof(double));
         memcpy(&packetBESTNAV->data.verticalSpeed, &data[offsetBestnavVertSpd], sizeof(double));
         memcpy(&packetBESTNAV->data.trackGround, &data[offsetBestnavTrkGnd], sizeof(double));
@@ -1587,6 +1588,11 @@ double UM980::getAltitude()
     CHECK_POINTER_BOOL(packetBESTNAV, initBestnav); // Check that RAM has been allocated
     return (packetBESTNAV->data.altitude);
 }
+double UM980::getGeoidalSeparation()
+{
+    CHECK_POINTER_BOOL(packetBESTNAV, initBestnav); // Check that RAM has been allocated
+    return ((double)packetBESTNAV->data.geoidalSeparation);
+}
 double UM980::getHorizontalSpeed()
 {
     CHECK_POINTER_BOOL(packetBESTNAV, initBestnav); // Check that RAM has been allocated

src/SparkFun_Unicore_GNSS_Arduino_Library.h

@@ -98,6 +98,7 @@ typedef enum
 #define offsetBestnavLat ((uint16_t)8)
 #define offsetBestnavLon ((uint16_t)16)
 #define offsetBestnavHgt ((uint16_t)24)
+#define offsetBestnavUndulation ((uint16_t)32)
 #define offsetBestnavLatDeviation ((uint16_t)40)
 #define offsetBestnavLonDeviation ((uint16_t)44)
 #define offsetBestnavHgtDeviation ((uint16_t)48)
@@ -301,6 +302,8 @@ class UM980
     float getEcefYDeviation();
     float getEcefZDeviation();
 
+    double getGeoidalSeparation();
+
     uint8_t getSIV();
     uint8_t getSatellitesTracked();
     uint8_t getSatellitesUsed();

src/unicore_structs.h

@@ -7,6 +7,7 @@ typedef struct
     double latitude;
     double longitude;
     double altitude;
+    float geoidalSeparation;
     double horizontalSpeed;
     double verticalSpeed;
     double trackGround;