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PaulZCPaulZC
committed
Please see description for full details:
Corrected some bit fields and ANDs in the dead-reckoning functions. Added extractSignedLong to avoid casting ambiguity. Corrected getRELPOSNED for the M8. Function now supports both the M8 and F9.
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2 files changed

+150
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‎src/SparkFun_Ublox_Arduino_Library.cpp

+147-79
Original file line numberDiff line numberDiff line change
@@ -554,7 +554,7 @@ void SFE_UBLOX_GPS::process(uint8_t incoming, ubxPacket *incomingUBX, uint8_t re
554554
//So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
555555
else if ((packetBuf.cls == requestedClass) &&
556556
(((packetBuf.id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) ||
557-
((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
557+
((packetBuf.id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
558558
((packetBuf.id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH))))
559559
{
560560
//This is not the message we were expecting but we start diverting data into incomingUBX (usually packetCfg) and process it anyway
@@ -827,7 +827,7 @@ void SFE_UBLOX_GPS::processUBX(uint8_t incoming, ubxPacket *incomingUBX, uint8_t
827827
//So let's check for an HPPOSLLH message arriving when we were expecting PVT and vice versa
828828
else if ((incomingUBX->cls == requestedClass) &&
829829
(((incomingUBX->id == UBX_NAV_PVT) && (requestedID == UBX_NAV_HPPOSLLH || requestedID == UBX_NAV_DOP)) ||
830-
((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
830+
((incomingUBX->id == UBX_NAV_HPPOSLLH) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_DOP)) ||
831831
((incomingUBX->id == UBX_NAV_DOP) && (requestedID == UBX_NAV_PVT || requestedID == UBX_NAV_HPPOSLLH))))
832832
{
833833
// This isn't the message we are looking for...
@@ -979,25 +979,25 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
979979
gpsSecond = extractByte(10);
980980
gpsDateValid = extractByte(11) & 0x01;
981981
gpsTimeValid = (extractByte(11) & 0x02) >> 1;
982-
gpsNanosecond = extractLong(16); //Includes milliseconds
982+
gpsNanosecond = extractSignedLong(16); //Includes milliseconds
983983

984984
fixType = extractByte(20 - startingSpot);
985985
gnssFixOk = extractByte(21 - startingSpot) & 0x1; //Get the 1st bit
986986
diffSoln = extractByte(21 - startingSpot) >> 1 & 0x1; //Get the 2nd bit
987987
carrierSolution = extractByte(21 - startingSpot) >> 6; //Get 6th&7th bits of this byte
988988
SIV = extractByte(23 - startingSpot);
989-
longitude = extractLong(24 - startingSpot);
990-
latitude = extractLong(28 - startingSpot);
991-
altitude = extractLong(32 - startingSpot);
992-
altitudeMSL = extractLong(36 - startingSpot);
989+
longitude = extractSignedLong(24 - startingSpot);
990+
latitude = extractSignedLong(28 - startingSpot);
991+
altitude = extractSignedLong(32 - startingSpot);
992+
altitudeMSL = extractSignedLong(36 - startingSpot);
993993
horizontalAccEst = extractLong(40 - startingSpot);
994994
verticalAccEst = extractLong(44 - startingSpot);
995-
nedNorthVel = extractLong(48 - startingSpot);
996-
nedEastVel = extractLong(52 - startingSpot);
997-
nedDownVel = extractLong(56 - startingSpot);
995+
nedNorthVel = extractSignedLong(48 - startingSpot);
996+
nedEastVel = extractSignedLong(52 - startingSpot);
997+
nedDownVel = extractSignedLong(56 - startingSpot);
998998

999-
groundSpeed = extractLong(60 - startingSpot);
1000-
headingOfMotion = extractLong(64 - startingSpot);
999+
groundSpeed = extractSignedLong(60 - startingSpot);
1000+
headingOfMotion = extractSignedLong(64 - startingSpot);
10011001
pDOP = extractInt(76 - startingSpot);
10021002

10031003
//Mark all datums as fresh (not read before)
@@ -1036,10 +1036,10 @@ void SFE_UBLOX_GPS::processUBXpacket(ubxPacket *msg)
10361036
else if (msg->id == UBX_NAV_HPPOSLLH && msg->len == 36)
10371037
{
10381038
timeOfWeek = extractLong(4);
1039-
highResLongitude = extractLong(8);
1040-
highResLatitude = extractLong(12);
1041-
elipsoid = extractLong(16);
1042-
meanSeaLevel = extractLong(20);
1039+
highResLongitude = extractSignedLong(8);
1040+
highResLatitude = extractSignedLong(12);
1041+
elipsoid = extractSignedLong(16);
1042+
meanSeaLevel = extractSignedLong(20);
10431043
highResLongitudeHp = extractSignedChar(24);
10441044
highResLatitudeHp = extractSignedChar(25);
10451045
elipsoidHp = extractSignedChar(26);
@@ -2973,6 +2973,19 @@ uint32_t SFE_UBLOX_GPS::extractLong(uint8_t spotToStart)
29732973
return (val);
29742974
}
29752975

2976+
//Just so there is no ambiguity about whether a uint32_t will cast to a int32_t correctly...
2977+
int32_t SFE_UBLOX_GPS::extractSignedLong(uint8_t spotToStart)
2978+
{
2979+
union // Use a union to convert from uint32_t to int32_t
2980+
{
2981+
uint32_t unsignedLong;
2982+
int32_t signedLong;
2983+
} unsignedSigned;
2984+
2985+
unsignedSigned.unsignedLong = extractLong(spotToStart);
2986+
return (unsignedSigned.signedLong);
2987+
}
2988+
29762989
//Given a spot in the payload array, extract two bytes and build an int
29772990
uint16_t SFE_UBLOX_GPS::extractInt(uint8_t spotToStart)
29782991
{
@@ -3444,7 +3457,7 @@ boolean SFE_UBLOX_GPS::getDOP(uint16_t maxWait)
34443457

34453458
if (retVal == SFE_UBLOX_STATUS_DATA_RECEIVED)
34463459
return (true);
3447-
3460+
34483461
if ((retVal == SFE_UBLOX_STATUS_DATA_OVERWRITTEN) && (packetCfg.id == UBX_NAV_PVT))
34493462
{
34503463
if (_printDebug == true)
@@ -3733,7 +3746,7 @@ boolean SFE_UBLOX_GPS::getProtocolVersion(uint16_t maxWait)
37333746
for (uint8_t extensionNumber = 0; extensionNumber < 10; extensionNumber++)
37343747
{
37353748
//Now we need to find "PROTVER=18.00" in the incoming byte stream
3736-
if (payloadCfg[(30 * extensionNumber) + 0] == 'P' && payloadCfg[(30 * extensionNumber) + 6] == 'R')
3749+
if ((payloadCfg[(30 * extensionNumber) + 0] == 'P') && (payloadCfg[(30 * extensionNumber) + 6] == 'R'))
37373750
{
37383751
versionHigh = (payloadCfg[(30 * extensionNumber) + 8] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 9] - '0'); //Convert '18' to 18
37393752
versionLow = (payloadCfg[(30 * extensionNumber) + 11] - '0') * 10 + (payloadCfg[(30 * extensionNumber) + 12] - '0'); //Convert '00' to 00
@@ -3818,6 +3831,9 @@ void SFE_UBLOX_GPS::flushDOP()
38183831

38193832
//Relative Positioning Information in NED frame
38203833
//Returns true if commands was successful
3834+
//Note:
3835+
// RELPOSNED on the M8 is only 40 bytes long
3836+
// RELPOSNED on the F9 is 64 bytes long and contains much more information
38213837
boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
38223838
{
38233839
packetCfg.cls = UBX_CLASS_NAV;
@@ -3836,35 +3852,73 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
38363852

38373853
int32_t tempRelPos;
38383854

3839-
tempRelPos = extractLong(8);
3840-
relPosInfo.relPosN = tempRelPos / 100.0; //Convert cm to m
3855+
tempRelPos = extractSignedLong(8);
3856+
relPosInfo.relPosN = ((float)tempRelPos) / 100.0; //Convert cm to m
38413857

3842-
tempRelPos = extractLong(12);
3843-
relPosInfo.relPosE = tempRelPos / 100.0; //Convert cm to m
3858+
tempRelPos = extractSignedLong(12);
3859+
relPosInfo.relPosE = ((float)tempRelPos) / 100.0; //Convert cm to m
38443860

3845-
tempRelPos = extractLong(16);
3846-
relPosInfo.relPosD = tempRelPos / 100.0; //Convert cm to m
3861+
tempRelPos = extractSignedLong(16);
3862+
relPosInfo.relPosD = ((float)tempRelPos) / 100.0; //Convert cm to m
38473863

3848-
relPosInfo.relPosLength = extractLong(20);
3849-
relPosInfo.relPosHeading = extractLong(24);
3864+
if (packetCfg.len == 40)
3865+
{
3866+
// The M8 version does not contain relPosLength or relPosHeading
3867+
relPosInfo.relPosLength = 0;
3868+
relPosInfo.relPosHeading = 0;
3869+
}
3870+
else
3871+
{
3872+
relPosInfo.relPosLength = extractSignedLong(20);
3873+
relPosInfo.relPosHeading = extractSignedLong(24);
3874+
}
38503875

3851-
relPosInfo.relPosHPN = payloadCfg[32];
3852-
relPosInfo.relPosHPE = payloadCfg[33];
3853-
relPosInfo.relPosHPD = payloadCfg[34];
3854-
relPosInfo.relPosHPLength = payloadCfg[35];
3876+
if (packetCfg.len == 40)
3877+
{
3878+
relPosInfo.relPosHPN = payloadCfg[20];
3879+
relPosInfo.relPosHPE = payloadCfg[21];
3880+
relPosInfo.relPosHPD = payloadCfg[22];
3881+
relPosInfo.relPosHPLength = 0; // The M8 version does not contain relPosHPLength
3882+
}
3883+
else
3884+
{
3885+
relPosInfo.relPosHPN = payloadCfg[32];
3886+
relPosInfo.relPosHPE = payloadCfg[33];
3887+
relPosInfo.relPosHPD = payloadCfg[34];
3888+
relPosInfo.relPosHPLength = payloadCfg[35];
3889+
}
38553890

38563891
uint32_t tempAcc;
38573892

3858-
tempAcc = extractLong(36);
3859-
relPosInfo.accN = tempAcc / 10000.0; //Convert 0.1 mm to m
3860-
3861-
tempAcc = extractLong(40);
3862-
relPosInfo.accE = tempAcc / 10000.0; //Convert 0.1 mm to m
3893+
if (packetCfg.len == 40)
3894+
{
3895+
tempAcc = extractLong(24);
3896+
relPosInfo.accN = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3897+
tempAcc = extractLong(28);
3898+
relPosInfo.accE = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3899+
tempAcc = extractLong(32);
3900+
relPosInfo.accD = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3901+
}
3902+
else
3903+
{
3904+
tempAcc = extractLong(36);
3905+
relPosInfo.accN = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3906+
tempAcc = extractLong(40);
3907+
relPosInfo.accE = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3908+
tempAcc = extractLong(44);
3909+
relPosInfo.accD = ((float)tempAcc) / 10000.0; //Convert 0.1 mm to m
3910+
}
38633911

3864-
tempAcc = extractLong(44);
3865-
relPosInfo.accD = tempAcc / 10000.0; //Convert 0.1 mm to m
3912+
uint8_t flags;
38663913

3867-
uint8_t flags = payloadCfg[60];
3914+
if (packetCfg.len == 40)
3915+
{
3916+
flags = payloadCfg[36];
3917+
}
3918+
else
3919+
{
3920+
flags = payloadCfg[60];
3921+
}
38683922

38693923
relPosInfo.gnssFixOk = flags & (1 << 0);
38703924
relPosInfo.diffSoln = flags & (1 << 1);
@@ -3876,6 +3930,7 @@ boolean SFE_UBLOX_GPS::getRELPOSNED(uint16_t maxWait)
38763930

38773931
return (true);
38783932
}
3933+
38793934
boolean SFE_UBLOX_GPS::getEsfInfo(uint16_t maxWait)
38803935
{
38813936
// Requesting Data from the receiver
@@ -3914,20 +3969,20 @@ boolean SFE_UBLOX_GPS::getEsfIns(uint16_t maxWait)
39143969
// Validity of each sensor value below
39153970
uint32_t validity = extractLong(0);
39163971

3917-
imuMeas.xAngRateVald = (validity && 0x0080) >> 8;
3918-
imuMeas.yAngRateVald = (validity && 0x0100) >> 9;
3919-
imuMeas.zAngRateVald = (validity && 0x0200) >> 10;
3920-
imuMeas.xAccelVald = (validity && 0x0400) >> 11;
3921-
imuMeas.yAccelVald = (validity && 0x0800) >> 12;
3922-
imuMeas.zAccelVald = (validity && 0x1000) >> 13;
3972+
imuMeas.xAngRateVald = (validity & 0x0100) >> 8;
3973+
imuMeas.yAngRateVald = (validity & 0x0200) >> 9;
3974+
imuMeas.zAngRateVald = (validity & 0x0400) >> 10;
3975+
imuMeas.xAccelVald = (validity & 0x0800) >> 11;
3976+
imuMeas.yAccelVald = (validity & 0x1000) >> 12;
3977+
imuMeas.zAccelVald = (validity & 0x2000) >> 13;
39233978

3924-
imuMeas.xAngRate = extractLong(12); // deg/s
3925-
imuMeas.yAngRate = extractLong(16); // deg/s
3926-
imuMeas.zAngRate = extractLong(20); // deg/s
3979+
imuMeas.xAngRate = extractSignedLong(12); // 0.001 deg/s
3980+
imuMeas.yAngRate = extractSignedLong(16); // 0.001 deg/s
3981+
imuMeas.zAngRate = extractSignedLong(20); // 0.001 deg/s
39273982

3928-
imuMeas.xAccel = extractLong(24); // m/s
3929-
imuMeas.yAccel = extractLong(28); // m/s
3930-
imuMeas.zAccel = extractLong(32); // m/s
3983+
imuMeas.xAccel = extractSignedLong(24); // 0.01 m/s^2
3984+
imuMeas.yAccel = extractSignedLong(28); // 0.01 m/s^2
3985+
imuMeas.zAccel = extractSignedLong(32); // 0.01 m/s^2
39313986

39323987
return (true);
39333988
}
@@ -3949,23 +4004,34 @@ boolean SFE_UBLOX_GPS::getEsfDataInfo(uint16_t maxWait)
39494004
uint32_t timeStamp = extractLong(0);
39504005
uint32_t flags = extractInt(4);
39514006

3952-
uint8_t timeSent = (flags && 0x01) >> 1;
3953-
uint8_t timeEdge = (flags && 0x02) >> 2;
3954-
uint8_t tagValid = (flags && 0x04) >> 3;
3955-
uint8_t numMeas = (flags && 0x1000) >> 15;
4007+
uint8_t timeSent = flags & 0x03; // timeSent is 2-bit: 0 = none, 1 = on Ext0, 2 = on Ext1
4008+
uint8_t timeEdge = (flags & 0x04) >> 2;
4009+
uint8_t tagValid = (flags & 0x08) >> 3;
4010+
uint8_t numMeas = (flags & 0xF800) >> 11;
39564011

3957-
if (numMeas > DEF_NUM_SENS)
4012+
if (numMeas > DEF_NUM_SENS) // Truncate numMeas if required
39584013
numMeas = DEF_NUM_SENS;
39594014

39604015
uint8_t byteOffset = 4;
39614016

39624017
for (uint8_t i = 0; i < numMeas; i++)
39634018
{
4019+
uint32_t bitField = extractLong(8 + (byteOffset * i));
4020+
imuMeas.dataType[i] = (bitField & 0x3F000000) >> 24;
4021+
imuMeas.data[i] = (bitField & 0xFFFFFF);
4022+
}
4023+
4024+
numMeas = (flags & 0xF800) >> 11; // Restore numMeas
39644025

3965-
uint32_t bitField = extractLong(4 + byteOffset * i);
3966-
imuMeas.dataType[i] = (bitField && 0xFF000000) >> 23;
3967-
imuMeas.data[i] = (bitField && 0xFFFFFF);
3968-
imuMeas.dataTStamp[i] = extractLong(8 + byteOffset * i);
4026+
if (packetCfg.len > (8 + (4 * numMeas))) // The calibTtag is optional - only extract it if it is present
4027+
{
4028+
uint8_t startOfTtag = 8 + (4 * numMeas); // Calculate where the Ttag data starts
4029+
if (numMeas > DEF_NUM_SENS) // Truncate numMeas if required
4030+
numMeas = DEF_NUM_SENS;
4031+
for (uint8_t i = 0; i < numMeas; i++)
4032+
{
4033+
imuMeas.dataTStamp[i] = extractLong(startOfTtag + (byteOffset * i));
4034+
}
39694035
}
39704036

39714037
return (true);
@@ -3987,13 +4053,15 @@ boolean SFE_UBLOX_GPS::getEsfRawDataInfo(uint16_t maxWait)
39874053
checkUblox();
39884054

39894055
uint32_t bitField = extractLong(4);
3990-
imuMeas.rawDataType = (bitField && 0xFF000000) >> 23;
3991-
imuMeas.rawData = (bitField && 0xFFFFFF);
4056+
imuMeas.rawDataType = (bitField & 0xFF000000) >> 24;
4057+
imuMeas.rawData = (bitField & 0xFFFFFF);
4058+
39924059
imuMeas.rawTStamp = extractLong(8);
39934060

39944061
return (true);
39954062
}
39964063

4064+
// Note: senor numbering starts at 1 (not 0)
39974065
sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait)
39984066
{
39994067

@@ -4018,22 +4086,22 @@ sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait)
40184086
for (uint8_t i = 0; i < sensor; i++)
40194087
{
40204088

4021-
uint8_t sensorFieldOne = extractByte(16 + offset * i);
4022-
uint8_t sensorFieldTwo = extractByte(17 + offset * i);
4023-
ubloxSen.freq = extractByte(18 + offset * i);
4089+
uint8_t sensorFieldOne = extractByte(16 + (offset * i));
4090+
uint8_t sensorFieldTwo = extractByte(17 + (offset * i));
4091+
ubloxSen.freq = extractByte(18 + (offset * i));
40244092
uint8_t sensorFieldThr = extractByte(19 + offset * i);
40254093

4026-
ubloxSen.senType = (sensorFieldOne && 0x10) >> 5;
4027-
ubloxSen.isUsed = (sensorFieldOne && 0x20) >> 6;
4028-
ubloxSen.isReady = (sensorFieldOne && 0x30) >> 7;
4094+
ubloxSen.senType = (sensorFieldOne & 0x3F);
4095+
ubloxSen.isUsed = (sensorFieldOne & 0x40) >> 6;
4096+
ubloxSen.isReady = (sensorFieldOne & 0x80) >> 7;
40294097

4030-
ubloxSen.calibStatus = sensorFieldTwo && 0x03;
4031-
ubloxSen.timeStatus = (sensorFieldTwo && 0xC) >> 2;
4098+
ubloxSen.calibStatus = sensorFieldTwo & 0x03;
4099+
ubloxSen.timeStatus = (sensorFieldTwo & 0xC) >> 2;
40324100

4033-
ubloxSen.badMeas = (sensorFieldThr && 0x01);
4034-
ubloxSen.badTag = (sensorFieldThr && 0x02) >> 1;
4035-
ubloxSen.missMeas = (sensorFieldThr && 0x04) >> 2;
4036-
ubloxSen.noisyMeas = (sensorFieldThr && 0x08) >> 3;
4101+
ubloxSen.badMeas = (sensorFieldThr & 0x01);
4102+
ubloxSen.badTag = (sensorFieldThr & 0x02) >> 1;
4103+
ubloxSen.missMeas = (sensorFieldThr & 0x04) >> 2;
4104+
ubloxSen.noisyMeas = (sensorFieldThr & 0x08) >> 3;
40374105
}
40384106

40394107
return (SFE_UBLOX_STATUS_SUCCESS);
@@ -4052,13 +4120,13 @@ boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait)
40524120

40534121
checkUblox();
40544122

4055-
vehAtt.roll = extractLong(8);
4056-
vehAtt.pitch = extractLong(12);
4057-
vehAtt.heading = extractLong(16);
4123+
vehAtt.roll = extractSignedLong(8); // 0.00001 deg
4124+
vehAtt.pitch = extractSignedLong(12); // 0.00001 deg
4125+
vehAtt.heading = extractSignedLong(16); // 0.00001 deg
40584126

4059-
vehAtt.accRoll = extractLong(20);
4060-
vehAtt.accPitch = extractLong(24);
4061-
vehAtt.accHeading = extractLong(28);
4127+
vehAtt.accRoll = extractLong(20); // 0.00001 deg
4128+
vehAtt.accPitch = extractLong(24); // 0.00001 deg
4129+
vehAtt.accHeading = extractLong(28); // 0.00001 deg
40624130

40634131
return (true);
40644132
}

‎src/SparkFun_Ublox_Arduino_Library.h

+3-2
Original file line numberDiff line numberDiff line change
@@ -504,7 +504,7 @@ class SFE_UBLOX_GPS
504504
boolean assumeAutoDOP(boolean enabled, boolean implicitUpdate = true); //In case no config access to the GPS is possible and DOP is send cyclically already
505505
boolean setAutoDOP(boolean enabled, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP reports at the navigation frequency
506506
boolean setAutoDOP(boolean enabled, boolean implicitUpdate, uint16_t maxWait = defaultMaxWait); //Enable/disable automatic DOP reports at the navigation frequency, with implicitUpdate == false accessing stale data will not issue parsing of data in the rxbuffer of your interface, instead you have to call checkUblox when you want to perform an update
507-
boolean getDOP(uint16_t maxWait = getDOPmaxWait); //Query module for latest dilution of precision values and load global vars:. If autoDOP is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new DOP is available.
507+
boolean getDOP(uint16_t maxWait = getDOPmaxWait); //Query module for latest dilution of precision values and load global vars:. If autoDOP is disabled, performs an explicit poll and waits, if enabled does not block. Returns true if new DOP is available.
508508
void flushPVT(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
509509
void flushHPPOSLLH(); //Mark all the PVT data as read/stale. This is handy to get data alignment after CRC failure
510510
void flushDOP(); //Mark all the DOP data as read/stale. This is handy to get data alignment after CRC failure
@@ -842,6 +842,7 @@ uint16_t eastingDOP; // Easting dilution of precision * 10^-2
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//Functions
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boolean checkUbloxInternal(ubxPacket *incomingUBX, uint8_t requestedClass = 255, uint8_t requestedID = 255); //Checks module with user selected commType
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uint32_t extractLong(uint8_t spotToStart); //Combine four bytes from payload into long
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int32_t extractSignedLong(uint8_t spotToStart); //Combine four bytes from payload into signed long (avoiding any ambiguity caused by casting)
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uint16_t extractInt(uint8_t spotToStart); //Combine two bytes from payload into int
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uint8_t extractByte(uint8_t spotToStart); //Get byte from payload
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int8_t extractSignedChar(uint8_t spotToStart); //Get signed 8-bit value from payload
@@ -890,7 +891,7 @@ uint16_t eastingDOP; // Easting dilution of precision * 10^-2
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boolean autoHPPOSLLHImplicitUpdate = true; // Whether autoHPPOSLLH is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
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boolean autoDOP = false; //Whether autoDOP is enabled or not
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boolean autoDOPImplicitUpdate = true; // Whether autoDOP is triggered by accessing stale data (=true) or by a call to checkUblox (=false)
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uint16_t ubxFrameCounter; //It counts all UBX frame. [Fixed header(2bytes), CLS(1byte), ID(1byte), length(2bytes), payload(x bytes), checksums(2bytes)]
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uint8_t rollingChecksumA; //Rolls forward as we receive incoming bytes. Checked against the last two A/B checksum bytes

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