UbxGpsNavPosecef.h added implementing NAV-POSECEF message

README.md

@@ -4,9 +4,13 @@
 
 This library depends on GPS module configuration and can handle only one type of UBX packet, which you can choose during [GPS module configuration](#gps-module-configuration). UBX GPS Library provides easy-to-use interface to all the available data in accordance with the Protocol Specification that you can find in the `Docs` directory. Also, full description of fields is accessible in the source codes.
 
+#### UbxGpsNavPosecef.h
+
+_NAV-POSECEF (Position Solution in ECEF):_ iTOW, ecefX, ecefY, ecefZ, pAcc
+
 #### UbxGpsNavPosllh.h
 
-_NAV-POSLLH (Position Solution in ECEF):_ iTOW, lon, lat, height, hMSL, hAcc, vAcc
+_NAV-POSLLH (Geodetic Position Solution):_ iTOW, lon, lat, height, hMSL, hAcc, vAcc
 
 #### UbxGpsNavPvt.h
 
@@ -127,6 +131,10 @@ Feel free to add something useful to this library :relaxed: For example new clas
 
 ## History
 
+### July 2, 2017
+
+UbxGpsNavPosecef.h added
+
 ### July 23, 2016
 
 First release

UbxGps/UbxGpsNavPosecef.h

@@ -0,0 +1,27 @@
+/**
+ * UBX GPS Library
+ * Created by Danila Loginov, July 2, 2017
+ * https://github.com/1oginov/UBX-GPS-Library
+ */
+
+#ifndef UBXGPSNAVPOSECEF_H_
+#define UBXGPSNAVPOSECEF_H_
+
+#include "UbxGps.h"
+
+class UbxGpsNavPosecef : public UbxGps {
+public:
+
+    //        Type  Name           Unit   Description (scaling)
+    unsigned  long  iTOW;       // ms     GPS time of week of the navigation epoch. See the description of iTOW for details.
+    long            ecefX;      // cm     ECEF X coordinate
+    long            ecefY;      // cm     ECEF Y coordinate
+    long            ecefZ;      // cm     ECEF Z coordinate
+    unsigned  long  pAcc;       // cm     Position Accuracy Estimate
+
+    UbxGpsNavPosecef(HardwareSerial& serial) : UbxGps(serial) {
+        this->setLength(20);
+    }
+};
+
+#endif

UbxGps/keywords.txt

@@ -1,4 +1,5 @@
 UbxGps	KEYWORD1
+UbxGpsNavPosecef	KEYWORD1
 UbxGpsNavPosllh	KEYWORD1
 UbxGpsNavPvt	KEYWORD1
 UbxGpsNavSol	KEYWORD1