Move the geoidal separation fix into the GNSS classes

Author: PaulZC

Firmware/Dockerfile

@@ -81,7 +81,7 @@ RUN arduino-cli lib install "SparkFun BQ40Z50 Battery Manager Arduino Library"@1
 RUN arduino-cli lib install "ArduinoMqttClient"@0.1.8
 RUN arduino-cli lib install "SparkFun u-blox PointPerfect Library"@1.11.4
 RUN arduino-cli lib install "SparkFun IM19 IMU Arduino Library"@1.0.1
-RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.9
+RUN arduino-cli lib install "SparkFun UM980 Triband RTK GNSS Arduino Library"@1.0.10
 RUN arduino-cli lib install "SparkFun LG290P Quadband RTK GNSS Arduino Library"@1.0.8
 RUN arduino-cli lib install "SparkFun I2C Expander Arduino Library"@1.0.1
 RUN arduino-cli lib install "SparkFun Apple Accessory Arduino Library"@3.0.9

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -593,7 +593,10 @@ uint8_t GNSS_LG290P::getActiveRtcmMessageCount()
 double GNSS_LG290P::getAltitude()
 {
     if (online.gnss)
-        return (_lg290p->getAltitude());
+        // See issue #809
+        // getAltitude returns the Altitude above mean sea level (meters)
+        // For Height above Ellipsoid, we need to add the the geoidalSeparation
+        return (_lg290p->getAltitude() + _lg290p->getGeoidalSeparation());
     return (0);
 }
 

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -855,6 +855,8 @@ uint8_t GNSS_MOSAIC::getActiveMessageCount()
 //----------------------------------------
 double GNSS_MOSAIC::getAltitude()
 {
+    // _altitude contains the Ellipsoidal height (meters) from SBF Block 4007
+    // We don't need to adjust for the Geoidal Separation (Undulation)
     return _altitude;
 }
 

Firmware/RTK_Everywhere/GNSS_UM980.ino

@@ -510,7 +510,10 @@ uint8_t GNSS_UM980::getActiveRtcmMessageCount()
 double GNSS_UM980::getAltitude()
 {
     if (online.gnss)
-        return (_um980->getAltitude());
+        // See issue #809
+        // getAltitude returns the Height above mean sea level (meters) from BESTNAVB
+        // For Height above Ellipsoid, we need to add the the geoidalSeparation
+        return (_um980->getAltitude() + _um980->getGeoidalSeparation());
     return (0);
 }
 

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -892,6 +892,8 @@ uint8_t GNSS_ZED::getActiveRtcmMessageCount()
 //----------------------------------------
 double GNSS_ZED::getAltitude()
 {
+    // _altitude contains the Height above ellipsoid from NAV-PVT height
+    // We don't need to adjust for the Geoidal Separation (Undulation)
     return _altitude;
 }
 

Firmware/RTK_Everywhere/States.ino

@@ -241,11 +241,9 @@ void stateUpdate()
             settings.fixedLong = gnss->getLongitude();
 
             // See issue #809
-            // Strictly we should implement this inside each GNSS class / instance
-            double fixedAltitude = gnss->getAltitude();
-            if ((present.gnss_lg290p) || (present.gnss_um980))
-                fixedAltitude += gnss->getGeoidalSeparation();
-            settings.fixedAltitude = fixedAltitude;
+            // gnss->getAltitude() will always return Height above ellipsoid
+            // even if the underlying library getAltitude does not
+            settings.fixedAltitude = gnss->getAltitude();
 
             systemPrint("Switching to Fixed Base mode using:");
             systemPrint(" Lat: ");