Add getGeoidalSeparation

Author: PaulZC

Firmware/RTK_Everywhere/GNSS.h

@@ -21,7 +21,8 @@ typedef enum
 class GNSS
 {
   protected:
-    float _altitude;           // Altitude in meters
+    double _altitude;           // Altitude in meters
+    double _geoidalSeparation; // Geoidal separation in meters
     float _horizontalAccuracy; // Horizontal position accuracy in meters
     double _latitude;          // Latitude in degrees
     double _longitude;         // Longitude in degrees
@@ -166,6 +167,9 @@ class GNSS
     // Returns the fix type or zero if not online
     virtual uint8_t getFixType();
 
+    // Returns the geoidal separation
+    virtual double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     virtual uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.h

@@ -230,6 +230,9 @@ class GNSS_LG290P : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_LG290P.ino

@@ -829,6 +829,16 @@ uint8_t GNSS_LG290P::getFixType()
     return 0;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_LG290P::getGeoidalSeparation()
+{
+    if (online.gnss)
+        return (_lg290p->getGeoidalSeparation());
+    return (0);
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline

Firmware/RTK_Everywhere/GNSS_Mosaic.h

@@ -699,6 +699,9 @@ class GNSS_MOSAIC : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_Mosaic.ino

@@ -952,6 +952,14 @@ uint8_t GNSS_MOSAIC::getFixType()
     return _fixType;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_MOSAIC::getGeoidalSeparation()
+{
+    return _geoidalSeparation;
+}
+
 //----------------------------------------
 // Returns the hours of 24 hour clock or zero if not online
 //----------------------------------------
@@ -2527,7 +2535,8 @@ void GNSS_MOSAIC::storeBlock4007(SEMP_PARSE_STATE *parse)
 {
     _latitude = sempSbfGetF8(parse, 16) * 180.0 / PI; // Convert from radians to degrees
     _longitude = sempSbfGetF8(parse, 24) * 180.0 / PI;
-    _altitude = (float)sempSbfGetF8(parse, 32);
+    _altitude = sempSbfGetF8(parse, 32); // Ellipsoidal height
+    _geoidalSeparation = (double)sempSbfGetF4(parse, 40); // Geoid undulation
     _horizontalAccuracy = ((float)sempSbfGetU2(parse, 90)) / 100.0; // Convert from cm to m
 
     // NrSV is the total number of satellites used in the PVT computation.

Firmware/RTK_Everywhere/GNSS_None.h

@@ -234,6 +234,14 @@ class GNSS_None : public GNSS
         return _fixType;
     }
 
+    // Get the geoidal separation
+    // Outputs:
+    //   Returns the geoidal separation in meters or zero if the GNSS is offline
+    double getGeoidalSeparation()
+    {
+        return _geoidalSeparation;
+    }
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour()
     {

Firmware/RTK_Everywhere/GNSS_UM980.h

@@ -241,6 +241,9 @@ class GNSS_UM980 : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_UM980.ino

@@ -586,6 +586,16 @@ uint8_t GNSS_UM980::getFixType()
     return 0;
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_UM980::getGeoidalSeparation()
+{
+    if (online.gnss)
+        return (_um980->getGeoidalSeparation());
+    return (0);
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline

Firmware/RTK_Everywhere/GNSS_ZED.h

@@ -491,6 +491,9 @@ class GNSS_ZED : GNSS
     // Returns the fix type or zero if not online
     uint8_t getFixType();
 
+    // Returns the geoidal separation
+    double getGeoidalSeparation();
+
     // Returns the hours of 24 hour clock or zero if not online
     uint8_t getHour();
 

Firmware/RTK_Everywhere/GNSS_ZED.ino

@@ -936,6 +936,14 @@ uint8_t GNSS_ZED::getFixType()
     return (_fixType);
 }
 
+//----------------------------------------
+// Returns the geoidal separation in meters or zero if the GNSS is offline
+//----------------------------------------
+double GNSS_ZED::getGeoidalSeparation()
+{
+    return _geoidalSeparation;
+}
+
 //----------------------------------------
 // Get the horizontal position accuracy
 // Returns the horizontal position accuracy or zero if offline
@@ -2542,7 +2550,8 @@ void storePVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 //----------------------------------------
 void GNSS_ZED::storePVTdataRadio(UBX_NAV_PVT_data_t *ubxDataStruct)
 {
-    _altitude = ubxDataStruct->height / 1000.0;
+    _altitude = (double)ubxDataStruct->height / 1000.0; // Height above ellipsoid in mm
+    _geoidalSeparation = (double)(ubxDataStruct->height - ubxDataStruct->hMSL) / 1000.0;
 
     _day = ubxDataStruct->day;
     _month = ubxDataStruct->month;