Merge pull request #9 from sparkfun/release_candidate

Version 3.0.4

Author: PaulZC

.github/workflows/compile-sketch.yml

@@ -16,7 +16,7 @@ jobs:
         board:
           # Uno
           # https://github.com/arduino/ArduinoCore-avr/blob/master/boards.txt
-          - fqbn: arduino:avr:uno
+          - fqbn: arduino:avr:mega
             platforms: |
               - name: arduino:avr
                 source-url: https://downloads.arduino.cc/packages/package_index.json

examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino

@@ -2,7 +2,7 @@
   Configuring the GNSS to automatically send odometer reports over I2C and display the data using a callback
   By: Paul Clark
   SparkFun Electronics
-  Date: December 30th, 2020
+  Date: March 20th, 2023
   License: MIT. See license file for more information.
 
   This example shows how to configure the u-blox GNSS to send odometer reports automatically
@@ -75,6 +75,27 @@ void setup()
 
   myGNSS.setNavigationFrequency(1); //Produce one solution per second
 
+  //By default, the odometer is disabled. We need to enable it.
+  //We can enable it using the default settings:
+  myGNSS.enableOdometer();
+
+  //Or we can configure it using our own settings, by performing a read-modify-write:
+  uint8_t flags;        // Odometer/Low-speed COG filter flags
+  uint8_t odoCfg;       // Odometer filter settings
+  uint8_t cogMaxSpeed;  // Speed below which course-over-ground (COG) is computed with the low-speed COG filter : m/s * 0.1
+  uint8_t cogMaxPosAcc; // Maximum acceptable position accuracy for computing COG with the low-speed COG filter
+  uint8_t velLpGain;    // Velocity low-pass filter level
+  uint8_t cogLpGain;    // COG low-pass filter level
+
+  if (myGNSS.getOdometerConfig(&flags, &odoCfg, &cogMaxSpeed, &cogMaxPosAcc, &velLpGain, &cogLpGain))
+  {
+    flags = UBX_CFG_ODO_USE_ODO; // Enable the odometer
+    odoCfg = UBX_CFG_ODO_CAR; // Use the car profile (others are RUN, CYCLE, SWIM, CUSTOM)
+    myGNSS.setOdometerConfig(flags, odoCfg, cogMaxSpeed, cogMaxPosAcc, velLpGain, cogLpGain); // Set the configuration
+  }
+  else
+    Serial.println("Could not read odometer config!");
+
   //myGNSS.resetOdometer(); //Uncomment this line to reset the odometer
 
   myGNSS.setAutoNAVODOcallbackPtr(&printODOdata); // Enable automatic NAV ODO messages with callback to printODOdata

keywords.txt

@@ -204,6 +204,9 @@ setDynamicModel	KEYWORD2
 getDynamicModel	KEYWORD2
 
 resetOdometer	KEYWORD2
+enableOdometer	KEYWORD2
+getOdometerConfig	KEYWORD2
+setOdometerConfig	KEYWORD2
 
 enableGNSS	KEYWORD2
 isGNSSenabled	KEYWORD2
@@ -809,6 +812,7 @@ SFE_UBLOX_FILTER_NMEA_GST	LITERAL1
 SFE_UBLOX_FILTER_NMEA_GSV	LITERAL1
 SFE_UBLOX_FILTER_NMEA_RLM	LITERAL1
 SFE_UBLOX_FILTER_NMEA_RMC	LITERAL1
+SFE_UBLOX_FILTER_NMEA_THS	LITERAL1
 SFE_UBLOX_FILTER_NMEA_TXT	LITERAL1
 SFE_UBLOX_FILTER_NMEA_VLW	LITERAL1
 SFE_UBLOX_FILTER_NMEA_VTG	LITERAL1
@@ -845,25 +849,56 @@ SFE_UBLOX_FILTER_RTCM_TYPE4072_1	LITERAL1
 
 UBX_NAV_ATT	LITERAL1
 UBX_NAV_CLOCK	LITERAL1
+UBX_NAV_COV	LITERAL1
 UBX_NAV_DOP	LITERAL1
+UBX_NAV_EELL	LITERAL1
+UBX_NAV_EOE	LITERAL1
 UBX_NAV_GEOFENCE	LITERAL1
 UBX_NAV_HPPOSECEF	LITERAL1
 UBX_NAV_HPPOSLLH	LITERAL1
 UBX_NAV_ODO	LITERAL1
+UBX_NAV_ORB	LITERAL1
+UBX_NAV_PL	LITERAL1
 UBX_NAV_POSECEF	LITERAL1
+UBX_NAV_POSLLH	LITERAL1
 UBX_NAV_PVT	LITERAL1
 UBX_NAV_PVAT	LITERAL1
 UBX_NAV_RELPOSNED	LITERAL1
 UBX_NAV_RESETODO	LITERAL1
+UBX_NAV_SAT	LITERAL1
+UBX_NAV_SBAS	LITERAL1
+UBX_NAV_SIG	LITERAL1
+UBX_NAV_SLAS	LITERAL1
 UBX_NAV_STATUS	LITERAL1
 UBX_NAV_SVIN	LITERAL1
+UBX_NAV_TIMEBDS	LITERAL1
+UBX_NAV_TIMEGAL	LITERAL1
+UBX_NAV_TIMEGLO	LITERAL1
+UBX_NAV_TIMEGPS	LITERAL1
 UBX_NAV_TIMELS	LITERAL1
+UBX_NAV_TIMEUTC	LITERAL1
 UBX_NAV_VELECEF	LITERAL1
 UBX_NAV_VELNED	LITERAL1
 
+UBX_MON_COMMS	LITERAL1
+UBX_MON_HW2	LITERAL1
+UBX_MON_HW3	LITERAL1
+UBX_MON_HW	LITERAL1
+UBX_MON_IO	LITERAL1
+UBX_MON_MSGPP	LITERAL1
+UBX_MON_RF	LITERAL1
+UBX_MON_RXBUF	LITERAL1
+UBX_MON_RXR	LITERAL1
+UBX_MON_SPAN	LITERAL1
+UBX_MON_SYS	LITERAL1
+UBX_MON_TXBUF	LITERAL1
+
 UBX_RXM_PMP	LITERAL1
 UBX_RXM_COR	LITERAL1
+UBX_RXM_MEASX	LITERAL1
 UBX_RXM_RAWX	LITERAL1
+UBX_RXM_RLM	LITERAL1
+UBX_RXM_RTCM	LITERAL1
 UBX_RXM_SFRBX	LITERAL1
 UBX_RXM_SPARTN	LITERAL1
 UBX_RXM_QZSSL6	LITERAL1
@@ -901,6 +936,17 @@ VAL_CFG_SUBSEC_ANTCONF	LITERAL1
 VAL_CFG_SUBSEC_LOGCONF	LITERAL1
 VAL_CFG_SUBSEC_FTSCONF	LITERAL1
 
+UBX_CFG_ODO_USE_ODO	LITERAL1
+UBX_CFG_ODO_USE_COG	LITERAL1
+UBX_CFG_ODO_OUT_LP_VEL	LITERAL1
+UBX_CFG_ODO_OUT_LP_COG	LITERAL1
+
+UBX_CFG_ODO_RUN	LITERAL1
+UBX_CFG_ODO_CYCLE	LITERAL1
+UBX_CFG_ODO_SWIM	LITERAL1
+UBX_CFG_ODO_CAR	LITERAL1
+UBX_CFG_ODO_CUSTOM	LITERAL1
+
 DYN_MODEL_PORTABLE	LITERAL1
 DYN_MODEL_STATIONARY	LITERAL1
 DYN_MODEL_PEDESTRIAN	LITERAL1

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS v3
-version=3.0.3
+version=3.0.4
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>

src/u-blox_Class_and_ID.h

@@ -130,6 +130,7 @@ const uint8_t UBX_NMEA_GST = 0x07; // GxGST (GNSS Pseudo Range Error Statistics)
 const uint8_t UBX_NMEA_GSV = 0x03; // GxGSV (GNSS satellites in view)
 const uint8_t UBX_NMEA_RLM = 0x0B; // GxRMC (Return link message (RLM))
 const uint8_t UBX_NMEA_RMC = 0x04; // GxRMC (Recommended minimum data)
+const uint8_t UBX_NMEA_THS = 0x0E; // GxTHS (True heading and status)
 const uint8_t UBX_NMEA_TXT = 0x41; // GxTXT (text transmission)
 const uint8_t UBX_NMEA_VLW = 0x0F; // GxVLW (dual ground/water distance)
 const uint8_t UBX_NMEA_VTG = 0x05; // GxVTG (course over ground and Ground speed)
@@ -237,7 +238,9 @@ const uint8_t UBX_MON_VER = 0x04;   // Receiver/Software Version. Used for obtai
 // The following are used to configure the NAV UBX messages (navigation results messages). Descriptions from UBX messages overview (ZED_F9P Interface Description Document page 35-36)
 const uint8_t UBX_NAV_ATT = 0x05;       // Vehicle "Attitude" Solution
 const uint8_t UBX_NAV_CLOCK = 0x22;     // Clock Solution
+const uint8_t UBX_NAV_COV = 0x36;       // Covariance matrices
 const uint8_t UBX_NAV_DOP = 0x04;       // Dilution of precision
+const uint8_t UBX_NAV_EELL = 0x3D;      // Position error ellipse parameters
 const uint8_t UBX_NAV_EOE = 0x61;       // End of Epoch
 const uint8_t UBX_NAV_GEOFENCE = 0x39;  // Geofencing status. Used to poll the geofence status
 const uint8_t UBX_NAV_HPPOSECEF = 0x13; // High Precision Position Solution in ECEF. Used to find our positional accuracy (high precision).
@@ -252,6 +255,8 @@ const uint8_t UBX_NAV_PVAT = 0x17;      // Navigation position velocity attitude
 const uint8_t UBX_NAV_RELPOSNED = 0x3C; // Relative Positioning Information in NED frame
 const uint8_t UBX_NAV_RESETODO = 0x10;  // Reset odometer
 const uint8_t UBX_NAV_SAT = 0x35;       // Satellite Information
+const uint8_t UBX_NAV_SBAS = 0x32;      // SBAS subsystem
+const uint8_t UBX_NAV_SLAS = 0x42;      // QZSS L1S SLAS status data
 const uint8_t UBX_NAV_SIG = 0x43;       // Signal Information
 const uint8_t UBX_NAV_STATUS = 0x03;    // Receiver Navigation Status
 const uint8_t UBX_NAV_SVIN = 0x3B;      // Survey-in data. Used for checking Survey In status
@@ -338,6 +343,22 @@ const uint8_t COM_TYPE_NMEA = (1 << 1);
 const uint8_t COM_TYPE_RTCM3 = (1 << 5);
 const uint8_t COM_TYPE_SPARTN = (1 << 6);
 
+// Odometer configuration - flags
+const uint8_t UBX_CFG_ODO_USE_ODO = (1 << 0);
+const uint8_t UBX_CFG_ODO_USE_COG = (1 << 1);
+const uint8_t UBX_CFG_ODO_OUT_LP_VEL = (1 << 2);
+const uint8_t UBX_CFG_ODO_OUT_LP_COG = (1 << 3);
+
+// Odometer configuration - odoCfg
+enum odoCfg_e
+{
+  UBX_CFG_ODO_RUN = 0,
+  UBX_CFG_ODO_CYCLE,
+  UBX_CFG_ODO_SWIM,
+  UBX_CFG_ODO_CAR,
+  UBX_CFG_ODO_CUSTOM,
+};
+
 // Configuration Sub-Section mask definitions for saveConfigSelective (UBX-CFG-CFG)
 const uint32_t VAL_CFG_SUBSEC_IOPORT = 0x00000001;   // ioPort - communications port settings (causes IO system reset!)
 const uint32_t VAL_CFG_SUBSEC_MSGCONF = 0x00000002;  // msgConf - message configuration

src/u-blox_GNSS.cpp

@@ -63,6 +63,8 @@ DevUBLOXGNSS::DevUBLOXGNSS(void)
   _logNMEA.all = 0;                             // Default to passing no NMEA messages to the file buffer
   _processNMEA.all = SFE_UBLOX_FILTER_NMEA_ALL; // Default to passing all NMEA messages to processNMEA
   _logRTCM.all = 0;                             // Default to passing no RTCM messages to the file buffer
+
+  createLock(); // Create the lock semaphore - if needed
 }
 
 DevUBLOXGNSS::~DevUBLOXGNSS(void)
@@ -88,6 +90,8 @@ DevUBLOXGNSS::~DevUBLOXGNSS(void)
     delete[] spiBuffer; // Created with new[]
     spiBuffer = nullptr;
   }
+
+  deleteLock(); // Delete the lock semaphore - if required
 }
 
 // Stop all automatic message processing. Free all used RAM
@@ -2140,6 +2144,8 @@ bool DevUBLOXGNSS::logThisNMEA()
     logMe = true;
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_logNMEA.bits.UBX_NMEA_RMC == 1))
     logMe = true;
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S') && (_logNMEA.bits.UBX_NMEA_THS == 1))
+    logMe = true;
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_logNMEA.bits.UBX_NMEA_TXT == 1))
     logMe = true;
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_logNMEA.bits.UBX_NMEA_VLW == 1))
@@ -2198,6 +2204,8 @@ bool DevUBLOXGNSS::isNMEAHeaderValid()
     return (true);
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C'))
     return (true);
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S'))
+    return (true);
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T'))
     return (true);
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W'))
@@ -2251,6 +2259,8 @@ bool DevUBLOXGNSS::processThisNMEA()
     return (true);
   if ((nmeaAddressField[3] == 'R') && (nmeaAddressField[4] == 'M') && (nmeaAddressField[5] == 'C') && (_processNMEA.bits.UBX_NMEA_RMC == 1))
     return (true);
+  if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'H') && (nmeaAddressField[5] == 'S') && (_processNMEA.bits.UBX_NMEA_THS == 1))
+    return (true);
   if ((nmeaAddressField[3] == 'T') && (nmeaAddressField[4] == 'X') && (nmeaAddressField[5] == 'T') && (_processNMEA.bits.UBX_NMEA_TXT == 1))
     return (true);
   if ((nmeaAddressField[3] == 'V') && (nmeaAddressField[4] == 'L') && (nmeaAddressField[5] == 'W') && (_processNMEA.bits.UBX_NMEA_VLW == 1))
@@ -7786,6 +7796,72 @@ bool DevUBLOXGNSS::resetOdometer(uint16_t maxWait)
   return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
+// Enable / disable the odometer
+bool DevUBLOXGNSS::enableOdometer(bool enable, uint8_t layer, uint16_t maxWait)
+{
+  return setVal8(UBLOX_CFG_ODO_USE_ODO, (uint8_t)enable, layer, maxWait);
+}
+  
+// Read the odometer configuration
+bool DevUBLOXGNSS::getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint8_t layer, uint16_t maxWait)
+{
+  bool result = newCfgValget(layer);
+  result &= addCfgValget(UBLOX_CFG_ODO_USE_ODO);
+  result &= addCfgValget(UBLOX_CFG_ODO_USE_COG);
+  result &= addCfgValget(UBLOX_CFG_ODO_OUTLPVEL);
+  result &= addCfgValget(UBLOX_CFG_ODO_OUTLPCOG);
+  result &= addCfgValget(UBLOX_CFG_ODO_PROFILE);
+  result &= addCfgValget(UBLOX_CFG_ODO_COGMAXSPEED);
+  result &= addCfgValget(UBLOX_CFG_ODO_COGMAXPOSACC);
+  result &= addCfgValget(UBLOX_CFG_ODO_VELLPGAIN);
+  result &= addCfgValget(UBLOX_CFG_ODO_COGLPGAIN);
+  result &= sendCfgValget(maxWait);
+
+  if (result)
+  {
+    uint8_t flagsBit = 0;
+    uint8_t flagsByte = 0;
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_USE_ODO, &flagsBit, 1);
+    if (flagsBit)
+      flagsByte |= UBX_CFG_ODO_USE_ODO;
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_USE_COG, &flagsBit, 1);
+    if (flagsBit)
+      flagsByte |= UBX_CFG_ODO_USE_COG;
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_OUTLPVEL, &flagsBit, 1);
+    if (flagsBit)
+      flagsByte |= UBX_CFG_ODO_OUT_LP_VEL;
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_OUTLPCOG, &flagsBit, 1);
+    if (flagsBit)
+      flagsByte |= UBX_CFG_ODO_OUT_LP_COG;
+    *flags = flagsByte;
+
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_PROFILE, odoCfg, 1);
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_COGMAXSPEED, cogMaxSpeed, 1);
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_COGMAXPOSACC, cogMaxPosAcc, 1);
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_VELLPGAIN, velLpGain, 1);
+    result &= extractConfigValueByKey(&packetCfg, UBLOX_CFG_ODO_COGLPGAIN, cogLpGain, 1);
+  }
+
+  return result;
+}
+
+// Configure the odometer
+bool DevUBLOXGNSS::setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint8_t layer, uint16_t maxWait)
+{
+  bool result = newCfgValset(layer);
+  result &= addCfgValset8(UBLOX_CFG_ODO_USE_ODO, flags & UBX_CFG_ODO_USE_ODO ? 1 : 0);
+  result &= addCfgValset8(UBLOX_CFG_ODO_USE_COG, flags & UBX_CFG_ODO_USE_COG ? 1 : 0);
+  result &= addCfgValset8(UBLOX_CFG_ODO_OUTLPVEL, flags & UBX_CFG_ODO_OUT_LP_VEL ? 1 : 0);
+  result &= addCfgValset8(UBLOX_CFG_ODO_OUTLPCOG, flags & UBX_CFG_ODO_OUT_LP_COG ? 1 : 0);
+  result &= addCfgValset8(UBLOX_CFG_ODO_PROFILE, odoCfg);
+  result &= addCfgValset8(UBLOX_CFG_ODO_COGMAXSPEED, cogMaxSpeed);
+  result &= addCfgValset8(UBLOX_CFG_ODO_COGMAXPOSACC, cogMaxPosAcc);
+  result &= addCfgValset8(UBLOX_CFG_ODO_VELLPGAIN, velLpGain);
+  result &= addCfgValset8(UBLOX_CFG_ODO_COGLPGAIN, cogLpGain);
+  result &= sendCfgValset(maxWait);
+  return result;
+}
+
 uint32_t DevUBLOXGNSS::getEnableGNSSConfigKey(sfe_ublox_gnss_ids_e id)
 {
   const uint32_t gnssConfigKeys[(uint8_t)SFE_UBLOX_GNSS_ID_UNKNOWN] = {
@@ -15671,6 +15747,8 @@ int32_t DevUBLOXGNSS::getAltitude(uint16_t maxWait)
 // Get the current altitude in mm according to mean sea level
 // Ellipsoid model: https://www.esri.com/news/arcuser/0703/geoid1of3.html
 // Difference between Ellipsoid Model and Mean Sea Level: https://eos-gnss.com/elevation-for-beginners/
+// Also see: https://portal.u-blox.com/s/question/0D52p00008HKDSkCAP/what-geoid-model-is-used-and-where-is-this-calculated
+// and: https://cddis.nasa.gov/926/egm96/egm96.html on 10x10 degree grid
 int32_t DevUBLOXGNSS::getAltitudeMSL(uint16_t maxWait)
 {
   if (packetUBXNAVPVT == nullptr)

src/u-blox_GNSS.h

@@ -138,9 +138,11 @@ class DevUBLOXGNSS
   bool _UART2 = false; // Default to UART1
 
   // These lock / unlock functions can be used if you have multiple tasks writing to the bus. 
-  // The idea is that in a RTOS you override this class and the two functions in which you take and give a mutex.
+  // The idea is that in a RTOS you override this class and the functions in which you take and give a mutex.
+  virtual bool createLock(void) { return true; }
   virtual bool lock(void) { return true; }
   virtual void unlock(void) { }
+  virtual void deleteLock(void) { }
 
 public:
   void connectedToUART2(bool connected = true) { _UART2 = connected; }
@@ -391,8 +393,11 @@ class DevUBLOXGNSS
   bool setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint8_t layer = VAL_LAYER_RAM_BBR, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait);
   uint8_t getDynamicModel(uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Get the dynamic model - returns 255 if the sendCommand fails
 
-  // Reset the odometer
+  // Reset / enable / configure the odometer
   bool resetOdometer(uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Reset the odometer
+  bool enableOdometer(bool enable = true, uint8_t layer = VAL_LAYER_RAM_BBR, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Enable / disable the odometer
+  bool getOdometerConfig(uint8_t *flags, uint8_t *odoCfg, uint8_t *cogMaxSpeed, uint8_t *cogMaxPosAcc, uint8_t *velLpGain, uint8_t *cogLpGain, uint8_t layer = VAL_LAYER_RAM, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Read the odometer configuration
+  bool setOdometerConfig(uint8_t flags, uint8_t odoCfg, uint8_t cogMaxSpeed, uint8_t cogMaxPosAcc, uint8_t velLpGain, uint8_t cogLpGain, uint8_t layer = VAL_LAYER_RAM_BBR, uint16_t maxWait = kUBLOXGNSSDefaultMaxWait); // Configure the odometer
 
   // Enable/Disable individual GNSS systems using UBX-CFG-GNSS
   // Note: you must leave at least one major GNSS enabled! If in doubt, enable GPS before disabling the others

src/u-blox_external_typedefs.h

@@ -131,6 +131,7 @@ typedef struct
       uint32_t UBX_NMEA_VLW : 1;
       uint32_t UBX_NMEA_VTG : 1;
       uint32_t UBX_NMEA_ZDA : 1;
+      uint32_t UBX_NMEA_THS : 1;
     } bits;
   };
 } sfe_ublox_nmea_filtering_t;
@@ -159,7 +160,8 @@ typedef enum
   SFE_UBLOX_FILTER_NMEA_TXT = 0x00040000,
   SFE_UBLOX_FILTER_NMEA_VLW = 0x00080000,
   SFE_UBLOX_FILTER_NMEA_VTG = 0x00100000,
-  SFE_UBLOX_FILTER_NMEA_ZDA = 0x00200000
+  SFE_UBLOX_FILTER_NMEA_ZDA = 0x00200000,
+  SFE_UBLOX_FILTER_NMEA_THS = 0x00400000,
 } sfe_ublox_nmea_filtering_e;
 
 // Define a struct to allow selective logging of RTCM messages