Merging release_candidate : version 1.8.9

README.md

@@ -51,7 +51,7 @@ Thanks to:
 * [dotMorten](https://github.com/dotMorten) for the MSGOUT keys, autoHPPOSLLH, autoDOP and upgrades to autoPVT.
 * [markuckermann](https://github.com/markuckermann) for spotting the config layer gremlins
 * [vid553](https://github.com/vid553) for the Zephyr port
-* [balamuruganky](https://github.com/balamuruganky) for the NAV-PVT velocity parameters
+* [balamuruganky](https://github.com/balamuruganky) for the NAV-PVT velocity parameters, getSpeedAccEst, getHeadingAccEst, getInvalidLlh, getHeadVeh, getMagDec and getMagAcc
 * [nelarsen](https://github.com/nelarsen) for the buffer overrun improvements
 * [mstranne](https://github.com/mstranne) and [shaneperera](https://github.com/shaneperera) for the pushRawData suggestion
 * [rubienr](https://github.com/rubienr) for spotting the logical AND issues
@@ -113,6 +113,21 @@ packets in its internal buffer (about 500 bytes) and the library will read those
 called, update its internal copy of the nav data 5 times, and return `true` to the sketch. The
 sketch calls `getLatitude`, etc. and retrieve the data of the most recent of those 5 packets.
 
+The library also supports:
+* `autoHPPOSLLH`
+* `autoDOP`
+* `autoHNRAtt`
+* `autoHNRDyn`
+* `autoHNRPVT`
+
+Memory Usage
+---------------------------------
+
+Version 1.8.9 introduced support for `autoHNR` on the NEO-M8U, and that tipped the balance in terms of RAM use on the ATmega328.
+The library does still run on the ATmega328 but you will see _**Low memory available, stability problems may occur**_ warnings
+as the global variables now occupy 1540 bytes of RAM. If you do want to run this library on the ATmega328, you may need to regress
+to Version 1.8.8 via the Library Manager.
+
 Products That Use This Library
 ---------------------------------
 * [GPS-16481](https://www.sparkfun.com/products/16481) - SparkFun GPS-RTK-SMA Breakout - ZED-F9P (Qwiic)

examples/Dead Reckoning/Example5_getHNRData/Example5_getHNRData.ino

@@ -0,0 +1,90 @@
+/*
+  By: Paul Clark
+  SparkFun Electronics
+  Date: December, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example configures the High Navigation Rate on the NEO-M8U and then
+  polls and displays the attitude solution, vehicle dynamics information
+  and high rate position, velocity and time.
+
+  This example polls the high rate data.
+  (The next example uses "autoHNR" to receive the HNR data automatically.)
+
+  Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
+  https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Warning! u-blox GPS did not begin correctly."));
+    Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+
+  if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
+    Serial.println(F("setHNRNavigationRate was successful"));
+  else
+    Serial.println(F("setHNRNavigationRate was NOT successful"));
+}
+
+void loop()
+{
+  // Poll and print selected HNR data
+  if (myGPS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
+  {
+    Serial.print(F("Roll: "));
+    Serial.print(myGPS.hnrAtt.roll);
+    Serial.print(F(" Pitch: "));
+    Serial.print(myGPS.hnrAtt.pitch);
+    Serial.print(F(" Heading: "));
+    Serial.println(myGPS.hnrAtt.heading);
+  }
+  if (myGPS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
+  {
+    Serial.print(F("xAccel: "));
+    Serial.print(myGPS.hnrVehDyn.xAccel);
+    Serial.print(F(" yAccel: "));
+    Serial.print(myGPS.hnrVehDyn.yAccel);
+    Serial.print(F(" zAccel: "));
+    Serial.println(myGPS.hnrVehDyn.zAccel);
+  }
+  if (myGPS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
+  {
+    Serial.print(F("ns: "));
+    Serial.print(myGPS.hnrPVT.nano);
+    Serial.print(F(" Lat: "));
+    Serial.print(myGPS.hnrPVT.lat);
+    Serial.print(F(" Lon: "));
+    Serial.println(myGPS.hnrPVT.lon);
+  }
+}

examples/Dead Reckoning/Example6_getAutoHNRData/Example6_getAutoHNRData.ino

@@ -0,0 +1,96 @@
+/*
+  By: Paul Clark
+  SparkFun Electronics
+  Date: December, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example configures the High Navigation Rate on the NEO-M8U and then
+  reads and displays the attitude solution, vehicle dynamics information
+  and high rate position, velocity and time.
+
+  This example uses "autoHNR" to receive the HNR data automatically.
+
+  Please make sure your NEO-M8U is running UDR firmware >= 1.31. Please update using u-center if necessary:
+  https://www.u-blox.com/en/product/neo-m8u-module#tab-documentation-resources
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  If you don't have a platform with a Qwiic connection use the 
+	SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_Ublox_GPS
+SFE_UBLOX_GPS myGPS;
+
+boolean usingAutoHNRAtt = false;
+boolean usingAutoHNRDyn = false;
+boolean usingAutoHNRPVT = false;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  //myGPS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Warning! u-blox GPS did not begin correctly."));
+    Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGPS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+
+  if (myGPS.setHNRNavigationRate(10) == true) //Set the High Navigation Rate to 10Hz
+    Serial.println(F("setHNRNavigationRate was successful"));
+  else
+    Serial.println(F("setHNRNavigationRate was NOT successful"));
+
+  usingAutoHNRAtt = myGPS.setAutoHNRAtt(true); //Attempt to enable auto HNR attitude messages
+  usingAutoHNRDyn = myGPS.setAutoHNRDyn(true); //Attempt to enable auto HNR vehicle dynamics messages  
+  usingAutoHNRPVT = myGPS.setAutoHNRPVT(true); //Attempt to enable auto HNR PVT messages
+}
+
+void loop()
+{
+  if (usingAutoHNRAtt && (myGPS.getHNRAtt() == true)) // If setAutoHNRAtt was successful and new data is available
+  {
+    Serial.print(F("Roll: ")); // Print selected data
+    Serial.print(myGPS.hnrAtt.roll);
+    Serial.print(F(" Pitch: "));
+    Serial.print(myGPS.hnrAtt.pitch);
+    Serial.print(F(" Heading: "));
+    Serial.println(myGPS.hnrAtt.heading);
+  }
+  if (usingAutoHNRDyn && (myGPS.getHNRDyn() == true)) // If setAutoHNRDyn was successful and new data is available
+  {
+    Serial.print(F("xAccel: ")); // Print selected data
+    Serial.print(myGPS.hnrVehDyn.xAccel);
+    Serial.print(F(" yAccel: "));
+    Serial.print(myGPS.hnrVehDyn.yAccel);
+    Serial.print(F(" zAccel: "));
+    Serial.println(myGPS.hnrVehDyn.zAccel);
+  }
+  if (usingAutoHNRPVT && (myGPS.getHNRPVT() == true)) // If setAutoHNRPVT was successful and new data is available
+  {
+    Serial.print(F("ns: ")); // Print selected data
+    Serial.print(myGPS.hnrPVT.nano);
+    Serial.print(F(" Lat: "));
+    Serial.print(myGPS.hnrPVT.lat);
+    Serial.print(F(" Lon: "));
+    Serial.println(myGPS.hnrPVT.lon);
+  }
+}

examples/Example13_PVT/Example1_AutoPVT/Example1_AutoPVT.ino

@@ -54,7 +54,8 @@ void setup()
 void loop()
 {
   // Calling getPVT returns true if there actually is a fresh navigation solution available.
-  if (myGPS.getPVT())
+  // Start the reading only when valid LLH is available
+  if (myGPS.getPVT() && (myGPS.getInvalidLlh() == false))
   {
     Serial.println();
     long latitude = myGPS.getLatitude();
@@ -105,6 +106,33 @@ void loop()
     Serial.print(horizontalAccEst);
     Serial.print(F(" (mm)"));
 
+    int speedAccEst = myGPS.getSpeedAccEst();
+    Serial.print(F(" SpeedAccEst: "));
+    Serial.print(speedAccEst);
+    Serial.print(F(" (mm/s)"));
+
+    int headAccEst = myGPS.getHeadingAccEst();
+    Serial.print(F(" HeadAccEst: "));
+    Serial.print(headAccEst);
+    Serial.print(F(" (degrees * 10^-5)"));
+
+    if (myGPS.getHeadVehValid() == true) {
+      int headVeh = myGPS.getHeadVeh();
+      Serial.print(F(" HeadVeh: "));
+      Serial.print(headVeh);
+      Serial.print(F(" (degrees * 10^-5)"));
+
+      int magDec = myGPS.getMagDec();
+      Serial.print(F(" MagDec: "));
+      Serial.print(magDec);
+      Serial.print(F(" (degrees * 10^-2)"));
+
+      int magAcc = myGPS.getMagAcc();
+      Serial.print(F(" MagAcc: "));
+      Serial.print(magAcc);
+      Serial.print(F(" (degrees * 10^-2)"));
+    }
+
     Serial.println();
   } else {
     Serial.print(".");

keywords.txt

@@ -58,6 +58,13 @@ getVerticalAccEst	KEYWORD2
 getNedNorthVel	KEYWORD2
 getNedEastVel	KEYWORD2
 getNedDownVel	KEYWORD2
+getSpeedAccEst	KEYWORD2
+getHeadingAccEst	KEYWORD2
+getInvalidLlh	KEYWORD2
+getHeadVeh	KEYWORD2
+getMagDec	KEYWORD2
+getMagAcc	KEYWORD2
+getHeadVehValid	KEYWORD2
 
 setPortOutput	KEYWORD2
 setPortInput	KEYWORD2
@@ -175,6 +182,18 @@ setStaticPosition   KEYWORD2
 
 pushRawData   KEYWORD2
 
+setHNRNavigationRate   KEYWORD2
+getHNRNavigationRate   KEYWORD2
+assumeAutoHNRAtt   KEYWORD2
+setAutoHNRAtt   KEYWORD2
+getHNRAtt   KEYWORD2
+assumeAutoHNRDyn   KEYWORD2
+setAutoHNRDyn   KEYWORD2
+getHNRDyn   KEYWORD2
+assumeAutoHNRPVT   KEYWORD2
+setAutoHNRPVT   KEYWORD2
+getHNRPVT   KEYWORD2
+
 #######################################
 # Constants (LITERAL1)
 #######################################

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox Arduino Library
-version=1.8.8
+version=1.8.9
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C and Serial Communication with u-blox modules