Step_8

Author: PaulZC

examples/Dead_Reckoning/Example8_getNAVPVAT/Example8_getNAVPVAT.ino

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+/*
+  By: Paul CLark
+  SparkFun Electronics
+  Date: January, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS 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
+
+	After calibrating the module and securing it to your vehicle such that it's
+  stable within 2 degrees, and the board is oriented correctly with regards to
+  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
+  includes the vehicle's heading, pitch, and roll.
+
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun u-blox Example"));
+
+  Wire.begin();
+
+  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+}
+
+void loop()
+{
+  // PVAT data is produced at the navigation rate, so by default we'll get fresh data once per second
+	if (myGNSS.getNAVPVAT()) // Poll new PVAT
+  {
+    Serial.print(F("Roll: ")); 
+    Serial.print((float)myGNSS.getVehicleRoll() / 100000.0, 5); // Use the helper function to get the roll in degrees * 10^-5
+    
+  	Serial.print(F(" Pitch: ")); 
+    Serial.print((float)myGNSS.getVehiclePitch() / 100000.0, 5); // Use the helper function to get the pitch in degrees * 10^-5
+    
+  	Serial.print(F(" Heading: ")); 
+    Serial.print((float)myGNSS.getVehicleHeading() / 100000.0, 5); // Use the helper function to get the heading in degrees * 10^-5
+
+    // We don't have helper functions to extract the roll, pitch and heading valid flags from the PVAT message. But we can do it manually:
+    
+    Serial.print(F(" Roll Valid: "));
+    Serial.print(myGNSS.packetUBXNAVPVAT->data.flags.bits.vehRollValid);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.vehRollValid = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.print(F(" Pitch Valid: "));
+    Serial.print(myGNSS.packetUBXNAVPVAT->data.flags.bits.vehPitchValid);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.vehPitchValid = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.print(F(" Heading Valid: "));
+    Serial.print(myGNSS.packetUBXNAVPVAT->data.flags.bits.vehHeadingValid);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.vehHeadingValid = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    // We don't have helper functions to extract the roll, pitch and heading accuracy from the PVAT message. But we can do it manually:
+    
+    Serial.print(F(" Roll Acc: "));
+    Serial.print(((float)myGNSS.packetUBXNAVPVAT->data.accRoll) / 100, 2);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.accRoll = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.print(F(" Pitch Acc: "));
+    Serial.print(((float)myGNSS.packetUBXNAVPVAT->data.accPitch) / 100, 2);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.accPitch = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.print(F(" Heading Acc: "));
+    Serial.print(((float)myGNSS.packetUBXNAVPVAT->data.accHeading) / 100, 2);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried2.bits.accHeading = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    // We don't have helper functions to extract the lat and lon from the PVAT message. But we can do it manually:
+    
+    Serial.print(F(" Lat: ")); 
+    Serial.print(((float)myGNSS.packetUBXNAVPVAT->data.lat) / 10000000.0, 7);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.lat = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.print(F(" Lon: ")); 
+    Serial.print(((float)myGNSS.packetUBXNAVPVAT->data.lon) / 10000000.0, 7);
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.lon = false; // Mark the data as stale
+    myGNSS.packetUBXNAVPVAT->moduleQueried.moduleQueried1.bits.all = false;
+    
+    Serial.println();
+  }
+
+  delay(250);
+}