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PaulZCPaulZC
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Merge pull request #60 from sparkfun/release_candidate
v2.0.13
2 parents c3bb47c + 7d23fed commit 9f301c8

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Diff for: ‎examples/Dead_Reckoning/Example7_setESFAutoAlignment/Example7_setESFAutoAlignment.ino

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/*
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By: Nathan Seidle
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SparkFun Electronics
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Date: August, 2021
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License: MIT. See license file for more information but you can
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basically do whatever you want with this code.
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This example configures the AutoAlignment option for the IMU.
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The ZED-F9R Integration guide recommends enabling Auto Alignment once
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the device has been attached to the vehicle's frame.
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Enabling auto-alignment will cause the the sensor fusion status
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to begin initialization. After driving around a few turns, the sensors
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should enter 'Calibrated' state. See example 1 for fusion state or
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monitor UBX-ESF-STATUS.
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As of writing the ZED-F9R is using HPS v1.2 firmware. Please update using u-center if necessary.
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9R: https://www.sparkfun.com/products/16344
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ZED-F9R pHat: https://www.sparkfun.com/products/16475
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NEO-M8U: https://www.sparkfun.com/products/16329
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Hardware Connections:
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Plug a Qwiic cable into the GPS and a Redboard Qwiic
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If you don't have a platform with a Qwiic connection use the
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SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/17912)
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Open the serial monitor at 115200 baud to see the output
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*/
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#include <Wire.h> //Needed for I2C to GPS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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void setup()
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{
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Serial.begin(115200);
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while (!Serial); //Wait for user to open terminal
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Serial.println(F("SparkFun u-blox Example"));
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Wire.begin();
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//myGNSS.enableDebugging(); // Uncomment this line to enable debug messages on Serial
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if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("Warning! u-blox GPS did not begin correctly."));
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Serial.println(F("(This may be because the I2C port is busy with HNR messages.)"));
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}
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bool esfAutoAlignment = myGNSS.getESFAutoAlignment();
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Serial.print(F("esfAutoAlignment: "));
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if (esfAutoAlignment == true)
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Serial.println(F("True"));
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else
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Serial.println(F("False"));
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myGNSS.setESFAutoAlignment(true); //Enable UBX-CFG-ESFALG Automatic IMU-mount Alignment
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myGNSS.setAutoHNRATT(false); //Make sure auto HNR attitude messages are disabled
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myGNSS.setAutoHNRINS(false); //Make sure auto HNR vehicle dynamics messages are disabled
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myGNSS.setAutoHNRPVT(false); //Make sure auto HNR PVT messages are disabled
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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
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}
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void loop()
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{
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// ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
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if (myGNSS.getEsfInfo()) // Poll new ESF STATUS data
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{
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Serial.print(F("Fusion Mode: "));
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Serial.print(myGNSS.packetUBXESFSTATUS->data.fusionMode);
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if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 0)
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Serial.println(F(" Sensor is initializing..."));
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else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 1)
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Serial.println(F(" Sensor is calibrated!"));
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else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 2)
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Serial.println(F(" Sensor fusion is suspended!"));
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else if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 3)
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Serial.println(F(" Sensor fusion is disabled!"));
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}
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// Poll and print selected HNR data
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if (myGNSS.getHNRAtt(125) == true) // Request HNR Att data using a 125ms timeout
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{
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Serial.print(F("Roll: "));
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Serial.print(myGNSS.getHNRroll(), 2); // Use the helper function to get the roll in degrees
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Serial.print(F(" Pitch: "));
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Serial.print(myGNSS.getHNRpitch(), 2); // Use the helper function to get the pitch in degrees
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Serial.print(F(" Heading: "));
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Serial.println(myGNSS.getHNRheading(), 2); // Use the helper function to get the heading in degrees
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}
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if (myGNSS.getHNRDyn(125) == true) // Request HNR Dyn data using a 125ms timeout
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{
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Serial.print(F("xAccel: "));
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Serial.print(myGNSS.packetUBXHNRINS->data.xAccel);
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Serial.print(F(" yAccel: "));
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Serial.print(myGNSS.packetUBXHNRINS->data.yAccel);
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Serial.print(F(" zAccel: "));
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Serial.println(myGNSS.packetUBXHNRINS->data.zAccel);
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}
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if (myGNSS.getHNRPVT(125) == true) // Request HNR PVT data using a 125ms timeout
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{
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Serial.print(F("ns: "));
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Serial.print(myGNSS.packetUBXHNRPVT->data.nano);
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Serial.print(F(" Lat: "));
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Serial.print(myGNSS.packetUBXHNRPVT->data.lat);
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Serial.print(F(" Lon: "));
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Serial.println(myGNSS.packetUBXHNRPVT->data.lon);
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}
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}

Diff for: ‎examples/Example1_BasicNMEARead/Example1_BasicNMEARead.ino

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#include <Wire.h> //Needed for I2C to GNSS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_Ublox_GPS
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#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //Click here to get the library: http://librarymanager/All#SparkFun_u-blox_GNSS
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SFE_UBLOX_GNSS myGNSS;
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void setup()

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