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Add helper functions for NAV-HPPOSECEF
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‎examples/ZED-F9P/Example21_GetHighPrecisionECEFUsingDouble/Example21_GetHighPrecisionECEFUsingDouble.ino

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/*
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Get the high precision ECEF coordinates using double
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By: Paul Clark
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SparkFun Electronics
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Date: September 8th, 2022
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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 shows how to read the high-precision ECEF
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positional solution. Please see below for information about the units.
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** This example will only work correctly on platforms which support 64-bit double **
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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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ZED-F9P RTK2: https://www.sparkfun.com/products/15136
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NEO-M8P RTK: https://www.sparkfun.com/products/15005
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and (e.g.) a Redboard Artemis https://www.sparkfun.com/products/15444
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or an Artemis Thing Plus https://www.sparkfun.com/products/15574
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If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
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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 GNSS
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#define myWire Wire // This will work on the Redboard Artemis and the Artemis Thing Plus using Qwiic
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//#define myWire Wire1 // Uncomment this line if you are using the extra SCL1/SDA1 pins (D17 and D16) on the Thing Plus
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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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long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
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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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myWire.begin();
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//myGNSS.enableDebugging(Serial); // Uncomment this line to enable debug messages
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if (myGNSS.begin(myWire) == false) //Connect to the u-blox module using Wire port
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{
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Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
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while (1)
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;
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}
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// Check that this platform supports 64-bit (8 byte) double
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if (sizeof(double) < 8)
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{
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Serial.println(F("Warning! Your platform does not support 64-bit double."));
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Serial.println(F("The ECEF coordinates will be inaccurate."));
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}
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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.saveConfiguration(); //Save the current settings to flash and BBR
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}
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void loop()
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{
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//Query module only every second.
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//The module only responds when a new position is available.
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if (millis() - lastTime > 1000)
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{
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lastTime = millis(); //Update the timer
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// getHighResECEFX: returns the X coordinate from HPPOSECEF as an int32_t in cm
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// getHighResECEFXHp: returns the high resolution component of the X coordinate from HPPOSECEF as an int8_t in mm*10^-1 (0.1mm)
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// getHighResECEFY: returns the Y coordinate from HPPOSECEF as an int32_t in cm
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// getHighResECEFYHp: returns the high resolution component of the Y coordinate from HPPOSECEF as an int8_t in mm*10^-1 (0.1mm)
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// getHighResECEFZ: returns the Z coordinate from HPPOSECEF as an int32_t in cm
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// getHighResECEFZHp: returns the high resolution component of the Z coordinate from HPPOSECEF as an int8_t in mm*10^-1 (0.1mm)
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// getPositionAccuracy: returns the position accuracy estimate from HPPOSLLH as an uint32_t in mm (note: not 0.1mm)
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// First, let's collect the position data
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int32_t ECEFX = myGNSS.getHighResECEFX();
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int8_t ECEFXHp = myGNSS.getHighResECEFXHp();
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int32_t ECEFY = myGNSS.getHighResECEFY();
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int8_t ECEFYHp = myGNSS.getHighResECEFYHp();
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int32_t ECEFZ = myGNSS.getHighResECEFZ();
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int8_t ECEFZHp = myGNSS.getHighResECEFZHp();
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uint32_t accuracy = myGNSS.getPositionAccuracy();
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// Defines storage for the ECEF coordinates as double
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double d_ECEFX;
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double d_ECEFY;
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double d_ECEFZ;
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// Assemble the high precision coordinates
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d_ECEFX = ((double)ECEFX) / 100.0; // Convert from cm to m
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d_ECEFX += ((double)ECEFXHp) / 10000.0; // Now add the high resolution component ( mm * 10^-1 = m * 10^-4 )
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d_ECEFY = ((double)ECEFY) / 100.0; // Convert from cm to m
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d_ECEFY += ((double)ECEFYHp) / 10000.0; // Now add the high resolution component ( mm * 10^-1 = m * 10^-4 )
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d_ECEFZ = ((double)ECEFZ) / 100.0; // Convert from cm to m
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d_ECEFZ += ((double)ECEFZHp) / 10000.0; // Now add the high resolution component ( mm * 10^-1 = m * 10^-4 )
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// Print the coordinates with 4 decimal places (0.1mm)
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Serial.print("X (m): ");
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Serial.print(d_ECEFX, 4);
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Serial.print(", Y (m): ");
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Serial.print(d_ECEFY, 4);
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Serial.print(", Z (m): ");
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Serial.print(d_ECEFZ, 4);
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// Now define float storage for the accuracy
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float f_accuracy;
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// Convert the horizontal accuracy (mm) to a float
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f_accuracy = accuracy;
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// Now convert to m
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f_accuracy = f_accuracy / 1000.0; // Convert from mm to m
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// Finally, do the printing
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Serial.print(", Accuracy (m): ");
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Serial.println(f_accuracy, 3); // Print the accuracy with 3 decimal places
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}
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}

‎keywords.txt

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@@ -585,6 +585,12 @@ getMagAcc KEYWORD2
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getHeadVehValid KEYWORD2
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getPositionAccuracy KEYWORD2
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getHighResECEFX KEYWORD2
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getHighResECEFY KEYWORD2
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getHighResECEFZ KEYWORD2
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getHighResECEFXHp KEYWORD2
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getHighResECEFYHp KEYWORD2
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getHighResECEFZHp KEYWORD2
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getTimeOfWeekFromHPPOSLLH KEYWORD2
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getHighResLongitude KEYWORD2

‎src/SparkFun_u-blox_GNSS_Arduino_Library.cpp

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return (tempAccuracy);
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}
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// Get the current 3D high precision X coordinate
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// Returns a long representing the coordinate in cm
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int32_t SFE_UBLOX_GNSS::getHighResECEFX(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefX == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefX = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefX);
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}
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// Get the current 3D high precision Y coordinate
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// Returns a long representing the coordinate in cm
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int32_t SFE_UBLOX_GNSS::getHighResECEFY(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefY == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefY = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefY);
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}
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// Get the current 3D high precision Z coordinate
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// Returns a long representing the coordinate in cm
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int32_t SFE_UBLOX_GNSS::getHighResECEFZ(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefZ == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefZ = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefZ);
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}
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// Get the high precision component of the ECEF X coordinate
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// Returns a signed byte representing the component as 0.1*mm
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int8_t SFE_UBLOX_GNSS::getHighResECEFXHp(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefXHp == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefXHp = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefXHp);
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}
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// Get the high precision component of the ECEF Y coordinate
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// Returns a signed byte representing the component as 0.1*mm
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int8_t SFE_UBLOX_GNSS::getHighResECEFYHp(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefYHp == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefYHp = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefYHp);
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}
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// Get the high precision component of the ECEF Z coordinate
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// Returns a signed byte representing the component as 0.1*mm
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int8_t SFE_UBLOX_GNSS::getHighResECEFZHp(uint16_t maxWait)
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{
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if (packetUBXNAVHPPOSECEF == NULL)
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initPacketUBXNAVHPPOSECEF(); // Check that RAM has been allocated for the HPPOSECEF data
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if (packetUBXNAVHPPOSECEF == NULL) // Bail if the RAM allocation failed
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return 0;
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if (packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefZHp == false)
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getNAVHPPOSECEF(maxWait);
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.ecefZHp = false; // Since we are about to give this to user, mark this data as stale
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packetUBXNAVHPPOSECEF->moduleQueried.moduleQueried.bits.all = false;
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return (packetUBXNAVHPPOSECEF->data.ecefZHp);
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}
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// ***** HPPOSLLH Helper Functions
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uint32_t SFE_UBLOX_GNSS::getTimeOfWeekFromHPPOSLLH(uint16_t maxWait)

‎src/SparkFun_u-blox_GNSS_Arduino_Library.h

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// Helper functions for HPPOSECEF
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uint32_t getPositionAccuracy(uint16_t maxWait = defaultMaxWait); // Returns the 3D accuracy of the current high-precision fix, in mm. Supported on NEO-M8P, ZED-F9P,
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int32_t getHighResECEFX(uint16_t maxWait = defaultMaxWait); // Returns the ECEF X coordinate (cm)
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int32_t getHighResECEFY(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Y coordinate (cm)
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int32_t getHighResECEFZ(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Z coordinate (cm)
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int8_t getHighResECEFXHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF X coordinate High Precision Component (0.1 mm)
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int8_t getHighResECEFYHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Y coordinate High Precision Component (0.1 mm)
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int8_t getHighResECEFZHp(uint16_t maxWait = defaultMaxWait); // Returns the ECEF Z coordinate High Precision Component (0.1 mm)
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// Helper functions for HPPOSLLH
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