Add odometer configuration methods - update ODO callback example

Author: PaulZC

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
@@ -901,6 +904,17 @@ 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

src/u-blox_Class_and_ID.h

@@ -338,6 +338,22 @@ 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

@@ -7790,6 +7790,72 @@ 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] = {
@@ -15675,6 +15741,8 @@ 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

@@ -393,8 +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