Add enable / configure odometer methods and example - resolves #185

examples/Callbacks/CallbackExample2_NAV_ODO/CallbackExample2_NAV_ODO.ino

@@ -2,9 +2,8 @@
   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
-  License: MIT. See license file for more information but you can
-  basically do whatever you want with this code.
+  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
   and display the data via a callback. No more polling!
@@ -55,6 +54,8 @@ void printODOdata(UBX_NAV_ODO_data_t *ubxDataStruct)
 
 void setup()
 {
+  delay(1000);
+  
   Serial.begin(115200);
   while (!Serial); //Wait for user to open terminal
   Serial.println("SparkFun u-blox Example");
@@ -63,10 +64,9 @@ void setup()
 
   //myGNSS.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
 
-  if (myGNSS.begin() == false) //Connect to the u-blox module using Wire port
+  while (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);
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring."));
   }
 
   myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
@@ -74,6 +74,27 @@ 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