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Merge pull request #58 from sparkfun/setESFAutoAlignment

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Add support for Auto IMU alignment
This commit is contained in:
Paul
2021-08-25 09:53:37 +01:00
committed by GitHub
parent 70868e19b0 ff90a03b9f
commit 3777767fdf
4 changed files with 189 additions and 0 deletions
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src/SparkFun_u-blox_GNSS_Arduino_Library.cpp
+66
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@@ -5074,6 +5074,72 @@ boolean SFE_UBLOX_GNSS::resetIMUalignment(uint16_t maxWait)
return (sendCommand(&packetCfg, maxWait, true) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
}
//UBX-CFG-ESFALG is not documented. This was found using u-center.
//Returns the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag
bool SFE_UBLOX_GNSS::getESFAutoAlignment(uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_ESFALG;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("getESFAutoAlignment failed"));
}
#endif
return (false); //If command send fails then bail
}
return (payloadCfg[1] & 0b1); //Return Bit 0
}
//Set the state of the UBX-CFG-ESFALG 'Automatic IMU-mount Alignment' flag
bool SFE_UBLOX_GNSS::setESFAutoAlignment(bool enable, uint16_t maxWait)
{
packetCfg.cls = UBX_CLASS_CFG;
packetCfg.id = UBX_CFG_ESFALG;
packetCfg.len = 0;
packetCfg.startingSpot = 0;
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_RECEIVED)
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("getESFAutoAlignment failed"));
}
#endif
return (false); //If command send fails then bail
}
//payloadCfg is now filled
if (enable)
payloadCfg[1] |= 0b1;
else
payloadCfg[1] &= ~(0b1);
if (sendCommand(&packetCfg, maxWait) != SFE_UBLOX_STATUS_DATA_SENT) // This time we are only expecting an ACK
{
#ifndef SFE_UBLOX_REDUCED_PROG_MEM
if (_printDebug == true)
{
_debugSerial->println(F("setESFAutoAlignment failed"));
}
#endif
return (false);
}
return (true);
}
//Get the time pulse parameters using UBX_CFG_TP5
boolean SFE_UBLOX_GNSS::getTimePulseParameters(UBX_CFG_TP5_data_t *data, uint16_t maxWait)
{
src/SparkFun_u-blox_GNSS_Arduino_Library.h
+4
View File
@@ -766,6 +766,10 @@ public:
//Reset ESF automatic IMU-mount alignment
boolean resetIMUalignment(uint16_t maxWait = defaultMaxWait);
//Enable/disable esfAutoAlignment
bool getESFAutoAlignment(uint16_t maxWait = defaultMaxWait);
bool setESFAutoAlignment(bool enable, uint16_t maxWait = defaultMaxWait);
//Configure Time Pulse Parameters
boolean getTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Get the time pulse parameters using UBX_CFG_TP5
boolean setTimePulseParameters(UBX_CFG_TP5_data_t *data = NULL, uint16_t maxWait = defaultMaxWait); // Set the time pulse parameters using UBX_CFG_TP5