Merge pull request #156 from sparkfun/release_candidate

Create Example31_Great_Circle_Distance.ino
2022-09-21 13:36:38 +01:00
parent 9bf4b4157a 1d62a8e553
commit 6918a03ced
1 changed files with 152 additions and 0 deletions
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+/*
+  Calculating the Great Circle Distance and Course to a target position
+  By: Paul Clark
+  SparkFun Electronics
+  Date: September 21st, 2022
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  This example shows how to query a u-blox module for its latitude/longitude and then
+  calculate the Great Circle Distance and Course to a target location.
+
+  Thanks! distanceBetween and courseTo were taken from Mikal Hart's TinyGPSPlus:
+  https://github.com/mikalhart/TinyGPSPlus/blob/ca29434514a5c5172bd807af0608df7f296582a2/src/TinyGPS%2B%2B.cpp#L285-L328
+
+  Note: Lat/Long are large numbers because they are degrees * 10^-7. To convert lat/long
+  to something google maps understands simply divide the numbers by 10,000,000. We 
+  do this so that we don't have to use floating point numbers.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  ZED-F9P RTK2: https://www.sparkfun.com/products/15136
+  NEO-M8P RTK: https://www.sparkfun.com/products/15005
+  SAM-M8Q: https://www.sparkfun.com/products/15106
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GNSS and a BlackBoard
+  If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
+  Open the serial monitor at 115200 baud to see the output
+*/
+
+#include <Wire.h> //Needed for I2C to GNSS
+
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GNSS myGNSS;
+
+long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to u-blox module.
+
+//#include <math.h> //Uncomment if required. May be needed for sqrt, atan2, etc..
+
+double distanceBetween(long lat1_l, long long1_l, long lat2_l, long long2_l)
+{
+  // returns distance in meters between two positions, both specified
+  // as signed decimal-degrees latitude and longitude. Uses great-circle
+  // distance computation for hypothetical sphere of radius 6372795 meters.
+  // Because Earth is no exact sphere, rounding errors may be up to 0.5%.
+  // Courtesy of Maarten Lamers
+  double lat1 = (double)lat1_l / 10000000.0; // Convert lat and long to degrees
+  double long1 = (double)long1_l / 10000000.0;
+  double lat2 = (double)lat2_l / 10000000.0;
+  double long2 = (double)long2_l / 10000000.0;
+  double delta = radians(long1-long2);
+  double sdlong = sin(delta);
+  double cdlong = cos(delta);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double slat1 = sin(lat1);
+  double clat1 = cos(lat1);
+  double slat2 = sin(lat2);
+  double clat2 = cos(lat2);
+  delta = (clat1 * slat2) - (slat1 * clat2 * cdlong);
+  delta = sq(delta);
+  delta += sq(clat2 * sdlong);
+  delta = sqrt(delta);
+  double denom = (slat1 * slat2) + (clat1 * clat2 * cdlong);
+  delta = atan2(delta, denom);
+  return delta * 6372795;
+}
+
+double courseTo(long lat1_l, long long1_l, long lat2_l, long long2_l)
+{
+  // returns course in degrees (North=0, West=270) from position 1 to position 2,
+  // both specified as signed decimal-degrees latitude and longitude.
+  // Because Earth is no exact sphere, calculated course may be off by a tiny fraction.
+  // Courtesy of Maarten Lamers
+  double lat1 = (double)lat1_l / 10000000.0; // Convert lat and long to degrees
+  double long1 = (double)long1_l / 10000000.0;
+  double lat2 = (double)lat2_l / 10000000.0;
+  double long2 = (double)long2_l / 10000000.0;
+  double dlon = radians(long2-long1);
+  lat1 = radians(lat1);
+  lat2 = radians(lat2);
+  double a1 = sin(dlon) * cos(lat2);
+  double a2 = sin(lat1) * cos(lat2) * cos(dlon);
+  a2 = cos(lat1) * sin(lat2) - a2;
+  a2 = atan2(a1, a2);
+  if (a2 < 0.0)
+  {
+    a2 += TWO_PI;
+  }
+  return degrees(a2);
+}
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println("SparkFun u-blox Example");
+
+  Wire.begin();
+
+  //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
+  {
+    Serial.println(F("u-blox GNSS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+  myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save (only) the communications port settings to flash and BBR
+}
+
+void loop()
+{
+  //Query module only every second. Doing it more often will just cause I2C traffic.
+  //The module only responds when a new position is available
+  if (millis() - lastTime > 1000)
+  {
+    lastTime = millis(); //Update the timer
+    
+    long latitude = myGNSS.getLatitude();
+    Serial.print(F("Lat: "));
+    Serial.print(latitude);
+
+    long longitude = myGNSS.getLongitude();
+    Serial.print(F(" Long: "));
+    Serial.print(longitude);
+    Serial.println(F(" (degrees * 10^-7)"));
+
+    static const long TARGET_LAT = 400909142, TARGET_LON = -1051849833; // SparkFun's location: degrees * 10^-7 (40.091 N, 105.185 W)
+    
+    double distanceToTarget = distanceBetween(
+    latitude,
+    longitude,
+    TARGET_LAT, 
+    TARGET_LON);
+
+    Serial.print(F("Distance to target: "));
+    Serial.print(distanceToTarget, 2);
+    Serial.print(F(" (m)  "));
+    
+    double courseToTarget = courseTo(
+    latitude,
+    longitude,
+    TARGET_LAT, 
+    TARGET_LON);
+
+    Serial.print(F("Course to target: "));
+    Serial.print(courseToTarget, 1);
+    Serial.println(F(" (degrees)"));
+  }
+}