84 lines
2.9 KiB
Arduino
84 lines
2.9 KiB
Arduino
/*
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By: Elias Santistevan
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SparkFun Electronics
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Date: May, 2020
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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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Feel like supporting open source hardware?
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Buy a board from SparkFun!
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NEO-M8U: https://www.sparkfun.com/products/16329
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ZED-F9R: https://www.sparkfun.com/products/16344
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Hardware Connections:
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Plug a Qwiic cable into the GNSS and a Redboard Qwiic
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If you don't have a platform with a Qwiic connection use the
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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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After calibrating the module and securing it to your vehicle such that it's
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stable within 2 degrees, and the board is oriented correctly with regards to
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the vehicle's frame, you can now read the vehicle's "attitude". The attitude
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includes the vehicle's heading, pitch, and roll. You can also check the
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accuracy of those readings.
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*/
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#include <Wire.h> //Needed for I2C to GNSS
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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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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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Serial.println(F("SparkFun u-blox Example"));
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Wire.begin();
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if (myGNSS.begin() == 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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myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
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if (myGNSS.getEsfInfo()){
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Serial.print(F("Fusion Mode: "));
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Serial.println(myGNSS.packetUBXESFSTATUS->data.fusionMode);
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if (myGNSS.packetUBXESFSTATUS->data.fusionMode == 1){
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Serial.println(F("Fusion Mode is Initialized!"));
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}
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else {
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Serial.println(F("Fusion Mode is either disabled or not initialized!"));
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Serial.println(F("Please see the previous example for more information."));
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}
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}
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}
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void loop()
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{
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// ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
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if (myGNSS.getEsfAlignment()) // Poll new ESF ALG data
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{
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Serial.print(F("Status: "));
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Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.status);
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Serial.print(F(" Roll: "));
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Serial.print(myGNSS.getESFroll(), 2); // Use the helper function to get the roll in degrees
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Serial.print(F(" Pitch: "));
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Serial.print(myGNSS.getESFpitch(), 2); // Use the helper function to get the pitch in degrees
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Serial.print(F(" Heading: "));
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Serial.print(myGNSS.getESFyaw(), 2); // Use the helper function to get the yaw in degrees
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Serial.print(F(" Errors: "));
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Serial.print(myGNSS.packetUBXESFALG->data.error.bits.tiltAlgError);
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Serial.print(myGNSS.packetUBXESFALG->data.error.bits.yawAlgError);
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Serial.println(myGNSS.packetUBXESFALG->data.error.bits.angleError);
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}
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delay(250);
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}
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