118 lines
4.5 KiB
Arduino
118 lines
4.5 KiB
Arduino
/*
|
|
Display the relative position of a NEO-M8P-2 rover
|
|
By: Paul Clark
|
|
SparkFun Electronics
|
|
Date: March 20th, 2023
|
|
License: MIT. See license file for more information.
|
|
|
|
This example shows how to query the module for RELPOS information in the NED frame.
|
|
It assumes you already have RTCM correction data being fed to the receiver on UART1.
|
|
Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
|
|
|
|
Feel like supporting open source hardware?
|
|
Buy a board from SparkFun!
|
|
NEO-M8P RTK: https://www.sparkfun.com/products/15005
|
|
|
|
Hardware Connections:
|
|
Plug a Qwiic cable into the GNSS and a RedBoard Qwiic or BlackBoard
|
|
If you don't have a platform with a Qwiic connection use the SparkFun Qwiic Breadboard Jumper (https://www.sparkfun.com/products/14425)
|
|
Connect UART1 TX on the base to UART1 RX on the rover. Also connect GND to GND.
|
|
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;
|
|
|
|
void setup()
|
|
{
|
|
delay(1000);
|
|
|
|
Serial.begin(115200);
|
|
while (!Serial); //Wait for user to open terminal
|
|
Serial.println("u-blox NEO-M8P Rover Example");
|
|
|
|
Wire.begin();
|
|
|
|
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."));
|
|
}
|
|
|
|
// Uncomment the next line if you want to reset your module back to the default settings with 1Hz navigation rate
|
|
//myGNSS.factoryDefault(); delay(5000);
|
|
|
|
// By default, UART1 Protocol In is set to NMEA + UBX + RTCM3. No changes are necessary. But we can manually configure the port if required.
|
|
Serial.print(myGNSS.setPortInput(COM_PORT_UART1, COM_TYPE_UBX | COM_TYPE_RTCM3)); //Enable UBX and RTCM3 input on UART1
|
|
myGNSS.saveConfigSelective(VAL_CFG_SUBSEC_IOPORT); //Save the communications port settings to flash and BBR
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
// The data from getRELPOSNED (UBX-NAV-RELPOSNED) is returned in UBX_NAV_RELPOSNED_t packetUBXNAVRELPOSNED
|
|
// Please see u-blox_structs.h for the full definition of UBX_NAV_RELPOSNED_t
|
|
// You can either read the data from packetUBXNAVRELPOSNED directly
|
|
// or can use the helper functions: getRelPosN/E/D; getRelPosAccN/E/D
|
|
// Note that NEO-M8P RELPOSNED is different to ZED-F9P. It does not contain the relative length and heading.
|
|
if (myGNSS.getRELPOSNED() == true)
|
|
{
|
|
Serial.print("relPosN: ");
|
|
Serial.println(myGNSS.getRelPosN(), 4); // Use the helper functions to get the rel. pos. as m
|
|
Serial.print("relPosE: ");
|
|
Serial.println(myGNSS.getRelPosE(), 4);
|
|
Serial.print("relPosD: ");
|
|
Serial.println(myGNSS.getRelPosD(), 4);
|
|
|
|
Serial.print("relPosHPN: ");
|
|
Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPN / 10, 1); //High-precision component. Convert to mm
|
|
Serial.print("relPosHPE: ");
|
|
Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPE / 10, 1);
|
|
Serial.print("relPosHPD: ");
|
|
Serial.println((float)myGNSS.packetUBXNAVRELPOSNED->data.relPosHPD / 10, 1);
|
|
|
|
Serial.print("accN: ");
|
|
Serial.println(myGNSS.getRelPosAccN(), 4); // Use the helper functions to get the rel. pos. accuracy as m
|
|
Serial.print("accE: ");
|
|
Serial.println(myGNSS.getRelPosAccE(), 4);
|
|
Serial.print("accD: ");
|
|
Serial.println(myGNSS.getRelPosAccD(), 4);
|
|
|
|
Serial.print("gnssFixOk: ");
|
|
if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.gnssFixOK == true)
|
|
Serial.println("x");
|
|
else
|
|
Serial.println("");
|
|
|
|
Serial.print("diffSolution: ");
|
|
if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.diffSoln == true)
|
|
Serial.println("x");
|
|
else
|
|
Serial.println("");
|
|
|
|
Serial.print("relPosValid: ");
|
|
if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.relPosValid == true)
|
|
Serial.println("x");
|
|
else
|
|
Serial.println("");
|
|
|
|
Serial.print("carrier Solution Type: ");
|
|
if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 0)
|
|
Serial.println("None");
|
|
else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 1)
|
|
Serial.println("Float");
|
|
else if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.carrSoln == 2)
|
|
Serial.println("Fixed");
|
|
|
|
Serial.print("isMoving: ");
|
|
if (myGNSS.packetUBXNAVRELPOSNED->data.flags.bits.isMoving == true)
|
|
Serial.println("x");
|
|
else
|
|
Serial.println("");
|
|
}
|
|
else
|
|
Serial.println("RELPOS request failed");
|
|
|
|
Serial.println("");
|
|
}
|