107 lines
3.9 KiB
Arduino
107 lines
3.9 KiB
Arduino
/*
|
|
Configuring the GNSS to produce multiple messages at different rates
|
|
By: Paul Clark
|
|
SparkFun Electronics
|
|
Date: April 1st, 2021
|
|
License: MIT. See license file for more information but you can
|
|
basically do whatever you want with this code.
|
|
|
|
This example shows how to configure the U-Blox GNSS to output multiple messages at different rates:
|
|
PVT is output every second;
|
|
POSECEF is output every five seconds;
|
|
VELNED is output every ten seconds.
|
|
|
|
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;
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(115200);
|
|
while (!Serial); //Wait for user to open terminal
|
|
Serial.println("SparkFun u-blox Example");
|
|
|
|
Wire.begin();
|
|
|
|
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.setMeasurementRate(1000); //Produce a measurement every 1000ms
|
|
myGNSS.setNavigationRate(1); //Produce a navigation solution every measurement
|
|
|
|
myGNSS.setAutoPVTrate(1); //Tell the GNSS to send the PVT solution every measurement
|
|
myGNSS.setAutoNAVPOSECEFrate(5); //Tell the GNSS to send each POSECEF solution every 5th measurement
|
|
myGNSS.setAutoNAVVELNEDrate(10); //Tell the GNSS to send each VELNED solution every 10th measurement
|
|
//myGNSS.saveConfiguration(); //Optional: Save the current settings to flash and BBR
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
// Calling getPVT returns true if there actually is a fresh navigation solution available.
|
|
if (myGNSS.getPVT())
|
|
{
|
|
long latitude = myGNSS.getLatitude();
|
|
Serial.print(F("Lat: "));
|
|
Serial.print(latitude);
|
|
|
|
long longitude = myGNSS.getLongitude();
|
|
Serial.print(F(" Long: "));
|
|
Serial.print(longitude);
|
|
Serial.print(F(" (degrees * 10^-7)"));
|
|
|
|
long altitude = myGNSS.getAltitude();
|
|
Serial.print(F(" Alt: "));
|
|
Serial.print(altitude);
|
|
Serial.println(F(" (mm)"));
|
|
}
|
|
|
|
// Calling getNAVPOSECEF returns true if there actually is a fresh position solution available.
|
|
if (myGNSS.getNAVPOSECEF())
|
|
{
|
|
Serial.print(F("ecefX: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefX / 100.0, 2); // convert ecefX to m
|
|
|
|
Serial.print(F(" ecefY: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefY / 100.0, 2); // convert ecefY to m
|
|
|
|
Serial.print(F(" ecefZ: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVPOSECEF->data.ecefZ / 100.0, 2); // convert ecefY to m
|
|
Serial.println(F(" (m)"));
|
|
|
|
myGNSS.flushNAVPOSECEF(); //Mark all the data as read/stale so we get fresh data next time
|
|
}
|
|
|
|
// Calling getNAVVELNED returns true if there actually is fresh velocity data available.
|
|
if (myGNSS.getNAVVELNED())
|
|
{
|
|
Serial.print(F("velN: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velN / 100.0, 2); // convert velN to m/s
|
|
|
|
Serial.print(F(" velE: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velE / 100.0, 2); // convert velE to m/s
|
|
|
|
Serial.print(F(" velD: "));
|
|
Serial.print((float)myGNSS.packetUBXNAVVELNED->data.velD / 100.0, 2); // convert velD to m/s
|
|
Serial.println(F(" (m/s)"));
|
|
|
|
myGNSS.flushNAVVELNED(); //Mark all the data as read/stale so we get fresh data next time
|
|
}
|
|
}
|