v2.9

lib/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino

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+/*
+  By: Elias Santistevan
+  SparkFun Electronics
+  Date: May, 2020
+  License: MIT. See license file for more information but you can
+  basically do whatever you want with this code.
+
+  Feel like supporting open source hardware?
+  Buy a board from SparkFun!
+  NEO-M8U: https://www.sparkfun.com/products/16329
+  ZED-F9R: https://www.sparkfun.com/products/16344  
+
+  Hardware Connections:
+  Plug a Qwiic cable into the GPS and a Redboard Qwiic
+  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
+
+	After calibrating the module and securing it to your vehicle such that it's
+  stable within 2 degrees, and the board is oriented correctly with regards to
+  the vehicle's frame, you can now read the vehicle's "attitude". The attitude
+  includes the vehicle's heading, pitch, and roll. You can also check the
+  accuracy of those readings. 
+
+*/
+
+#include <Wire.h> //Needed for I2C to GPS
+
+#include <SparkFun_Ublox_Arduino_Library.h> //http://librarymanager/All#SparkFun_u-blox_GNSS
+SFE_UBLOX_GPS myGPS;
+
+void setup()
+{
+  Serial.begin(115200);
+  while (!Serial); //Wait for user to open terminal
+  Serial.println(F("SparkFun Ublox Example"));
+
+  Wire.begin();
+
+  if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
+  {
+    Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
+    while (1);
+  }
+
+  myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
+
+  if (myGPS.getEsfInfo()){
+
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+
+    if (myGPS.imuMeas.fusionMode == 1){
+      Serial.println(F("Fusion Mode is Initialized!"));  
+		}
+		else {
+      Serial.println(F("Fusion Mode is either disabled or not initialized - Freezing!"));  
+			Serial.println(F("Please see Example 1 description at top for more information."));
+		}
+  }
+}
+
+void loop()
+{
+		myGPS.getVehAtt(); // Give the sensor you want to check on. 
+		Serial.print(F("Roll: ")); 
+		Serial.println(myGPS.vehAtt.roll);
+		Serial.print(F("Pitch: ")); 
+		Serial.println(myGPS.vehAtt.pitch);
+		Serial.print(F("Heading: ")); 
+		Serial.println(myGPS.vehAtt.heading);
+		Serial.print(F("Roll Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accRoll);
+		Serial.print(F("Pitch Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accPitch);
+		Serial.print(F("Heading Accuracy: ")); 
+		Serial.println(myGPS.vehAtt.accHeading);
+
+    delay(250);
+}
+
+