Merge pull request #200 from sparkfun/release_candidate

v2.2.24

Author: PaulZC

examples/Dead_Reckoning/Example4_vehicleDynamics/Example4_vehicleDynamics.ino

@@ -16,11 +16,9 @@
 	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. 
+  getEsfAlignment (UBX-ESF-ALG) reports the status and alignment angles of the IMU within the vehicle.
+  These define the rotation of the IMU frame within the vehicle (installation frame) - not the heading
+  of the vehicle itself. The vehicle attitude solution is reported separately by getNAVATT (UBX-NAV-ATT).
 
 */
 
@@ -45,6 +43,8 @@ void setup()
 
   myGNSS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
 
+  myGNSS.setESFAutoAlignment(true); //Enable Automatic IMU-mount Alignment
+
   if (myGNSS.getEsfInfo()){
 
     Serial.print(F("Fusion Mode: "));  
@@ -63,20 +63,32 @@ void setup()
 void loop()
 {
   // ESF data is produced at the navigation rate, so by default we'll get fresh data once per second
-	if (myGNSS.getEsfAlignment()) // Poll new ESF ALG data
+  if (myGNSS.getEsfAlignment()) // Poll new ESF ALG data
   {
-  	Serial.print(F("Status: ")); 
-  	Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.status);
+    Serial.print(F("IMU-Mount Alignment: On/Off: ")); 
+    Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.autoMntAlgOn);
+    Serial.print(F(" Status: ")); 
+    Serial.print(myGNSS.packetUBXESFALG->data.flags.bits.status);
     Serial.print(F(" Roll: ")); 
     Serial.print(myGNSS.getESFroll(), 2); // Use the helper function to get the roll in degrees
-  	Serial.print(F(" Pitch: ")); 
-  	Serial.print(myGNSS.getESFpitch(), 2); // Use the helper function to get the pitch in degrees
-  	Serial.print(F(" Heading: ")); 
-  	Serial.print(myGNSS.getESFyaw(), 2); // Use the helper function to get the yaw in degrees
-  	Serial.print(F(" Errors: ")); 
-  	Serial.print(myGNSS.packetUBXESFALG->data.error.bits.tiltAlgError);
-  	Serial.print(myGNSS.packetUBXESFALG->data.error.bits.yawAlgError);
-  	Serial.println(myGNSS.packetUBXESFALG->data.error.bits.angleError);
+    Serial.print(F(" Pitch: ")); 
+    Serial.print(myGNSS.getESFpitch(), 2); // Use the helper function to get the pitch in degrees
+    Serial.print(F(" Yaw: ")); 
+    Serial.print(myGNSS.getESFyaw(), 2); // Use the helper function to get the yaw in degrees
+    Serial.print(F(" Errors: ")); 
+    Serial.print(myGNSS.packetUBXESFALG->data.error.bits.tiltAlgError);
+    Serial.print(myGNSS.packetUBXESFALG->data.error.bits.yawAlgError);
+    Serial.println(myGNSS.packetUBXESFALG->data.error.bits.angleError);
+  }
+
+  if (myGNSS.getNAVATT()) // Poll new NAV ATT data
+  {
+    Serial.print(F("Vehicle Attitude: Roll: ")); 
+    Serial.print(myGNSS.getATTroll(), 2); // Use the helper function to get the roll in degrees
+    Serial.print(F(" Pitch: ")); 
+    Serial.print(myGNSS.getATTpitch(), 2); // Use the helper function to get the pitch in degrees
+    Serial.print(F(" Heading: ")); 
+    Serial.println(myGNSS.getATTheading(), 2); // Use the helper function to get the heading in degrees    
   }
 
   delay(250);

examples/Example30_NEO-D9S/Example30_NEO-D9S.ino

@@ -45,17 +45,17 @@ void printRXMPMP(UBX_RXM_PMP_data_t *pmpData)
   Serial.print(F("numBytesUserData :   "));
   Serial.println(pmpData->numBytesUserData);
 
-  Serial.print(F("serviceIdentifier:   "));
-  Serial.println(pmpData->serviceIdentifier);
+  Serial.print(F("serviceIdentifier:   0x"));
+  Serial.println(pmpData->serviceIdentifier, HEX);
 
   Serial.print(F("uniqueWordBitErrors: "));
   Serial.println(pmpData->uniqueWordBitErrors);
 
   Serial.print(F("fecBits:             "));
   Serial.println(pmpData->fecBits);
 
-  Serial.print(F("ebno:                "));
-  Serial.println(pmpData->ebno);
+  Serial.print(F("ebno (dB):           "));
+  Serial.println((double)pmpData->ebno / 8, 3); //Convert ebno to dB
 
   Serial.println();
 }

examples/ZED-F9P/Example18_PointPerfectClient/Example18_PointPerfectClient.ino

@@ -127,7 +127,7 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
 {
   Serial.print(F("UBX-RXM-COR:  ebno: "));
-  Serial.print(ubxDataStruct->ebno);
+  Serial.print((double)ubxDataStruct->ebno / 8, 3); //Convert to dB
 
   Serial.print(F("  protocol: "));
   if (ubxDataStruct->statusInfo.bits.protocol == 1)

examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S/Example19_LBand_Corrections_with_NEO-D9S.ino

@@ -148,7 +148,7 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
 {
   Serial.print(F("UBX-RXM-COR:  ebno: "));
-  Serial.print(ubxDataStruct->ebno);
+  Serial.print((double)ubxDataStruct->ebno / 8, 3); //Convert to dB
 
   Serial.print(F("  protocol: "));
   if (ubxDataStruct->statusInfo.bits.protocol == 1)

examples/ZED-F9P/Example19_LBand_Corrections_with_NEO-D9S/secrets.h

@@ -18,10 +18,10 @@
 
 const uint8_t currentKeyLengthBytes =   16; 
 const char currentDynamicKey[] =        "<ADD YOUR L-Band or L-Band + IP DYNAMIC KEY HERE>";
-const uint16_t currentKeyGPSWeek =      2192; // Update this when you add new keys
-const uint32_t currentKeyGPSToW =       518400;
+const uint16_t currentKeyGPSWeek =      2254; // Update this when you add new keys
+const uint32_t currentKeyGPSToW =       0;
 
 const uint8_t nextKeyLengthBytes =      16; 
 const char nextDynamicKey[] =           "<ADD YOUR L-Band or L-Band + IP DYNAMIC KEY HERE>";
-const uint16_t nextKeyGPSWeek =         2196; // Update this when you add new keys
-const uint32_t nextKeyGPSToW =          518400;
+const uint16_t nextKeyGPSWeek =         2258; // Update this when you add new keys
+const uint32_t nextKeyGPSToW =          0;

examples/ZED-F9P/Example20_PMP_with_L-Band_Keys_via_MQTT/Example20_PMP_with_L-Band_Keys_via_MQTT.ino

@@ -161,7 +161,7 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
 {
   Serial.print(F("UBX-RXM-COR:  ebno: "));
-  Serial.print(ubxDataStruct->ebno);
+  Serial.print((double)ubxDataStruct->ebno / 8, 3); //Convert to dB
 
   Serial.print(F("  protocol: "));
   if (ubxDataStruct->statusInfo.bits.protocol == 1)

examples/ZED-F9P/Example22_QZSSL6_Corrections_with_NEO-D9C/Example22_QZSSL6_Corrections_with_NEO-D9C.ino

@@ -172,7 +172,7 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
 void printRXMCOR(UBX_RXM_COR_data_t *ubxDataStruct)
 {
   Serial.print(F("UBX-RXM-COR:  ebno: "));
-  Serial.print(ubxDataStruct->ebno);
+  Serial.print((double)ubxDataStruct->ebno / 8, 3); //Convert to dB
 
   Serial.print(F("  protocol: "));
   if (ubxDataStruct->statusInfo.bits.protocol == 1)

library.properties

@@ -1,5 +1,5 @@
 name=SparkFun u-blox GNSS Arduino Library
-version=2.2.22
+version=2.2.24
 author=SparkFun Electronics <[email protected]>
 maintainer=SparkFun Electronics <sparkfun.com>
 sentence=Library for I2C, Serial and SPI Communication with u-blox GNSS modules<br/><br/>