v2.9

lib/SparkFun u-blox Arduino Library/examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.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
+
+  To take advantage of the internal IMU of either the Dead Reckoning GPS
+  boards (ZED-F9R, NEO-M8U), you must first calibrate it. This includes securing the GPS module
+  to your vehicle so that it is stable within 2 degrees and that the frame of
+  reference of the board is consistent with the picture outlined in the
+  Receiver-Description-Prot-Spec Datasheet under Automotive/Untethered Dead
+  Reckoning. You may also check either the ZED-F9R or NEO-M8U Hookup Guide for
+  more information. After the board is secure, you'll need to put the module
+  through certain conditions for proper calibration: acceleration, turning,
+  stopping for a few minutes, getting to a speed over 30km/h all under a clear sky 
+  with good GNSS signal. This example simply looks at the
+  "fusionMode" status which indicates whether the SparkFun Dead Reckoning is
+  not-calibrated - 0, or calibrated - 1.  
+*/
+
+#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)
+}
+
+void loop()
+{
+
+  if (myGPS.getEsfInfo()){
+    Serial.print(F("Fusion Mode: "));  
+    Serial.println(myGPS.imuMeas.fusionMode);  
+    if (myGPS.imuMeas.fusionMode == 1)
+      Serial.println(F("Sensor is calibrated!"));  
+  }
+
+  delay(250);
+}