84 lines
2.6 KiB
C++
84 lines
2.6 KiB
C++
/*
|
|
Get Speed/Heading and dilution of precision via UBX binary commands - no more NMEA parsing!
|
|
By: Nathan Seidle
|
|
SparkFun Electronics
|
|
Date: January 3rd, 2019
|
|
License: MIT. See license file for more information but you can
|
|
basically do whatever you want with this code.
|
|
|
|
This example shows how to query a Ublox module for its lat/long/altitude.
|
|
|
|
Note: Long/lat are large numbers because they are * 10^7. To convert lat/long
|
|
to something google maps understands simply divide the numbers by 1,000,000. We
|
|
do this so that we don't have to use floating point numbers.
|
|
|
|
Leave NMEA parsing behind. Now you can simply ask the module for the datums you want!
|
|
|
|
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 GPS 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 GPS
|
|
|
|
#include "SparkFun_Ublox_Arduino_Library.h" //http://librarymanager/All#SparkFun_u-blox_GNSS
|
|
SFE_UBLOX_GPS myGPS;
|
|
|
|
long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox module.
|
|
|
|
void setup()
|
|
{
|
|
Serial.begin(115200);
|
|
while (!Serial); //Wait for user to open terminal
|
|
Serial.println("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);
|
|
}
|
|
}
|
|
|
|
void loop()
|
|
{
|
|
//Query module only every second. Doing it more often will just cause I2C traffic.
|
|
//The module only responds when a new position is available
|
|
if (millis() - lastTime > 1000)
|
|
{
|
|
lastTime = millis(); //Update the timer
|
|
|
|
long latitude = myGPS.getLatitude();
|
|
Serial.print(F("Lat: "));
|
|
Serial.print(latitude);
|
|
|
|
long longitude = myGPS.getLongitude();
|
|
Serial.print(F(" Long: "));
|
|
Serial.print(longitude);
|
|
|
|
long speed = myGPS.getGroundSpeed();
|
|
Serial.print(F(" Speed: "));
|
|
Serial.print(speed);
|
|
Serial.print(F(" (mm/s)"));
|
|
|
|
long heading = myGPS.getHeading();
|
|
Serial.print(F(" Heading: "));
|
|
Serial.print(heading);
|
|
Serial.print(F(" (degrees * 10^-5)"));
|
|
|
|
int pDOP = myGPS.getPDOP();
|
|
Serial.print(F(" pDOP: "));
|
|
Serial.print(pDOP / 100.0, 2);
|
|
|
|
Serial.println();
|
|
}
|
|
}
|