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serialize output for velocity components and accuracy estimate #176

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Oct 25, 2024
Merged

serialize output for velocity components and accuracy estimate #176

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40 changes: 33 additions & 7 deletions sfy-buoy/sfy-ext-gps/ext-gps-mod/gps.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,6 +120,26 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)

Serial.println();

int32_t velN = ubxDataStruct->velN; // North velocity, mm/s
ial.print(F(" North Velocity: "));
Serial.print(velN);
Serial.print(F(" (mm/s)"));

int32_t velE = ubxDataStruct->velE; // East velocity, mm/s
ial.print(F(" East Velocity: "));
Serial.print(velE);
Serial.print(F(" (mm/s)"));

int32_t velD = ubxDataStruct->velD; // Down velocity, mm/s
ial.print(F(" Down Velocity: "));
Serial.print(velD);
Serial.print(F(" (mm/s)"));

int32_t sAcc = ubxDataStruct->sAcc; // Speed Accuracy, mm/s
ial.print(F(" Speed Accuracy: "));
Serial.print(sAcc);
Serial.print(F(" (mm/s)"));

// Serialize Data and Pipe to SFY
JsonDocument doc;
doc["year"] = year;
Expand All @@ -137,6 +157,11 @@ void printPVTdata(UBX_NAV_PVT_data_t *ubxDataStruct)
doc["vert_acc"] = vAcc; // mm
doc["soln"] = carrSoln;
doc["fix"] = fixType;
doc["velN"] = velN; // mm/s
doc["velE"] = velE; // mm/s
doc["velD"] = velD; // mm/s
doc["sAcc"] = sAcc; // mm/s

serializeJson(doc, sfy);
sfy.println();

Expand Down Expand Up @@ -210,12 +235,13 @@ void pps() {
// pps_ts = micros();

Serial.println("GNSS: PPS!");
myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.

myLBand.checkUblox(); // Check for the arrival of new PMP data and process it.
myLBand.checkCallbacks(); // Check if any LBand callbacks are waiting to be processed.

myGNSS.checkUblox(); // Check for the arrival of new GNSS data and process it.
myGNSS.checkCallbacks(); // Check if any GNSS callbacks are waiting to be processed.


}

void setup_gps() {
Expand Down Expand Up @@ -274,7 +300,7 @@ void setup_gps() {
Serial.println(OK(ok));
ok = myGNSS.setDGNSSConfiguration(SFE_UBLOX_DGNSS_MODE_FIXED); // Set the differential mode - ambiguities are fixed whenever possible
Serial.println(OK(ok));
ok = myGNSS.setNavigationFrequency(20); //Set output in Hz.
ok = myGNSS.setNavigationFrequency(1); //Set output in Hz.
Serial.println(OK(ok));
ok = myGNSS.setVal8(UBLOX_CFG_SPARTN_USE_SOURCE, 1); // Set to 1 for using L-Band Correction
Serial.println(OK(ok));
Expand All @@ -299,8 +325,8 @@ void setup_gps() {
myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, 100000); // Set the pulse length to 1,000,000 us

// 5 Hz
myGNSS.addCfgValset(UBLOX_CFG_TP_PERIOD_LOCK_TP1, (1000000/5)); // Set the period to 30,000,000 us
myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, (100000/5)); // Set the pulse length to 1,000,000 us
// myGNSS.addCfgValset(UBLOX_CFG_TP_PERIOD_LOCK_TP1, (1000000/5)); // Set the period to 30,000,000 us
// myGNSS.addCfgValset(UBLOX_CFG_TP_LEN_LOCK_TP1, (100000/5)); // Set the pulse length to 1,000,000 us

// Now set the time pulse parameters
if (myGNSS.sendCfgValset() == false)
Expand Down Expand Up @@ -332,7 +358,7 @@ void setup_gps() {
//=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=
// Begin and configure the NEO-D9S L-Band receiver

//myLBand.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial
myLBand.enableDebugging(); // Uncomment this line to enable helpful debug messages on Serial

while (myLBand.begin(GnssWire, 0x43) == false) //Connect to the u-blox NEO-D9S using Wire port. The D9S default I2C address is 0x43 (not 0x42)
{
Expand Down
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