Removes array from raw data, updates example 1

Author: edspark

examples/Dead Reckoning/Example1_calibrateSensor/Example1_getIMU.ino renamed to examples/Dead Reckoning/Example1_calibrateSensor/Example1_calibrateSensor.ino

@@ -9,13 +9,25 @@
 
   Feel like supporting open source hardware?
   Buy a board from SparkFun!
-  NEO-M8U: https://www.sparkfun.com/products/15136
-  ZED-F9R: https://www.sparkfun.com/products/15136
+  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 BlackBoard
+  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 them. 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, 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
@@ -42,7 +54,12 @@ void setup()
 
 void loop()
 {
-  if (myGPS.getEsfInfo())
-    Serial.println(myGPS.imuMeas.fusionMode);  
 
+  if (myGPS.getEsfInfo()){
+    Serial.println(myGPS.imuMeas.fusionMode);  
+    if (myGPS.imuMeas.fusionMode) == 1
+      Serial.println("Sensor is calibrated!");  
+  }
 
+  delay(250)
+}

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -2731,7 +2731,7 @@ boolean SFE_UBLOX_GPS::getEsfInfo(uint16_t maxWait)
 }
 
 //
-boolean SFE_UBLOX_GPS::getEsfMeas(uint16_t maxWait)
+boolean SFE_UBLOX_GPS::getEsfIns(uint16_t maxWait)
 {
   packetCfg.cls = UBX_CLASS_ESF;
   packetCfg.id = UBX_ESF_INS;
@@ -2760,8 +2760,6 @@ boolean SFE_UBLOX_GPS::getEsfMeas(uint16_t maxWait)
   imuMeas.xAccel = extractLong(24); // m/s
   imuMeas.yAccel = extractLong(28); // m/s
   imuMeas.zAccel = extractLong(32); // m/s
-
-  return(true);
 }
 
 //
@@ -2786,10 +2784,12 @@ boolean SFE_UBLOX_GPS::getEsfDataInfo(uint16_t maxWait)
   uint8_t tagValid = (flags && 0x04) >> 3;
   uint8_t numMeas = (flags && 0x1000) >> 15;
 
+  if (numMeas > DEF_NUM_SENS)
+    numMeas = DEF_NUM_SENS;
+
   uint8_t byteOffset = 4;
-  uint8_t numSens = extractByte(15);
 
-  for(uint8_t i=0; i<numSens; i++){
+  for(uint8_t i=0; i<numMeas; i++){
 
     uint32_t bitField = extractLong(4 + byteOffset * i);
     imuMeas.dataType[i] = (bitField && 0xFF000000) >> 23; 
@@ -2815,17 +2815,11 @@ boolean SFE_UBLOX_GPS::getEsfRawDataInfo(uint16_t maxWait)
 
   checkUblox();
 
-  uint8_t byteOffset = 8;
-  uint8_t numSens = extractByte(15);
-
-  for(uint8_t i=0; i<numSens; i++){
+  uint32_t bitField = extractLong(4);
+  imuMeas.rawDataType = (bitField && 0xFF000000) >> 23; 
+  imuMeas.rawData = (bitField && 0xFFFFFF);
+  imuMeas.rawTStamp = extractLong(8); 
 
-    uint32_t bitField = extractLong(4 + byteOffset * i);
-    imuMeas.rawDataType[i] = (bitField && 0xFF000000) >> 23; 
-    imuMeas.rawData[i] = (bitField && 0xFFFFFF);
-    imuMeas.rawTStamp[i] = extractLong(8 + byteOffset * i); 
-
-  }
 }
 
 sfe_ublox_status_e SFE_UBLOX_GPS::getSensState(uint8_t sensor, uint16_t maxWait)

src/SparkFun_Ublox_Arduino_Library.h

@@ -591,7 +591,7 @@ class SFE_UBLOX_GPS
 	boolean setDynamicModel(dynModel newDynamicModel = DYN_MODEL_PORTABLE, uint16_t maxWait = 1100);
 
   boolean getEsfInfo(uint16_t maxWait = 1100);
-  boolean getEsfMeas(uint16_t maxWait = 1100);
+  boolean getEsfIns(uint16_t maxWait = 1100);
   boolean getEsfDataInfo(uint16_t maxWait = 1100);
   boolean getEsfRawDataInfo(uint16_t maxWait = 1100);
   sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
@@ -691,9 +691,9 @@ class SFE_UBLOX_GPS
     int32_t zAccel;
 
     // The array size is based on testing directly on M8U and F9R
-    uint32_t rawData[DEF_NUM_SENS];
-    uint32_t rawDataType[DEF_NUM_SENS];
-    uint32_t rawTStamp[DEF_NUM_SENS];
+    uint32_t rawData;
+    uint32_t rawDataType;
+    uint32_t rawTStamp;
 
     uint32_t data[DEF_NUM_SENS];
     uint32_t dataType[DEF_NUM_SENS];