Change function call vars to be more clear. Fix example with correct latLong default.

Author: nseidle

examples/ZED-F9P/Example11_setStaticPosition/Example11_setStaticPosition.ino

@@ -15,7 +15,6 @@
   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
@@ -54,7 +53,7 @@ void setup()
   //myGPS.setStaticPosition(-128020831, -471680385, 408666581);
 
   //Units are cm with a high precision extension so -1234.5678 should be called: (-123456, -78)
-  myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10, true, 250); //With high precision 0.1mm parts
+  myGPS.setStaticPosition(-128020830, -80, -471680384, -70, 408666581, 10); //With high precision 0.1mm parts
 
   //We can also set via lat/long
   //40.09029751,-105.18507900,1560.238

src/SparkFun_Ublox_Arduino_Library.cpp

@@ -3534,10 +3534,12 @@ boolean SFE_UBLOX_GPS::getVehAtt(uint16_t maxWait)
   return (true);
 }
 
-//Set the ECEF coordinates of a receiver
+//Set the ECEF or Lat/Long coordinates of a receiver
 //This imediately puts the receiver in TIME mode (fixed) and will begin outputting RTCM sentences if enabled
 //This is helpful once an antenna's position has been established. See this tutorial: https://learn.sparkfun.com/tutorials/how-to-build-a-diy-gnss-reference-station#gather-raw-gnss-data
-bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefX, int8_t ecefXHP, int32_t ecefY, int8_t ecefYHP, int32_t ecefZ, int8_t ecefZHP, bool latLong, uint16_t maxWait)
+// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
+// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong, uint16_t maxWait)
 {
   packetCfg.cls = UBX_CLASS_CFG;
   packetCfg.id = UBX_CFG_TMODE3;
@@ -3560,33 +3562,33 @@ bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefX, int8_t ecefXHP, int32_t ece
   if (latLong == true)
     payloadCfg[3] = (uint8_t)(1 << 0); //Set mode to fixed. Use LAT/LON/ALT.
 
-  //Set ECEF X
-  payloadCfg[4] = (ecefX >> 8 * 0) & 0xFF; //LSB
-  payloadCfg[5] = (ecefX >> 8 * 1) & 0xFF;
-  payloadCfg[6] = (ecefX >> 8 * 2) & 0xFF;
-  payloadCfg[7] = (ecefX >> 8 * 3) & 0xFF; //MSB
-
-  //Set ECEF Y
-  payloadCfg[8] = (ecefY >> 8 * 0) & 0xFF; //LSB
-  payloadCfg[9] = (ecefY >> 8 * 1) & 0xFF;
-  payloadCfg[10] = (ecefY >> 8 * 2) & 0xFF;
-  payloadCfg[11] = (ecefY >> 8 * 3) & 0xFF; //MSB
-
-  //Set ECEF Z
-  payloadCfg[12] = (ecefZ >> 8 * 0) & 0xFF; //LSB
-  payloadCfg[13] = (ecefZ >> 8 * 1) & 0xFF;
-  payloadCfg[14] = (ecefZ >> 8 * 2) & 0xFF;
-  payloadCfg[15] = (ecefZ >> 8 * 3) & 0xFF; //MSB
-
-  //Set ECEF high precision bits
-  payloadCfg[16] = ecefXHP;
-  payloadCfg[17] = ecefYHP;
-  payloadCfg[18] = ecefZHP;
+  //Set ECEF X or Lat
+  payloadCfg[4] = (ecefXOrLat >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[5] = (ecefXOrLat >> 8 * 1) & 0xFF;
+  payloadCfg[6] = (ecefXOrLat >> 8 * 2) & 0xFF;
+  payloadCfg[7] = (ecefXOrLat >> 8 * 3) & 0xFF; //MSB
+
+  //Set ECEF Y or Long
+  payloadCfg[8] = (ecefYOrLon >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[9] = (ecefYOrLon >> 8 * 1) & 0xFF;
+  payloadCfg[10] = (ecefYOrLon >> 8 * 2) & 0xFF;
+  payloadCfg[11] = (ecefYOrLon >> 8 * 3) & 0xFF; //MSB
+
+  //Set ECEF Z or Altitude
+  payloadCfg[12] = (ecefZOrAlt >> 8 * 0) & 0xFF; //LSB
+  payloadCfg[13] = (ecefZOrAlt >> 8 * 1) & 0xFF;
+  payloadCfg[14] = (ecefZOrAlt >> 8 * 2) & 0xFF;
+  payloadCfg[15] = (ecefZOrAlt >> 8 * 3) & 0xFF; //MSB
+
+  //Set high precision parts
+  payloadCfg[16] = ecefXOrLatHP;
+  payloadCfg[17] = ecefYOrLonHP;
+  payloadCfg[18] = ecefZOrAltHP;
 
   return ((sendCommand(&packetCfg, maxWait)) == SFE_UBLOX_STATUS_DATA_SENT); // We are only expecting an ACK
 }
 
-bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefX, int32_t ecefY, int32_t ecefZ, bool latlong, uint16_t maxWait)
+bool SFE_UBLOX_GPS::setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latlong, uint16_t maxWait)
 {
-  return (setStaticPosition(ecefX, 0, ecefY, 0, ecefZ, 0, latlong, maxWait));
+  return (setStaticPosition(ecefXOrLat, 0, ecefYOrLon, 0, ecefZOrAlt, 0, latlong, maxWait));
 }

src/SparkFun_Ublox_Arduino_Library.h

@@ -641,9 +641,11 @@ class SFE_UBLOX_GPS
 	sfe_ublox_status_e getSensState(uint8_t sensor, uint16_t maxWait = 1100);
 	boolean getVehAtt(uint16_t maxWait = 1100);
 
-	//Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
-	bool setStaticPosition(int32_t ecefX, int8_t ecefXHP, int32_t ecefY, int8_t ecefYHP, int32_t ecefZ, int8_t ecefZHP, bool latLong = false, uint16_t maxWait = 250);
-	bool setStaticPosition(int32_t ecefX, int32_t ecefY, int32_t ecefZ, bool latlong = true, uint16_t maxWait = 250);
+	// Given coordinates, put receiver into static position. Set latlong to true to pass in lat/long values instead of ecef.
+	// For ECEF the units are: cm, 0.1mm, cm, 0.1mm, cm, 0.1mm
+	// For Lat/Lon/Alt the units are: degrees^-7, degrees^-9, degrees^-7, degrees^-9, cm, 0.1mm
+	bool setStaticPosition(int32_t ecefXOrLat, int8_t ecefXOrLatHP, int32_t ecefYOrLon, int8_t ecefYOrLonHP, int32_t ecefZOrAlt, int8_t ecefZOrAltHP, bool latLong = false, uint16_t maxWait = 250);
+	bool setStaticPosition(int32_t ecefXOrLat, int32_t ecefYOrLon, int32_t ecefZOrAlt, bool latLong = false, uint16_t maxWait = 250);
 
 	//Survey-in specific controls
 	struct svinStructure