Navimet: Navigation Unit

This project combines a BNO055 IMU, a NEO-6 GPS, a NRF24 radio and a series of WS2812B LEDs into a stand-alone navigation unit built around the NUCLEO-L432KC development board.

The on-board GPS computes the local position, while the IMU computes the local (magnetic) heading. When the button is pressed, the local position is broadcast to the other nodes via the radio. When a position is received via the radio the heading and distance to this position is computed and shown interactively on a 360° WS2812 LED ring.

The behavior is such that the heading ring shows the distance through the LED "width" and the closer the target position, the wider the LEDs show it.

Customizing

The LED position ring is configured for 24 LEDs, this can be changed in src/tasks/ring.cpp. In addition, only the red channel is currently changed to display both distance and heading. This can be changed in the same file.

Building

Before you build: there exists a src/navimet.bin, which you can simply drag-and-drop onto the NUCLEO USB mass storage device to program it.

If you want to change application code, you only need to call scons not lbuild, since the generated modm and ublox libraries have checked into this repo.

Otherwise, here are the steps to generate the libraries and compile the application from scratch:

1. Install modm: https://modm.io/guide/installation/#macos
2. Clone the repository recursively!

   git clone --recurse-submodules --jobs 8 git@github.com:salkinium/navimet.git
   

   Or if you didn't clone recusively:

   git submodule update --init --jobs 8
   

3. Generate the libraries inside src folder:

   cd src
   lbuild build
   

4. Build the application

   scons
   

5. Program the dev board

   scons program