Add auto reporting for UBX-ESF

[bvernham]

Subject of the issue

Describe your issue here. If you reference a datasheet please specify which one and in which section (ie, the protocol manual, section 5.1.2). Additionally, screenshots are easy to paste into github.
Add auto reporting for UBX-ESF

Your workbench

• What development board or microcontroller are you using?
• What version of hardware or breakout board are you using?
• How is the breakout board wired to your microcontroller?
• How is everything being powered?
• Are there any additional details that may help us help you?

Steps to reproduce

Tell us how to reproduce this issue. Please post stripped down example code demonstrating your issue.

Expected behavior

Tell us what should happen
UBX-ESF dynamics is gravity free but the HNR messages include gravity.

Still have not got an answer of what the difference is meant between "Compensated x-axis acceleration (gravityfree). and Compensated x-axis acceleration (with gravity) on either the UBLOX or the SparkFun Forum.

Actual behavior

Tell us what happens instead

[PaulZC]

Hi Bruce (@bvernham ),

"Auto" ESF is fully supported in the new v2.0 of the library. You can find it here:
https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library

The new callback examples are here (there are examples for ESF and HNR):
https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/tree/master/examples/Callbacks

I interpret "gravity free" as the sensor values excludes gravity. I.e. you will not see a static 9.8 m/s^2 component.
I interpret "with gravity" as the sensor values include gravity. I.e. you will see a static 9.8m/s^2 on whichever axis is pointing 'down'.

Best wishes,
Paul

[bvernham]

Do you know what kind of update rates auto ESF can run at? HNR messages specifically say 30 hertz. Thanks for the great work.

…

---------- Original Message ---------- From: Paul <notifications@github.com> To: sparkfun/SparkFun_Ublox_Arduino_Library <SparkFun_Ublox_Arduino_Library@noreply.github.com> Cc: bvernham <bvernham@juno.com>, Mention <mention@noreply.github.com> Subject: Re: [sparkfun/SparkFun_Ublox_Arduino_Library] Add auto reporting for UBX-ESF (#177) Date: Sun, 17 Jan 2021 23:28:42 -0800 Hi Bruce (@bvernham ), "Auto" ESF is fully supported in the new v2.0 of the library. You can find it here: https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library The new callback examples are here (there are examples for ESF and HNR): https://github.com/sparkfun/SparkFun_u-blox_GNSS_Arduino_Library/tree/master/examples/Callbacks I interpret "gravity free" as the sensor values excludes gravity. I.e. you will not see a static 9.8 m/s^2 component. I interpret "with gravity" as the sensor values include gravity. I.e. you will see a static 9.8m/s^2 on whichever axis is pointing 'down'. Best wishes, Paul &mdash; You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub, or unsubscribe.

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[PaulZC]

Check the datasheet and/or integration guide for your module

[bvernham]

Can you disable the callbacks for V2 library?

Thanks

[PaulZC]

Yes, just don't use them. The callback is only enabled if you call (e.g.) myGNSS.setAutoESFALGcallback
You can still use polling: call (e.g.) myGNSS.getEsfAlignment
And you can still use "auto" (without callback): call (e.g.) myGNSS.setAutoESFALG
Access the data by reading (e.g.) myGNSS.packetUBXESFALG->data.yaw
Mark the data as stale by calling (e.g.) myGNSS.flushESFALG
Have a look at the Dead Reckoning examples 5 & 6