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One way: 1. Connect a ublox receiver to a PC. 2. Open either the U-Center or pygpsclient application. 3. Configure the ublox for the GNSS constellations you want to use. 4. Read the geolocation (lat, long, alt) from the app.

I'm not sure if i understand your question. You need two pieces of info to geolocate with gps (or any gnss). You need the pseudoranges to your receiver, and the gps satellite positions associated with each of those pseudoranges. to get the satellite positions, one way is to read the binary (ubx)...

All, I figured it out. If you'd like details (including all the code), please see the memo I just posted on my LinkedIn account, https://www.linkedin.com/in/kellydak/ Basically I stream real-time sensor data from a Nicla Sense ME, to the microcontroller, via USB serial, to a C program on an...

Brian, KurtE, Thx much, will dig in to the links!! Don

KurtE, Yes, I'm on Ubuntu 20.04, running on x86 PC. The C program is the interface for an SDR comms link (TX side). So I'm wanting to get sensor data from the Nicla via Teensy to the C code in real time. I've been trying to run some supposedly-simple C examples that read/write to TTYUSB0, but...

What's the easiest way to pull in sensor data from the Arduino/Teensy environment into a separate C program? My application is that I'm reading real-time data from a Nicla Sense ME, and I want to pass that data over to a real-time C program I'm running (an SDR application). I've been...

mjs513 beat me to it, was going to suggest sparkfun lib. i just got the adafruit 85 in as well, but am still busy with some SDR work so not sure when i'll get to it. the SPI interface did not work reliably on the 80 chip for me, so hopefully thats fixed.

Brian, Thanks for posting the update. Looking forward to trying this out! I've just got my own GPS SDR running using a HackRF front end and Linux box for the SDR code. Would be awesome to get the SDR code running on the Teensy 4.1, but thinking it will need to wait until we get multi-core...

Willie.from.texas, Where are you in TX? I'm in SE Houston. Don

The simpleRTK boards are great. I love the built-in xBee radios, super simple to setup and test. They have some really good products!

@u_cap, I'm interested in it as well, let me know what you hear from Mike please. On a separate note, I recently have got the gnss-sdr (GPS software defined radio) software running on a linux platform. Would be awesome to get it going on a Teensy, but am guessing it's going to be a few...

@mjs513, awesome! The BNO080s are really interesting. I'm wondering if they'll release a new chipset soon, as this has been out for awhile now. Another thing of great interest to me is at what point will relatively inexpensive MEMS IMUs be able to do north finding without the magnetometer. I...

@defragster Great!

Tested the T4.1 prototype with my stepper motor drivers and libraries yesterday, all works fine. Also got my PJRC order in for a couple of production T4.1s and memory chips! Don

Just tested the T4.1 (and T3.6) for recording uBlox F9P GPS data (NMEA RMC messages) at 20 Hz to SD. Works like a champ, with Pete's help on some code mods. See this thread "Stream Data from Serial1 to SD Card, Teensy 3.6" under the Technical Support forum area for details.

Pete, Your tweak works, amazing! It now logs at 20Hz cleanly. Tested on the T4.1 just now. Thx for the suggestions! $GNRMC,130049.75,A,2936.6095171,N,09506.5759320,W,0.050,,090520,,,A,V*06 $GNRMC,130049.80,A,2936.6095173,N,09506.5759320,W,0.027,,090520,,,A,V*0E...

Pete, Your trick works. Thx. Here's what I see now (on both the T3.6 and T4.1): 1. 10Hz NMEA RMC messages write to SD card just fine. I can also tested doing other tasks in the loop (blinking LED) and still saved the RMC messages just fine. 2. 20Hz NMEA RMC messages write to SD card just fine...

Thx, I'll try both these and let you know what happens, I appreciate it.

I do a lot of GPS testing, and I'd like to just capture NMEA data (RMC messages) as it streams to the SD card on Teensy 3.6 Serial1. I have great success using the Sparkfun OpenLog SD card with T3.2s and T4.0s, but now I'm trying to get it working on the built-in T3.6 SD card. My routine below...

Thanks defragster, I've got a dozen tests I'm planning to run through, including displays, IMUs, DC and stepper motors, SPI motor encoder, AHRS algorithms, GPS interfaces and datalogging, and more. These early ones are pretty basic, but others more complex. Am following others' testing and...

Still stepping through some simple regression testing, so please ignore if others have done. Just tested SD lib functionality, and examples ran fine. Was able to write and read and list files with no issues. Initializing SD card...initialization done. DATALOG.TXT 184680 done!

Completed next regression test, BNO080 on SPI. Looks fine, running Sparkfun BNO080 lib, sample quaternion output: .01,-0.02,0.44,0.90,3.14,19.89Hz 0.01,-0.02,0.44,0.90,3.14,19.89Hz 0.01,-0.03,0.44,0.90,3.14,19.89Hz -0.00,-0.03,0.44,0.90,3.14,19.89Hz -0.00,-0.03,0.44,0.90,3.14,19.89Hz...

I'm doing simple regression testing with a dozen or so of my lab setups, just to make sure interfaces and all look good. I just tested the BNO080 IMU with the Sparkfun lib over I2C, all looks good to me. Here's and example of the PRY output, Exp 17 in the lib. -0.7,1.3,-124.4 -0.7,1.3,-124.4...

Just a heads-up that you may want to calibrate your sensors, especially the mag sensors. Otherwise your yaw will not be relative to North, and will drift pretty badly. Lots of info out there on MPU9250 calibration, including some good discussions and routines from Kris Winer (who's routine...

If you're new to arduino, suggest you get some of the basic arduino examples running in the Arduino IDE first, like Blink. Once you see how arduino sketches work, then install the Ublox library, hook up your Ublox receiver, and then run the examples from the Ublox library. Lots of youtube videos...

Thx, will check it out.

Is there a friendly CM tool for Teensy / Arduino that captures the whole Teensy environment? It'd be nice if there was a simple tool that captured: - The current C code (sketch) with all tabs - A snapshot of all libs used, both Arduino native and user add-ons - The current version of Arduino IDE...

I use I2C without INT, I just use a qwiic cable. I'm getting ready to mount a BNO080 on a larger (SuperDroid Robots model) self balancing robot, and I'll use I2C for that since I'm already using two SPI links to the encoders. I may enable the BNO at a very fast rate, but only grab the sensor...

For SPI, I get the same thing with delay(2000) in the void setup. If I set it to delay(2), delay(20), delay(200), it runs fine, but locks up if set to delay(2000). weird. For I2C, it runs fine with the delay(2000). Are you getting your board to calibrate all sensors to high? I get that on the...

See above post for what I see with SPI. It's pretty fast. Here's what I see running same code on I2C: 227.58 Hz 228.05 Hz 375.38 Hz 376.08 Hz 376.51 Hz 376.93 Hz 193.72 Hz 373.55 Hz 197.01 Hz 371.89 Hz 376.65 Hz 219.20 Hz 225.78 Hz 375.80 Hz 226.40 Hz 377.36 Hz 377.50 Hz 376.22 Hz Still pretty...

DavidG, Very cool! Works great. Here's what I get with the T4.0: 405.84 369.28 484.73 350.39 427.35 446.23 392.16 384.91 365.36 399.84 484.97 353.73 418.94 478.24 363.11 394.94 364.83 391.39 401.28 411.18 Awesome! Don

DavidG, looks awesome, thx! Will take me a couple days to get time to try this, but looking forward to trying your mods!

Great, thanks. I have the INT and WAK connected, just wasn't sure if that was right, so thanks. Will try your 1K updates out... By the way, has anyone been able to consistently get the self-calibration to go to HIGH for all sensors? I invariably get one or two that remain at MED no matter what...

That's really cool, are the quat updates also at 1Kz, or is it just gyro 1k updates? Are you connecting the INT pin on the BNO080? I was unsure if that does anything or not.

You need to apply a filter to the raw sensor measurements in deg/s and m/ss to angular degrees. The easiest is called a complementary filter, others include Madgwick and Kalman filters. Joop Brokking has some excellent videos on setting up a complementary filter (for use in a drone, but can be...

Hey, great to hear from you. I'm using an "if (myIMU.dataAvailable() == true)" line to grab my data, so I'm not really using a fixed time between reports. I guess I need to think about it some more. Maybe I need to try a fixed rate (like 250Hz) and see what happens. Interesting stuff. I'll post...

I've been doing some testing on the BNO080 IMU and have found some things that I thought might be interesting to others. I created two perma-boards, one with T4 connected to a BNO080 via I2C, and the other a T4 connected to a BNO080 via SPI (see attached photo). First, the BNO080 IMU is...

manitou, thanks. Yes, I'm aware of micros(), but need it relative to time of day. I searched for RTC registers on the forum and found this link: https://forum.pjrc.com/threads/53372-Microsecond-Level-Synced-Clock?highlight=RTC+registers Thinking it has some really good ideas, but will take me...

Update: Got a 1sec RTC interrupt timer working (derived from code posted in the forum). So I just need to add my own uSec sub-timer. But am still surprised there's not a lib out there that allows us to easily (precisely) timestamp an incoming sensor reading. If someone has seen one, I'd...

I'm testing out TimeLib.h for getting an accurate (us) timestamp on sensor readings. I'm able to run the TimeTeensy3 example just fine, but not seeing how I use TimeLib to get a us-level timestamp. I suppose I could use micro() somehow and try to line that up with every one-second interval, but...

Brian, That sounds perfect. Will be glad to volunteer to help test or debug it! Think this will be really useful for M8P and F9P RTK ops, as I can see where we may want to send UART RTCM3 data to the autopilot but still display status using I2C UBX binary (or possibly even both using I2C). Cool! Don

Hi Mike, Brain, Tim, Happy Holidays! Am following along with your testing Mike, looks interesting. I'm still refining my M8P RTK work using the SparkFun M8P-02 boards. The M8P-02 requires RTCM3 base inputs, so I've switched my base station from UBX binary now to RTCM3 and it's working great. I...

Has anyone tried to use Brian's ublox library to parse UBX-NAV-PVT via I2C? I'm using the I2C interface to the SparkFun RTK (M8P) board with its nice Qwiic I2C interface. The SparkFun_Ublox_Arduino_Library works great for pulling NMEA via I2C, but I haven't been able to figure out how to pull...

Mike, Is this what you're looking for? https://www.u-blox.com/sites/default/files/u-blox_ZED-F9P_InterfaceDescription_%28UBX-18010854%29.pdf

Hi Brian, I ordered two from CSG several weeks ago, and about two weeks ago I got a message they were getting ready to ship. Not sure what it meant, so I guess I'm unsure if they've shipped or if I'm just in the queue. One recent batch of M8Ps took about 5 weeks to make it here from CSG. And...

Mike, Thx. For RTK operations, there's a "high precision" UBX message (UBX-NAV-HPPOSECEF) that I want to parse, in addition to the info that's in the regular (UBX-NAV-PVT) message. So I'll likely mod the library to read the high precision message, and it's cool that I can likely listen for both...

Mike, I took a look at the examples. In the Ublox2 example, were you all experimenting with reading multiple ubx messages concurrently? I know Brian's library was originally intended to just read the UBX-NAV-PVT message. Don

Thanks Mike, will try it out soon!! Happy holidays. Don

Chris O, Where might I get your latest updates on Brian's UBlox Library? I'm doing some RTK GPS testing using Brian's library, and I'm thinking some of your mods would be very helpful. I'm wanting to configure the RTK base station via arduino (vs using u-center), so am looking for additional...

I’ve got a set of these backpacks, and am building a simple flight controller using the imu, pwm, and gps backpacks. If others are interested in following along, or helping, let me know. I already have the AHRS piece and am cleaning up IMU cal now, will be working on the pwm (controller comm...