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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:
...

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...

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...

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...

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...

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...

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...

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...

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...

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...

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...

Looks interesting Brian, i’d be interested in them...

Hi Mike, Sorry I've been offline for the last couple months. Been consumed with delivering RTK units for a small fleet of drones. Your YAKF sounds interesting, I'll take a look!

You and Brian were...

Very cool! As far as power, I am supplying the BBB with external 5V. But I'm using a USB hub to then power both the M8T GPS board and WiFi dongle, so maybe those two are not getting enough from the...

Awesome. Will be glad to help with testing or whatever!

I've just got RTK running on the Beaglebone Black (BBB) with WiFi adapter (to pull in base station data). I'm having issues with WiFi...

Mike,

I have one of Brian's Marmot boards, which plugs into a BeagleBone Black (arriving next week) running Linux Debian. So that (Beaglebone) might be an option. I'll be downloading RTKLIB this...

Mike,
The Tallyman antenna is one of the antennas Drotek recommends.

I just got in two new GPS units, the M8T from Drotek and a couple of cheap Stoton GN-801 (Chinese) boards. The GN-801s have...

another note... I just traded emails with Jerome at Drotek. He says that to get cm-level RTK, you need to have a high quality antenna, like the Tallasman version they sell. So I'm thinking this is...

Mike,
I need to set up RTKLIB this week. I'm using the Here+ with the ArduPilot mission planner software, so maybe there's something funky with that setup.

When RTKLIB is showing "RTK-FIX", does...

Mike, Tim, Brian, tonton81,
Did you all see this announcement?

https://www.u-blox.com/en/press-releases/u‑blox-announces-first-high-precision-gnss-module-based-u‑blox-f9-technology

I've not...

ordered, thx!
Don

I'll start with just one of the M8Ts. But the nearest CORS to me via the map is 18+km.
Thx!
Don

Mike,
What will you use for base station? Wondering if I need two. We don't have one of those RTK broadcast stations near by.

Don

Mike,

Which Drotek M8T did you get, the plain one without the compass? Think I'll do the same! Would like to think about incorporating RTK into what we've been doing here. Maybe kick off an...

Mike,

Thx. I ordered the same one via ebay as well. So I'll finally have one with PPS pin...

I've been experimenting still with the cal routine. Am able to get what I think is really good cal...

Thx Chris!

Chris,
Looking at your Example and cpp code. Am trying to figure out what the Poll_CFG_TP5 does. Does it simply just grab the current GPS time, or can it create an interrupt (or time pulse) kind of...

Mike,
Thx! Am headed to apt, but taking the Example sketch to study. Is there any trick to trying out the PPS feature?

Don

Mike,

Thx, was just starting to look at Chris' mods, and was trying to figure out what to grab. Thx!!
Don

Mike,
I need to check out Chris O's GPS lib, have been spread thin lately with my data analytics project and other stuff.

Prob a dumb question, but assume Chris O's lib requires PPS pin access...

Mike,
In the calibration code, I'm calculating heading directly from the calibrated magnetometer readings, so not really even calculating yaw.

But if I'm understanding it, the EKF is continually...

Mike,

hmmm... weird...

i'm still studying calibrations, as I'm still seeing some unusual behaviors with the heading at times. Want to work on this a bit more before I get back to the 15-state....

Mike,

Looks like that code would make it easy for just doing a mag-only update (w/o GPS). Nice!

Don

Mike,

I also still have the old breadboard setup still, with Master and Slave T36s. Would just need to move the GPS back over.

Don

Mike,

My plan is to add another 4-wire JST-GH connector, like I did for the GPS. But I'm waiting for my JST cables to arrive from mRobotics. So in the meantime, I'm doing some experiments without...

Here's my final hard-soldered config. GPS (M8N) mounted on top, JST-GH connector to main board. Did a quick test and it seems to be processing both IMU and GPS data. So solders look good. Can get...

Mike,

Sounds like I need to catch up on Chris O's library!

tonton81 - that is crazy stuff. thinking there could be some interesting applications for this!

Don

Mike, Tim,

I'm going back and trying to document some of the versions/changes we had. I have them all saved, but didn't a great job of documenting what we did. Started a log book for my IMU...

tonton81,
Tested the updated circular_buffer, looking good. Thx!! Don

Mike,

What filter are you running for your plots above? One of the AHRS variants?

By qw, if you mean the term that usually 1.0, it's q0 in Brian's filter I believe.

Don

tonton81,
was at dinner, just saw post, yes, looking good!! Thx!
Don

Nice! I use both Python and Matlab. I'm really best on Matlab, but have been frustrated the last few years with their outlandish pricing for individuals, so have heavily migrated to Python recently...

Mike,
Looks interesting, is that in c?

I'm getting what seem to be really good results now. tonton81 is going to fix the circular-buffer max issue, but knowing what the issue is, I'm seeing what...

tonton81,
Tried this, but got error of 'class Circular_Buffer has no member named sort_ascenting'

cbaZ.sort_ascending();
Serial.println(" ");
Serial.print(" val1 =: ");...

Great, gracias!!
Don

tonton81,

Looks like I found an issue with the max calculation in circular buffer. If the numbers in the buffer are all negative (as if we're reading all -9.8 for gravity), the max function...

Tim,
I put in a simple check

dataQualityFlag = Imu.readSensor();
if (dataQualityFlag == -1){
Serial.println(">>>>>>>>>>>>> WARNING - BAD IMU DATA DETECTED <<<<<<<<<<<<<<<");
...

13622

Here's an updated set of instructions for the Cal Analysis Tool. I added six "Use Cases" to show the order for entering commands for performing various activities. I'm having no issues if I...