ESF Roll/Pitch/Yaw Reading Does not Work

GPS/GNSS Development Boards
1

Hi,

I am using sparkfun M8U board and it is connected to GPS/GNSS Magnetic Mount Antenna - 3m. The board is setup aligned with the orientation of the car, with X axis facing forward.

The following Roll/Pitch/Yaw reading work properly :

myGNSS.getVehicleRoll

myGNSS.getATTroll()

myGNSS.getHNRroll()

But the main ESF Roll/Pitch/Yaw reading does not report the correct value .

I am using “Example4_vehicleDynamics.ino” and it does not work.

myGNSS.getESFroll()

myGNSS.getESFpitch()

myGNSS.getESFyaw()

In what situation this example work fine? I believe something is not set up right in this example or it needs additional codes to get the right data? What should be the status of the alignment? and how to set that? Mine shows “Status=0”

Also, what are the differences between these Roll/Pitch/Yaw readings?

2

Hi,

The library and examples are not very clear. ESF-ALG reports the yaw, roll and pitch of the IMU mount. This reports the alignment of the NEO IMU within the vehicle. It is not reporting the yaw, roll and pitch of the vehicle itself.

The vehicle dynamics (getVehicleRoll / Pitch / Heading) are reported in UBX-NAV-PVAT (or UBX-NAV-ATT or UBX-HNR-ATT), not UBX-ESF-ALG.

Auto-alignment needs to be enabled if needed. You can do this by calling myGNSS.setESFAutoAlignment(true);

Please see: https://github.com/sparkfun/SparkFun_u- … gnment.ino

I need to update Example4_vehicleDynamics to make it clearer what is being reported: the alignment of the IMU to the vehicle, not the dynamics of the vehicle itself. Also I need to add setESFAutoAlignment to Example4. I have opened an issue for this: https://github.com/sparkfun/SparkFun_u- … issues/197

Best wishes,

Paul

3

Awesome,

I really appreciate you taking the time to respond.

So helpful

What does enabling "Auto-alignment " do?

Do you have a preference over the ones you mentioned for getting vehicle dynamics roll,pitch yaw?

4

Hi,

Auto-Alignment tells the NEO to automatically calculate how it is mounted (its orientation) inside the vehicle. When enabled, it will calculate its yaw, roll and pitch with respect to the vehicle. Example4 displays the alignment information.

I believe that NAV-PVAT and NAV-ATT contain the same attitude (roll, pitch and heading) information. HNR-ATT is capable of much higher output rates.

Very best wishes,

Paul