Better ACK handling

examples/Example13_PVT/Example2_AutoPVT_ExplicitUpdate/Example2_AutoPVT_ExplicitUpdate.ino

@@ -35,25 +35,27 @@ SFE_UBLOX_GPS myGPS;
 void setup()
 {
   Serial.begin(115200);
-  while (!Serial); //Wait for user to open terminal
+  while (!Serial)
+    ; //Wait for user to open terminal
   Serial.println("SparkFun Ublox Example");
 
   Wire.begin();
 
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
     Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
-    while (1);
+    while (1)
+      ;
   }
 
   myGPS.setI2COutput(COM_TYPE_UBX); //Set the I2C port to output UBX only (turn off NMEA noise)
-  myGPS.setNavigationFrequency(2); //Produce two solutions per second
-  myGPS.setAutoPVT(true, false); //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
-  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
+  myGPS.setNavigationFrequency(2);  //Produce two solutions per second
+  myGPS.setAutoPVT(true, false);    //Tell the GPS to "send" each solution and the lib not to update stale data implicitly
+  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
 }
 
 /*
-     Calling getPVT would return false now (compare to Example 13 where it would return true), so we just use the data provided
+     Calling getPVT would return false now (compare to previous example where it would return true), so we just use the data provided
      If you are using a threaded OS eg. FreeRTOS on an ESP32, the explicit mode of autoPVT allows you to use the data provided on both cores and inside multiple threads
      The data update in background creates an inconsistent state, but that should not cause issues for most applications as they usually won't change the GPS location significantly within a 2Hz - 5Hz update rate.
      Also you could oversample (10Hz - 20Hz) the data to smooth out such issues...
@@ -62,12 +64,14 @@ void loop()
 {
   static uint16_t counter = 0;
 
-  if (counter % 10 == 0) {
+  if (counter % 10 == 0)
+  {
     // update your AHRS filter here for a ~100Hz update rate
     // GPS data will be quasi static but data from your IMU will be changing
   }
   // debug output each half second
-  if (counter % 500  == 0) {
+  if (counter % 500 == 0)
+  {
     Serial.println();
     long latitude = myGPS.getLatitude();
     Serial.print(F("Lat: "));
@@ -90,7 +94,8 @@ void loop()
     Serial.println();
   }
   // call checkUblox all 50ms to capture the gps data
-  if (counter % 50 == 0) {
+  if (counter % 50 == 0)
+  {
     myGPS.checkUblox();
   }
   delay(1);

examples/Example16_Nanosecond_MaxOutput/Example16_Nanosecond_MaxOutput.ino

@@ -33,14 +33,14 @@ long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox m
 
 void setup()
 {
-  Serial.begin(500000); //Increase serial speed to maximize 
+  Serial.begin(500000); //Increase serial speed to maximize
   while (!Serial)
     ; //Wait for user to open terminal
   Serial.println("SparkFun Ublox Example");
 
   Wire.begin();
   Wire.setClock(400000);
-  
+
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
     Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
@@ -53,18 +53,16 @@ void setup()
 
   //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
 
-  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  myGPS.setNavigationFrequency(10);           //Set output to 10 times a second
   byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
   Serial.print("Current update rate:");
   Serial.println(rate);
-
 }
 
 void loop()
 {
-  //Query module only every second. Doing it more often will just cause I2C traffic.
-  //The module only responds when a new position is available
-  if (millis() - lastTime > 10)
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
   {
     lastTime = millis(); //Update the timer
 
@@ -86,6 +84,7 @@ void loop()
     Serial.print(F(" SIV: "));
     Serial.print(SIV);
 
+    Serial.print(" ");
     Serial.print(myGPS.getYear());
     Serial.print("-");
     Serial.print(myGPS.getMonth());
@@ -100,6 +99,8 @@ void loop()
     Serial.print(".");
     Serial.print(myGPS.getNanosecond());
 
+    myGPS.flushPVT();
+
     Serial.println();
   }
 }

examples/Example16_PartialSecond_MaxOutput/Example16_PartialSecond_MaxOutput.ino

@@ -32,14 +32,14 @@ long lastTime = 0; //Simple local timer. Limits amount if I2C traffic to Ublox m
 
 void setup()
 {
-  Serial.begin(500000); //Increase serial speed to maximize 
+  Serial.begin(500000); //Increase serial speed to maximize
   while (!Serial)
     ; //Wait for user to open terminal
   Serial.println("SparkFun Ublox Example");
 
   Wire.begin();
   Wire.setClock(400000);
-  
+
   if (myGPS.begin() == false) //Connect to the Ublox module using Wire port
   {
     Serial.println(F("Ublox GPS not detected at default I2C address. Please check wiring. Freezing."));
@@ -51,21 +51,21 @@ void setup()
 
   //myGPS.enableDebugging(); //Enable debug messages over Serial (default)
 
-  myGPS.setNavigationFrequency(10); //Set output to 10 times a second
+  myGPS.setNavigationFrequency(10);           //Set output to 10 times a second
   byte rate = myGPS.getNavigationFrequency(); //Get the update rate of this module
   Serial.print("Current update rate:");
   Serial.println(rate);
-  
-  myGPS.saveConfiguration();        //Save the current settings to flash and BBR
+
+  myGPS.saveConfiguration(); //Save the current settings to flash and BBR
 
   pinMode(2, OUTPUT); //For debug capture
   digitalWrite(2, HIGH);
 }
 
 void loop()
 {
-  //Query module very often to get max update rate
-  if (millis() - lastTime > 10)
+  // Calling getPVT returns true if there actually is a fresh navigation solution available.
+  if (myGPS.getPVT())
   {
     lastTime = millis(); //Update the timer
 
@@ -102,11 +102,13 @@ void loop()
     Serial.print(".");
     //Pretty print leading zeros
     int mseconds = myGPS.getMillisecond();
-    if(mseconds < 100) Serial.print("0");
-    if(mseconds < 10) Serial.print("0");
+    if (mseconds < 100)
+      Serial.print("0");
+    if (mseconds < 10)
+      Serial.print("0");
     Serial.print(mseconds);
 
-    Serial.print(" nanoSeconds: ");    
+    Serial.print(" nanoSeconds: ");
     Serial.print(myGPS.getNanosecond());
 
     Serial.println();

keywords.txt

@@ -102,6 +102,7 @@ debugPrintln	KEYWORD2
 factoryReset	KEYWORD2
 setAutoPVT	KEYWORD2
 assumeAutoPVT	KEYWORD2
+flushPVT	KEYWORD2
 
 getYear	KEYWORD2
 getMonth	KEYWORD2