Get lat,long,altitude,time from SAM-M10Q

[eltonlaw]

• parse NMEA formatted data
• setup i2c comms (use same bus as MPU6050, shouldn't be overwhelmed by data generated by both sensors)
• add component to kicad project
• setup GPS+GAL https://docs.sparkfun.com/SparkFun_u-blox_SAM-M10Q/hardware_overview/#sam-m10q

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• i2c configuration groups I2CCFG-I2C-*, CFG-I2CINPROT-*, CFG-I2COUTPROT-*, CFG-TXREADY-*
• Uses 3.0V typicaly for V_CC and V_IO
• "The inrush current at startup can go up to 100 mA. Ensure that the external power supply is able to deliver up to 100 mA."
• output message UBX_NAV-PVT gives position, velocity and time. Related to the navigation event
• CFG-RATE-MEAS is how often the navigation event happens and CFG-RATE-NAV should be set to 1 so that each raw value is processed (don't need extra readings of raws). Configured inthe CFG-MSGOUT-* configuration group
• Navigation configuration through CFG-NAVSPG-*
  • CFG-NAVSPG-DYNMODEL: Ex. portable, stationary, automotive, airborne <1g, airborne <2g etc. Airborne <1g is max horizontal velocity 100m/s and max vertical velocityy 6400m/s and max alittude 80000m. Has a max position deviation of: "Large". With airborne configs it can't sanity check on velocity, only altitude'
  • Navigation input filters:
    • fix mode: 2d, 3d or 3d+2d
    • fixed altitude + variance if fixmode is 2d only
    • min elevation of a satellite above the horizon
    • min/max satellites to use
    • min required satellites with some given signal strength threshold to run measurements.
  • Navigation output filters
    • "...result of a navigation solution is initially classified by the fix type (as detailed in the fixType field of UBX-NAV-PVT message). This distinguishes between failures to obtain a fix at all ("No Fix") and cases where a fix has been achieved, which are further subdivided into specific types of fixes..."
    • "Users are recommended to check the gnssFixOK flag in the UBX-NAV-PVT or the NMEA valid flag. Fixes not marked as valid should not be used"