11), NMEA and RTCM protocols and serves as a reference manual for
u-blox ZED-F9P Interface Description - Manual Information Title u-blox ZED-F9P Interface Description Subtitle v27.11 type Manual number UBX-18010854 Revision and date R07 (6e984c3) 10 July 2019 status Early Production Information status explanation
u-blox ZED-F9P
Interface Description
Abstract
The Interface Description describes the UBX (version 27. 11), NMEA and RTCM protocols and serves as a reference manual for the u-blox ZED-F9P high precision positioning receiver.
www.u-blox.com UBX-18010854 - R07
u-blox ZED-F9P Interface Description - Manual
Document Information
Title
u-blox ZED-F9P Interface Description
Subtitle
v27.11
Document type
Manual
Document number UBX-18010854
Revision and date
R07 (6e984c3)
10 July 2019
Document status
Early Production Information
Document status explanation
Objective Specification
Document contains target values. Revised and supplementary data will be published later.
Advance Information
Document contains data based on early testing. Revised and supplementary data will be published later.
Early Production Information Document contains data from product verification. Revised and supplementary data may be published later.
Production Information
Document contains the final product specification.
u-blox reserves all rights to this document and the information contained herein. Products, names, logos and designs described herein may in whole or in part be subject to intellectual property rights. Reproduction, use, modification or disclosure to third parties of this document or any part thereof without the express permission of u-blox is strictly prohibited.
The information contained herein is provided "as is" and u-blox assumes no liability for the use of the information. No warranty, either express or implied, is given, including but not limited, with respect to the accuracy, correctness, reliability and fitness for a particular purpose of the information. This document may be revised by u-blox at any time. For most recent documents, please visit www.u-blox.com.
Copyright © 2019, u-blox AG.
u-blox is a registered trademark of u-blox Holding AG in the EU and other countries.
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Table of Contents
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Preface ........................................................................................................................................................................ 1 1 Document Overview....................................................................................................................................... 1 2 Firmware and Protocol Versions ............................................................................................................... 1 2.1 How to Determine the Version and the Location of the Firmware........................................... 1 2.1.1 Decoding the Boot Screen (for Protocol Version 24 and Above)........................................ 1 2.1.2 Decoding the output of UBX-MON-VER (for Protocol Version 24 and above) ............... 2 2.2 How to Determine the Supported Protocol Version of the u-blox Receiver .......................... 3 2.2.1 u-blox 9 Firmware and Supported Protocol Versions ......................................................... 3 3 Receiver Configuration................................................................................................................................ 4
Interface Description............................................................................................................................................. 5 4 NMEA Protocol............................................................................................................................................... 5 4.1 Protocol Overview .............................................................................................................................. 5 4.1.1 Message Format ......................................................................................................................... 5 4.1.2 Talker ID ....................................................................................................................................... 5 4.1.3 Protocol Configuration.............................................................................................................. 6 4.1.4 Satellite Numbering................................................................................................................... 7 4.1.5 Latitude and Longitude Format.............................................................................................. 8 4.1.6 Position Fix Flags ....................................................................................................................... 8 4.1.7 Multi-GNSS Considerations ..................................................................................................... 9 4.1.8 Output of Invalid/Unknown Data........................................................................................... 10 4.1.9 Messages Overview ................................................................................................................. 10 4.2 Standard Messages........................................................................................................................ 12 4.2.1 DTM ............................................................................................................................................. 12 4.2.2 GAQ ............................................................................................................................................. 13 4.2.3 GBQ ............................................................................................................................................. 13 4.2.4 GBS ............................................................................................................................................. 14 4.2.5 GGA ............................................................................................................................................. 15 4.2.6 GLL.............................................................................................................................................. 16 4.2.7 GLQ.............................................................................................................................................. 17 4.2.8 GNQ ............................................................................................................................................. 17 4.2.9 GNS ............................................................................................................................................. 18 4.2.10 GPQ ........................................................................................................................................... 19 4.2.11 GRS............................................................................................................................................ 20 4.2.12 GSA............................................................................................................................................ 21 4.2.13 GST ........................................................................................................................................... 22 4.2.14 GSV........................................................................................................................................... 23 4.2.15 RMC .......................................................................................................................................... 24 4.2.16 TXT ........................................................................................................................................... 25 4.2.17 VLW .......................................................................................................................................... 26
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4.2.18 VTG ........................................................................................................................................... 27 4.2.19 ZDA........................................................................................................................................... 28 5 UBX Protocol ................................................................................................................................................ 29 5.1 UBX Protocol Key Features............................................................................................................ 29 5.2 UBX Frame Structure..................................................................................................................... 29 5.3 UBX Payload Definition Rules....................................................................................................... 29 5.3.1 Structure Packing.................................................................................................................... 30 5.3.2 Reserved Elements................................................................................................................. 30 5.3.3 Undefined Values.................................................................................................................... 30 5.3.4 Message Naming .................................................................................................................... 30 5.3.5 Number Formats .................................................................................................................... 30 5.4 UBX Checksum................................................................................................................................. 31 5.5 UBX Message Flow ......................................................................................................................... 32 5.5.1 Acknowledgement................................................................................................................... 32 5.5.2 Polling Mechanism.................................................................................................................. 32 5.6 UBX Class IDs .................................................................................................................................. 32 5.7 UBX Messages Overview ............................................................................................................... 33 5.8 UBX-ACK (0x05) .............................................................................................................................. 37 5.8.1 UBX-ACK-ACK (0x05 0x01) .................................................................................................... 37 5.8.2 UBX-ACK-NAK (0x05 0x00) .................................................................................................. 37 5.9 UBX-CFG (0x06) .............................................................................................................................. 38 5.9.1 UBX-CFG-ANT (0x06 0x13) .................................................................................................... 38 5.9.2 UBX-CFG-CFG (0x06 0x09) ................................................................................................... 39 5.9.3 UBX-CFG-DAT (0x06 0x06)................................................................................................... 42 5.9.4 UBX-CFG-DGNSS (0x06 0x70) ............................................................................................. 44 5.9.5 UBX-CFG-GEOFENCE (0x06 0x69)...................................................................................... 44 5.9.6 UBX-CFG-GNSS (0x06 0x3E)................................................................................................ 46 5.9.7 UBX-CFG-INF (0x06 0x02)..................................................................................................... 48 5.9.8 UBX-CFG-ITFM (0x06 0x39) ................................................................................................. 50 5.9.9 UBX-CFG-LOGFILTER (0x06 0x47) ...................................................................................... 51 5.9.10 UBX-CFG-MSG (0x06 0x01)................................................................................................. 53 5.9.11 UBX-CFG-NAV5 (0x06 0x24) ............................................................................................... 54 5.9.12 UBX-CFG-NAVX5 (0x06 0x23) ............................................................................................ 57 5.9.13 UBX-CFG-NMEA (0x06 0x17)............................................................................................... 59 5.9.14 UBX-CFG-ODO (0x06 0x1E) ................................................................................................. 62 5.9.15 UBX-CFG-PRT (0x06 0x00) ................................................................................................. 63 5.9.16 UBX-CFG-PWR (0x06 0x57)................................................................................................. 74 5.9.17 UBX-CFG-RATE (0x06 0x08) ............................................................................................... 75 5.9.18 UBX-CFG-RINV (0x06 0x34) ................................................................................................ 76 5.9.19 UBX-CFG-RST (0x06 0x04).................................................................................................. 77 5.9.20 UBX-CFG-TMODE3 (0x06 0x71) ......................................................................................... 78 5.9.21 UBX-CFG-TP5 (0x06 0x31)................................................................................................... 80 5.9.22 UBX-CFG-USB (0x06 0x1B) ................................................................................................. 82
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5.9.23 UBX-CFG-VALDEL (0x06 0x8C)......................................................................................... 83 5.9.24 UBX-CFG-VALGET (0x06 0x8B)......................................................................................... 87 5.9.25 UBX-CFG-VALSET (0x06 0x8A) ........................................................................................ 88 5.10 UBX-INF (0x04) .............................................................................................................................. 92 5.10.1 UBX-INF-DEBUG (0x04 0x04) .............................................................................................. 92 5.10.2 UBX-INF-ERROR (0x04 0x00) ............................................................................................. 92 5.10.3 UBX-INF-NOTICE (0x04 0x02) ............................................................................................ 93 5.10.4 UBX-INF-TEST (0x04 0x03) ................................................................................................ 93 5.10.5 UBX-INF-WARNING (0x04 0x01) ........................................................................................ 94 5.11 UBX-LOG (0x21) .............................................................................................................................. 95 5.11.1 UBX-LOG-CREATE (0x21 0x07) ............................................................................................ 95 5.11.2 UBX-LOG-ERASE (0x21 0x03).............................................................................................. 96 5.11.3 UBX-LOG-FINDTIME (0x21 0x0E)........................................................................................ 96 5.11.4 UBX-LOG-INFO (0x21 0x08) ................................................................................................. 98 5.11.5 UBX-LOG-RETRIEVEPOSEXTRA (0x21 0x0f) ................................................................. 100 5.11.6 UBX-LOG-RETRIEVEPOS (0x21 0x0b).............................................................................. 100 5.11.7 UBX-LOG-RETRIEVESTRING (0x21 0x0d) ........................................................................ 101 5.11.8 UBX-LOG-RETRIEVE (0x21 0x09)...................................................................................... 102 5.11.9 UBX-LOG-STRING (0x21 0x04) .......................................................................................... 103 5.12 UBX-MGA (0x13) .......................................................................................................................... 104 5.12.1 UBX-MGA-ACK (0x13 0x60) ................................................................................................ 104 5.12.2 UBX-MGA-BDS (0x13 0x03) ............................................................................................... 105 5.12.3 UBX-MGA-DBD (0x13 0x80) ............................................................................................... 109 5.12.4 UBX-MGA-GAL (0x13 0x02) ................................................................................................ 110 5.12.5 UBX-MGA-GLO (0x13 0x06) ................................................................................................ 114 5.12.6 UBX-MGA-GPS (0x13 0x00) ................................................................................................ 117 5.12.7 UBX-MGA-INI (0x13 0x40) ................................................................................................... 121 5.12.8 UBX-MGA-QZSS (0x13 0x05)............................................................................................. 127 5.13 UBX-MON (0x0A).......................................................................................................................... 131 5.13.1 UBX-MON-COMMS (0x0A 0x36)........................................................................................ 131 5.13.2 UBX-MON-GNSS (0x0A 0x28)........................................................................................... 132 5.13.3 UBX-MON-HW2 (0x0A 0x0B) ............................................................................................ 134 5.13.4 UBX-MON-HW3 (0x0A 0x37)............................................................................................. 135 5.13.5 UBX-MON-HW (0x0A 0x09) ............................................................................................... 137 5.13.6 UBX-MON-IO (0x0A 0x02).................................................................................................. 138 5.13.7 UBX-MON-MSGPP (0x0A 0x06)........................................................................................ 139 5.13.8 UBX-MON-PATCH (0x0A 0x27)......................................................................................... 139 5.13.9 UBX-MON-RF (0x0A 0x38) ................................................................................................ 140 5.13.10 UBX-MON-RXBUF (0x0A 0x07) ....................................................................................... 142 5.13.11 UBX-MON-RXR (0x0A 0x21) .............................................................................................. 142 5.13.12 UBX-MON-TXBUF (0x0A 0x08) ....................................................................................... 143 5.13.13 UBX-MON-VER (0x0A 0x04) ............................................................................................ 144 5.14 UBX-NAV (0x01) ........................................................................................................................... 145
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5.14.1 UBX-NAV-CLOCK (0x01 0x22)............................................................................................ 145 5.14.2 UBX-NAV-DOP (0x01 0x04)................................................................................................ 145 5.14.3 UBX-NAV-EOE (0x01 0x61) ................................................................................................. 146 5.14.4 UBX-NAV-GEOFENCE (0x01 0x39) ................................................................................... 147 5.14.5 UBX-NAV-HPPOSECEF (0x01 0x13) ................................................................................. 148 5.14.6 UBX-NAV-HPPOSLLH (0x01 0x14).................................................................................... 149 5.14.7 UBX-NAV-ODO (0x01 0x09) ............................................................................................... 150 5.14.8 UBX-NAV-ORB (0x01 0x34)................................................................................................. 151 5.14.9 UBX-NAV-POSECEF (0x01 0x01) ...................................................................................... 154 5.14.10 UBX-NAV-POSLLH (0x01 0x02)....................................................................................... 154 5.14.11 UBX-NAV-PVT (0x01 0x07)................................................................................................ 155 5.14.12 UBX-NAV-RELPOSNED (0x01 0x3C) .............................................................................. 158 5.14.13 UBX-NAV-RESETODO (0x01 0x10) ................................................................................. 160 5.14.14 UBX-NAV-SAT (0x01 0x35) ............................................................................................... 161 5.14.15 UBX-NAV-SIG (0x01 0x43) ................................................................................................ 163 5.14.16 UBX-NAV-STATUS (0x01 0x03) ...................................................................................... 165 5.14.17 UBX-NAV-SVIN (0x01 0x3B) ............................................................................................. 167 5.14.18 UBX-NAV-TIMEBDS (0x01 0x24)..................................................................................... 168 5.14.19 UBX-NAV-TIMEGAL (0x01 0x25)..................................................................................... 169 5.14.20 UBX-NAV-TIMEGLO (0x01 0x23) .................................................................................... 170 5.14.21 UBX-NAV-TIMEGPS (0x01 0x20)...................................................................................... 171 5.14.22 UBX-NAV-TIMELS (0x01 0x26) ....................................................................................... 172 5.14.23 UBX-NAV-TIMEUTC (0x01 0x21) ..................................................................................... 174 5.14.24 UBX-NAV-VELECEF (0x01 0x11)...................................................................................... 176 5.14.25 UBX-NAV-VELNED (0x01 0x12) ....................................................................................... 176 5.15 UBX-RXM (0x02) .......................................................................................................................... 178 5.15.1 UBX-RXM-MEASX (0x02 0x14)........................................................................................... 178 5.15.2 UBX-RXM-PMREQ (0x02 0x41) ......................................................................................... 180 5.15.3 UBX-RXM-RAWX (0x02 0x15)............................................................................................ 182 5.15.4 UBX-RXM-RLM (0x02 0x59) .............................................................................................. 185 5.15.5 UBX-RXM-RTCM (0x02 0x32) ........................................................................................... 186 5.15.6 UBX-RXM-SFRBX (0x02 0x13) ........................................................................................... 187 5.16 UBX-SEC (0x27) ........................................................................................................................... 189 5.16.1 UBX-SEC-UNIQID (0x27 0x03) ........................................................................................... 189 5.17 UBX-TIM (0x0D) ........................................................................................................................... 190 5.17.1 UBX-TIM-TM2 (0x0D 0x03) ................................................................................................ 190 5.17.2 UBX-TIM-TP (0x0D 0x01)..................................................................................................... 191 5.17.3 UBX-TIM-VRFY (0x0D 0x06).............................................................................................. 193 5.18 UBX-UPD (0x09)........................................................................................................................... 194 5.18.1 UBX-UPD-SOS (0x09 0x14) ................................................................................................. 194 6 Configuration Interface........................................................................................................................... 197 6.1 Configuration Database ............................................................................................................... 197 6.2 Configuration Items...................................................................................................................... 197
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6.3 Configuration Layers.................................................................................................................... 198 6.4 Configuration Interface Access ................................................................................................. 199
6.4.1 UBX Protocol Interface .......................................................................................................... 199 6.5 Configuration Data ....................................................................................................................... 199 6.6 Configuration Transactions........................................................................................................ 199 6.7 Reset Behaviour............................................................................................................................ 200 6.8 Configuration Reference ............................................................................................................. 201
6.8.1 CFG-GEOFENCE: Geofencing Configuration.................................................................... 201 6.8.2 CFG-HW: Hardware Configuration.................................................................................... 202 6.8.3 CFG-I2C: Configuration of the I2C Interface ................................................................... 203 6.8.4 CFG-I2CINPROT: Input Protocol Configuration of the I2C Interface ......................... 203 6.8.5 CFG-I2COUTPROT: Output Protocol Configuration of the I2C Interface ................. 204 6.8.6 CFG-INFMSG: Inf Message Configuration ...................................................................... 204 6.8.7 CFG-ITFM: Jamming/Interference Monitor configuration .......................................... 205 6.8.8 CFG-LOGFILTER: Data Logger Configuration................................................................ 206 6.8.9 CFG-MOT: Motion Detector Configuration ..................................................................... 207 6.8.10 CFG-MSGOUT: Message Output Configuration........................................................... 207 6.8.11 CFG-NAVHPG: High Precision Navigation Configuration............................................ 225 6.8.12 CFG-NAVSPG: Standard Precision Navigation Configuration................................... 225 6.8.13 CFG-NMEA: NMEA Protocol Configuration ................................................................... 228 6.8.14 CFG-ODO: Odometer and Low-Speed Course Over Ground Filter Configuration.. 230 6.8.15 CFG-RATE: Navigation and Measurement Rate Configuration................................. 231 6.8.16 CFG-RINV: Remote Inventory ........................................................................................... 232 6.8.17 CFG-SIGNAL: Satellite Systems (GNSS) Signal Configuration ................................. 232 6.8.18 CFG-SPI: Configuration of the SPI Interface ................................................................. 233 6.8.19 CFG-SPIINPROT: Input Protocol Configuration of the SPI Interface........................ 234 6.8.20 CFG-SPIOUTPROT: Output Protocol Configuration of the SPI Interface............... 234 6.8.21 CFG-TMODE: Time Mode Configuration ........................................................................ 234 6.8.22 CFG-TP: Timepulse Configuration .................................................................................. 236 6.8.23 CFG-TXREADY: Tx-Ready Configuration ...................................................................... 238 6.8.24 CFG-UART1: Configuration of the UART1 Interface .................................................... 238 6.8.25 CFG-UART1INPROT: Input Protocol Configuration of the UART1 Interface .......... 239 6.8.26 CFG-UART1OUTPROT: Output Protocol Configuration of the UART1 Interface .. 240 6.8.27 CFG-UART2: Configuration of the UART2 Interface................................................... 240 6.8.28 CFG-UART2INPROT: Input Protocol Configuration of the UART2 Interface.......... 241 6.8.29 CFG-UART2OUTPROT: Output Protocol Configuration of the UART2 Interface.. 241 6.8.30 CFG-USB: Configuration of the USB Interface ............................................................. 241 6.8.31 CFG-USBINPROT: Input Protocol Configuration of the USB Interface .................... 242 6.8.32 CFG-USBOUTPROT: Output Protocol Configuration of the USB Interface ........... 242 6.9 Legacy UBX Message Fields Reference................................................................................... 243 7 RTCM Protocol .......................................................................................................................................... 249 7.1 RTCM version 3.............................................................................................................................. 249 7.1.1 Supported Messages............................................................................................................. 249
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7.1.2 u-blox Proprietary RTCM Messages .................................................................................. 250 7.1.3 Configuration.......................................................................................................................... 250 7.1.4 Reference ................................................................................................................................ 250 Appendix................................................................................................................................................................ 251 A Satellite Numbering................................................................................................................................. 251 B UBX and NMEA Signal Identifiers........................................................................................................ 251 C Configuration Defaults........................................................................................................................... 252 C.1 u-blox 9 ZED-F9P (version 1.00 HPG 1.12)................................................................................. 252 Related Documents............................................................................................................................................ 271 Overview............................................................................................................................................................ 271 Related Documents for ZED-F9P .............................................................................................................. 271 Revision History.................................................................................................................................................. 272 Contact.................................................................................................................................................................. 273 u-blox Offices.................................................................................................................................................. 273
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Preface
1 Document Overview
The Interface Description is a reference describing the messages used by the u-blox receiver and is organized by the specific NMEA, UBX, and RTCM messages.
2 Firmware and Protocol Versions
The protocol version defines a set of messages that are applicable across various u-blox products. Each firmware used by a u-blox receiver supports a specific protocol version, which is not configurable. The following sections will explain how to decode the shown information to get the firmware and the protocol version.
2.1 How to Determine the Version and the Location of the Firmware
The u-blox receiver contains a firmware in two different locations: · Internal ROM · External Flash memory The location and the version of the currently running firmware can be found in the boot screen or in the UBX-MON-VER message.
2.1.1 Decoding the Boot Screen (for Protocol Version 24 and Above) Boot screen for a u-blox receiver running from Flash:
Possible lines in the boot screen and their meanings:
Entry
Description
u-blox AG - www.u-blox.com HW UBX 9 00190000 EXT CORE 1.00 (61b2dd)
ROM BASE
Start of the boot screen Hardware version of the u-blox receiver (u-blox 9 receiver) Firmware version 1.00 downloaded from Flash (revision number) Underlying firmware version in ROM (revision number)
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Possible lines in the boot screen and their meanings: continued
Entry
Description
FWVER=HPG 1.12
Firmware of product category and version where
SPG: Firmware of Standard Precision GNSS product
HPG: Firmware of High Precision GNSS product
ADR: Firmware of ADR product
UDR: Firmware of UDR product
TIM: Firmware of Time Sync product
FTS: Firmware of Time & Frequency Sync product
LAP: Firmware of Lane Accurate product
PROTVER=27.11
Supported protocol version
GPS;GLO;GAL;BDS
Supported major GNSS.
SBAS;IMES;QZSS
Supported augmentation systems.
ANTSUPERV=AC SD PDoS SR
Configuration of the Antenna supervisor where
AC: Active Antenna Control enabled
SD: Short Circuit Detection enabled
OD: Open Circuit Detection enabled
PDoS: Short Circuit Power Down Logic enabled
SR: Automatic Recovery from Short state
PF=FFF79
Product configuration.
The line containing the FWVER indicates which version of the firmware is currently running and is called firmware version in the rest of the document.
The numbers in parentheses (revision numbers) should only be used to identify a known firmware version and are not guaranteed to increase over time.
2.1.2 Decoding the output of UBX-MON-VER (for Protocol Version 24 and above)
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Possible fields in UBX-MON-VER and their meanings:
Entry
Software Version EXT CORE 1.00 (61b2dd)
Hardware Version Extension(s)
Description
Currently running firmware version. If ROM CORE, then the u-blox receiver runs from ROM. If EXT CORE, then the u-blox receiver runs a firmware downloaded from Flash. The hardware version of the u-blox receiver. Extended information about the u-blox receiver firmware. See table below for the entries.
Not every entry is output by every u-blox receiver in the UBX-MON-VER extensions. This depends on the product, the firmware location and the firmware version.
Possible entries in UBX-MON-VER Extension(s):
Entry
ROM BASE
FWVER=HPG 1.12
PROTVER=27.11 MOD=ZED-F9P GPS;GLO;GAL;BDS SBAS;IMES;QZSS
Description
Underlying firmware version in ROM. If such an entry is present, then the u-blox receiver runs a firmware downloaded from Flash. Firmware of product category and version where SPG: Firmware of Standard Precision GNSS product HPG: Firmware of High Precision GNSS product ADR: Firmware of ADR product UDR: Firmware of UDR product TIM: Firmware of Time Sync product FTS: Firmware of Time & Frequency Sync product LAP: Firmware of Lane Accurate product Supported protocol version. Module identification. Set in production. Supported major GNSS. Supported augmentation systems.
2.2 How to Determine the Supported Protocol Version of the u-blox Receiver
Each u-blox receiver reports its supported protocol version in the following ways: · On start-up in the boot screen · In the UBX-MON-VER message with the line containing PROTVER (example: PROTVER=27.11). Additionally, the firmware string, together with the firmware version, can be used to look up the corresponding protocol version. The tables below give an overview of the released firmware and their corresponding protocol versions.
2.2.1 u-blox 9 Firmware and Supported Protocol Versions
Firmware for High Precision GNSS Products
Firmware version
HPG 1.00 HPG 1.10 HPG 1.11
Firmware string
EXT CORE 1.00 (61ce84) EXT CORE 1.00 (eba0dc) EXT CORE 1.00 (94e56e)
Protocol Version
27.00 27.10 27.10
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Firmware for High Precision GNSS Products continued
Firmware version
Firmware string
HPG 1.12
EXT CORE 1.00 (61b2dd)
Protocol Version
27.11
3 Receiver Configuration
u-blox positioning receivers are fully configurable with UBX protocol messages. The configuration used by the receiver during normal operation is called the "current configuration". The current configuration can be changed during normal operation by sending UBX-CFG-VALSET messages over any I/O port (except UART2). The receiver will change its current configuration immediately after receiving a configuration message. The receiver will always use the current configuration only.
The current configuration is loaded from permanent configuration hard-coded in the receiver firmware (the defaults) and from non-volatile memory (user configuration) on startup of the receiver. Changes made to the current configuration at run-time will be lost when there is a power cycle, a hardware reset or a (complete) controlled software reset (see chapter Forcing a Receiver Reset in the Integration Manual).
See the Configuration Interface section for a detailed description of the receiver configuration system, the explanation of the configuration concept and its principles and interfaces.
The configuration interface has changed from earlier u-blox positioning receivers. There is some backwards compatibility. Users are strongly advised to only use the Configuration Interface referred to in the following sections. See also Legacy Configuration Interface Compatibility.
See the Integration Manual for a basic receiver configuration most commonly used.
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Interface Description
4 NMEA Protocol
4.1 Protocol Overview
4.1.1 Message Format NMEA messages sent by the GNSS receiver are based on NMEA 0183 Version 4.10. The following picture shows the structure of a NMEA protocol message.
For further information on the NMEA Standard, refer to NMEA 0183 Standard For Interfacing Marine Electronic Devices, Version 4.10, June, 2012. See http://www.nmea.org/ for ordering instructions. The NMEA standard allows for proprietary, manufacturer-specific messages to be added. These shall be marked with a manufacturer mnemonic. The mnemonic assigned to u-blox is UBX and is used for all non-standard messages. These proprietary NMEA messages therefore have the address field set to PUBX. The first data field in a PUBX message identifies the message number with two digits.
4.1.2 Talker ID One of the ways the NMEA standard differentiates between GNSS is by using a two-letter message identifier, the 'Talker ID'. The specific Talker ID used by a u-blox receiver will depend on the device model and system configuration. The table below shows the Talker ID that will be used for various GNSS configurations.
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NMEA Talker IDs
Configured GNSS
GPS, SBAS, QZSS GLONASS Galileo BeiDou Any combination of GNSS
Talker ID
GP GL GA GB* GN
*This is a u-blox extension to the NMEA 4.10 standard. Only NMEA 4.11 defines the GB talker ID. See also Extended Configuration in Protocol Configuration.
4.1.3 Protocol Configuration The NMEA protocol on u-blox receivers can be configured to the need of customer applications using configuration items CFG-NMEA-*.
There are four NMEA standards supported. The default NMEA version is 4.10. Alternatively versions 4.00, 2.3, and 2.1 can be enabled (for details on how this affects the output refer to section Position Fix Flags in NMEA Mode).
NMEA defines satellite numbering systems for some, but not all GNSS (this is partly dependent on the NMEA version). Satellite numbers for unsupported GNSS can be configured using configuration items CFG-NMEA-*. Unknown satellite numbers are always reported as a null NMEA field (i.e. an empty string).
The NMEA specification indicates that the GGA message is GPS specific. However, u-blox receivers support the output of a GGA message for each of the Talker IDs.
NMEA filtering flags
Parameter
Description
Position filtering
Valid position filtering Time filtering
Date filtering
GPS-only filtering Track filtering
Enable positions from failed or invalid fixes to be reported (with the "V" status flag to indicate that the data is not valid). Enable positions from invalid fixes to be reported (with the "V" status flag to indicate that the data is not valid). Enable the receiver's best knowledge of time to be output, even though it might be wrong. Enable the receiver's best knowledge of date to be output, even though it might be wrong. Restrict output to GPS satellites only. Permit course over ground (COG) to be reported even when it would otherwise be frozen.
NMEA flags
Parameter
Compatibility Mode
Description
Some older NMEA applications expect the NMEA output to be formatted in a specific way, for example, they will only work if the latitude and longitude have exactly four digits behind the decimal point. u-blox receivers offer a compatibility mode to support these legacy applications.
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NMEA flags continued Parameter
Consideration Mode
Limit82 Mode High Precision Mode
Description
u-blox receivers use a sophisticated signal quality detection scheme, in order to produce the best possible position output. This algorithm considers all SV measurements, and may eventually decide to only use a subset thereof, if it improves the overall position accuracy. If Consideration mode is enabled, all satellites, which were considered for navigation, are communicated as being used for the position determination. If Consideration Mode is disabled, only those satellites which after the consideration step remained in the position output are marked as being used. Enabling this mode will limit the NMEA sentence length to a maximum of 82 characters. Enabling this mode increases precision of the position output. Latitude and longitude then have seven digits after the decimal point, and altitude has three digits after the decimal point. Note: The High Precision Mode cannot be set in conjunction with either Compatibility Mode or Limit82 Mode.
Extended configuration
Option
GNSS to filter Satellite numbering Main Talker ID
GSV Talker ID
BDS Talker ID
Description
Filters satellites based on their GNSS This field configures the display of satellites that do not have an NMEAdefined value. Note: this does not apply to satellites with an unknown ID. By default the main Talker ID (i.e. the Talker ID used for all messages other than GSV) is determined by the GNSS assignment of the receiver's channels (see configuration items CFG-SIGNAL-*). This field enables the main Talker ID to be overridden. By default the Talker ID for GSV messages is GNSS specific (as defined by NMEA). This field enables the GSV Talker ID to be overridden. By default the Talker ID for BeiDou is 'GB'. This field enables the BeiDou Talker ID to be overridden.
Extra fields in NMEA 4.10 and above
Message
GBS GNS GRS GSA GSV RMC
Extra fields
systemId, signalId navStatus systemId, signalId systemId signalId navStatus
4.1.4 Satellite Numbering The NMEA protocol (V4.10) identifies GNSS satellites with a one digit system ID and a two digit satellite number. u-blox receivers support this method in their NMEA output when "strict" SV numbering is selected.
In most cases this is the default setting, but can be checked or set using configuration items CFGNMEA-*.
In order to support QZSS within current receivers and prepare for support of other systems (e.g.
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Galileo) in future receivers, an "extended" SV numbering scheme can be enabled (using configuration items CFG-NMEA-*).
This uses the NMEA-defined numbers where possible, but adds other number ranges to support other GNSS. Note however that these non-standard extensions require 3 digit numbers, which may not be supported by some NMEA parsing software. For example QZSS satellites are reported using numbers in the range 193 to 197.
See Satellite Numbering for a complete list of satellite numbers.
GLONASS satellites can be tracked before they have been identified. In NMEA output, such unknown satellite numbers are always reported as a null field (i.e. an empty string).
4.1.5 Latitude and Longitude Format According to the NMEA Standard, Latitude and Longitude are output in the format Degrees, Minutes and (Decimal) Fractions of Minutes. To convert to Degrees and Fractions of Degrees, or Degrees, Minutes, Seconds and Fractions of seconds, the 'Minutes' and 'Fractional Minutes' parts need to be converted. In other words: If the GPS Receiver reports a Latitude of 4717.112671 North and Longitude of 00833.914843 East, this is Latitude 47 Degrees, 17.112671 Minutes Longitude 8 Degrees, 33.914843 Minutes or Latitude 47 Degrees, 17 Minutes, 6.76026 Seconds Longitude 8 Degrees, 33 Minutes, 54.89058 Seconds or Latitude 47.28521118 Degrees Longitude 8.56524738 Degrees
4.1.6 Position Fix Flags This section shows how u-blox implements the NMEA protocol and the conditions determining how flags are set.
Flags in NMEA 4.10 and above
NMEA Message Field No position fix (at power-up, after losing satellite lock) GNSS fix, but user limits exceeded Dead reckoning fix, but user limits exceeded Dead reckoning fix RTK float RTK fixed 2D GNSS fix 3D GNSS fix Combined GNSS/dead reckoning fix
GLL, RMC status V V V A A A A A A
See below (1)
GGA quality
0 0 6 6 5 4 1 / 2 1 / 2 1 / 2 See below (2)
GLL, VTG posMode
N N E E D D A / D A / D A / D See below (3)
RMC, GNS posMode
N N E E F R A / D A / D A / D See below (3)
(1) Possible values for status: V = Data invalid, A = Data valid (2) Possible values for quality: 0 = No fix, 1 = Autonomous GNSS fix, 2 = Differential GNSS fix, 4 =
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RTK fixed, 5 = RTK float, 6 = Estimated/Dead reckoning fix
(3) Possible values for posMode: N = No fix, E = Estimated/Dead reckoning fix, A = Autonomous GNSS fix, D = Differential GNSS fix, F = RTK float, R = RTK fixed
Flags in NMEA 2.3 and above
NMEA Message
Field No position fix (at power-up, after losing satellite lock) GNSS fix, but user limits exceeded Dead reckoning fix, but user limits exceeded Dead reckoning fix 2D GNSS fix 3D GNSS fix Combined GNSS/dead reckoning fix
GLL, RMC
GGA
status V V V A A A A
See below (1)
quality 0 0 6 6
1 / 2 1 / 2 1 / 2 See below (2)
GSA
navMode 1 1 2 2 2 3 3
See below (3)
GLL, VTG, RMC, GNS posMode
N N E E A / D A / D A / D See below (4)
(1) Possible values for status: V = Data invalid, A = Data valid (2) Possible values for quality: 0 = No fix, 1 = Autonomous GNSS fix, 2 = Differential GNSS fix, 4 = RTK fixed, 5 = RTK float, 6 = Estimated/Dead reckoning fix (3) Possible values for navMode: 1 = No fix, 2 = 2D fix, 3 = 3D fix (4) Possible values for posMode: N = No fix, E = Estimated/Dead reckoning fix, A = Autonomous GNSS fix, D = Differential GNSS fix, F = RTK float, R = RTK fixed Flags in NMEA 2.1 and below The flags in NMEA 2.1 and below are the same as NMEA 2.3 and above but with the following differences: · The posMode field is not output for GLL, RMC and VTG messages (each message has one field
less). · The GGA quality field is set to 1 (instead of 6) for both types of dead reckoning fix.
4.1.7 Multi-GNSS Considerations Many applications which process NMEA messages assume that only a single GNSS is active. However, when multiple GNSS are configured, the NMEA specification requires the output to change in the following ways:
NMEA output for Multi-GNSS
Change
Description
Main Talker ID GSV Talker IDs
The main Talker ID will be 'GN' (e.g. instead of 'GP' for a GPS receiver) The GSV message reports the signal strength of the visible satellites. However, the Talker ID it uses is specific to the GNSS it is reporting information for, so for a multi-GNSS receiver it will not be the same as the main Talker ID. (e.g. other messages will be using the 'GN' Talker ID but the GSV message will use GNSS-specific Talker IDs)
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NMEA output for Multi-GNSS continued
Change
Description
Multiple GSA and GRS
Multiple GSA and GRS messages are output for each fix, one for
Messages
each GNSS. This may confuse applications which assume they are
output only once per position fix (as is the case for a single GNSS
receiver).
4.1.8 Output of Invalid/Unknown Data By default the receiver will not output invalid data. In such cases, it will output empty fields. A valid position fix is reported as follows:
$GPGLL,4717.11634,N,00833.91297,E,124923.00,A,A*6E An invalid position fix (but time valid) is reported as follows:
$GPGLL,,,,,124924.00,V,N*42 If Time is unknown (e.g. during a cold-start):
$GPGLL,,,,,,V,N*64 Note:
Output of invalid data marked with the 'Invalid/Valid' Flags can be enabled using the configuration items CFG-NMEA-*.
4.1.9 Messages Overview When configuring NMEA messages using the configuration items CFG-NMEA-*), the Class/Ids shown in the table shall be used.
Page Mnemonic
Cls/ID
Description
NMEA Standard Messages
Standard Messages
12 DTM
0xF0 0x0A Datum Reference
13 GAQ
0xF0 0x45 Poll a standard message (if the current Talker ID is GA)
13 GBQ
0xF0 0x44 Poll a standard message (if the current Talker ID is GB)
14 GBS
0xF0 0x09 GNSS Satellite Fault Detection
15 GGA
0xF0 0x00 Global positioning system fix data
16 GLL
0xF0 0x01 Latitude and longitude, with time of position fix and status
17 GLQ
0xF0 0x43 Poll a standard message (if the current Talker ID is GL)
17 GNQ
0xF0 0x42 Poll a standard message (if the current Talker ID is GN)
18 GNS
0xF0 0x0D GNSS fix data
19 GPQ
0xF0 0x40 Poll a standard message (if the current Talker ID is GP)
20 GRS
0xF0 0x06 GNSS Range Residuals
21 GSA
0xF0 0x02 GNSS DOP and Active Satellites
22 GST
0xF0 0x07 GNSS Pseudo Range Error Statistics
23 GSV
0xF0 0x03 GNSS Satellites in View
24 RMC
0xF0 0x04 Recommended Minimum data
25 TXT
0xF0 0x41 Text Transmission
26 VLW
0xF0 0x0F Dual ground/water distance
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NMEA Messages Overview continued
Page Mnemonic
Cls/ID
27 VTG
0xF0 0x05
28 ZDA
0xF0 0x08
Description Course over ground and Ground speed Time and Date
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4.2 Standard Messages
Standard Messages: i.e. Messages as defined in the NMEA Standard.
4.2.1 DTM
4.2.1.1 Datum Reference
Message
DTM
Description
Datum Reference
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
This message gives the difference between the current datum and the reference datum. The current datum defaults to WGS84. The reference datum cannot be changed and is always set to WGS84.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x0A 11
Message Structure:
$xxDTM,datum,subDatum,lat,NS,lon,EW,alt,refDatum*cs<CR><LF>
Example:
$GPDTM,W84,,0.0,N,0.0,E,0.0,W84*6F
$GPDTM,999,,0.08,N,0.07,E,-47.7,W84*1C
Field Name No.
0 xxDTM
Unit Format
- string
Example
$GPDTM
1 datum
- string
W84
2 subDatum - string
3 lat
min numeric
4 NS
- character
5 lon
min numeric
6 EW
- character
7 alt
m numeric
8 refDatum - string
0.08 S 0.07 E -2.8 W84
9 cs
-
10 <CR><LF> -
hexadecimal *67 character -
Description
DTM Message ID (xx = current Talker ID, see NMEA Talker IDs table) Local datum code: W84 = WGS84, P90 = PZ90, 999 = user defined A null field Offset in Latitude North/South indicator Offset in Longitude East/West indicator Offset in altitude Reference datum code: W84 (WGS 84, fixed field) Checksum Carriage return and line feed
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4.2.2 GAQ
4.2.2.1 Poll a standard message (if the current Talker ID is GA)
Message
GAQ
Description Firmware
Type Comment
Message Info
Poll a standard message (if the current Talker ID is GA) Supported on: · u-blox 9 with protocol version 27.11 Poll Request Polls a standard NMEA message if the current Talker ID is GA
ID for CFG-MSG Number of fields
0xF0 0x45 4
Message Structure:
$xxGAQ,msgId*cs<CR><LF>
Example:
$EIGAQ,RMC*2B
Field Name No.
0 xxGAQ
Unit Format
- string
Example
$EIGAQ
1 msgId
-
2 cs
-
3 <CR><LF> -
string
RMC
hexadecimal *2B
character -
Description
GAQ Message ID (xx = Talker ID of the device requesting the poll) Message ID of the message to be polled Checksum Carriage return and line feed
4.2.3 GBQ
4.2.3.1 Poll a standard message (if the current Talker ID is GB)
Message
GBQ
Description Firmware
Type Comment
Message Info
Poll a standard message (if the current Talker ID is GB) Supported on: · u-blox 9 with protocol version 27.11 Poll Request Polls a standard NMEA message if the current Talker ID is GB
ID for CFG-MSG Number of fields
0xF0 0x44 4
Message Structure:
$xxGBQ,msgId*cs<CR><LF>
Example:
$EIGBQ,RMC*28
Field Name No.
0 xxGBQ
Unit Format
- string
Example
$EIGBQ
1 msgId
-
2 cs
-
3 <CR><LF> -
string
RMC
hexadecimal *28
character -
Description
GBQ Message ID (xx = Talker ID of the device requesting the poll) Message ID of the message to be polled Checksum Carriage return and line feed
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4.2.4 GBS
4.2.4.1 GNSS Satellite Fault Detection
Message
GBS
Description
GNSS Satellite Fault Detection
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
This message outputs the results of the Receiver Autonomous Integrity Monitoring Algorithm (RAIM). · The fields errLat, errLon and errAlt output the standard deviation of the
position calculation, using all satellites which pass the RAIM test successfully. · The fields errLat, errLon and errAlt are only output if the RAIM process
passed successfully (i.e. no or successful edits happened). These fields are never output if 4 or fewer satellites are used for the navigation calculation (because, in such cases, integrity can not be determined by the receiver autonomously). · The fields prob, bias and stdev are only output if at least one satellite failed in the RAIM test. If more than one satellites fail the RAIM test, only the information for the worst satellite is output in this message.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x09 13
Message Structure:
$xxGBS,time,errLat,errLon,errAlt,svid,prob,bias,stddev,systemId,signalId*cs<CR><LF>
Example:
$GPGBS,235503.00,1.6,1.4,3.2,,,,,,*40
$GPGBS,235458.00,1.4,1.3,3.1,03,,-21.4,3.8,1,0*5B
Field Name No.
0 xxGBS
Unit Format
- string
Example
$GPGBS
1 time
- hhmmss.ss 235503.00
2 errLat m numeric
1.6
3 errLon m numeric
1.4
4 errAlt m numeric
3.2
5 svid
- numeric
03
6 prob
- numeric
-
7 bias
m numeric
-21.4
8 stddev m numeric
3.8
9 systemId - numeric
1
Description
GBS Message ID (xx = current Talker ID, see NMEA Talker IDs table) UTC time to which this RAIM sentence belongs, see note on UTC representation Expected error in latitude Expected error in longitude Expected error in altitude Satellite ID of most likely failed satellite Probability of missed detection: null (not supported, fixed field) Estimated bias of most likely failed satellite (a priori residual) Standard deviation of estimated bias NMEA defined GNSS System ID, see Signal Identifiers table (only available in NMEA 4.10 and later)
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GBS continued Field Name No.
10 signalId
Unit Format
- numeric
Example
0
11 cs
-
12 <CR><LF> -
hexadecimal *5B character -
Description
NMEA defined GNSS Signal ID, see Signal Identifiers table (only available in NMEA 4.10 and later) Checksum Carriage return and line feed
4.2.5 GGA
4.2.5.1 Global positioning system fix data
Message
GGA
Description Firmware Type Comment
Message Info
Global positioning system fix data Supported on: · u-blox 9 with protocol version 27.11 Output The output of this message is dependent on the currently selected datum (default: WGS84). The NMEA specification indicates that the GGA message is GPS specific. However, when the receiver is configured for multi-GNSS, the GGA message contents will be generated from the multi-GNSS solution. For multi-GNSS use, it is recommended that the NMEA-GNS message is used instead. Time and position, together with GPS fixing related data (number of satellites in use, and the resulting HDOP, age of differential data if in use, etc.).
ID for CFG-MSG Number of fields
0xF0 0x00 17
Message Structure:
$xxGGA,time,lat,NS,lon,EW,quality,numSV,HDOP,alt,altUnit,sep,sepUnit,diffAge,diffStation*cs<CR><LF>
Example:
$GPGGA,092725.00,4717.11399,N,00833.91590,E,1,08,1.01,499.6,M,48.0,M,,*5B
Field Name No.
0 xxGGA
1 time 2 lat
3 NS 4 lon
5 EW 6 quality
7 numSV 8 HDOP 9 alt
Unit Format
Example
Description
- string
$GPGGA
GGA Message ID (xx = current Talker ID, see
NMEA Talker IDs table)
- hhmmss.ss 092725.00 UTC time, see note on UTC representation
- ddmm.
4717.11399 Latitude (degrees & minutes), see format
mmmmm
description
- character N
North/South indicator
- dddmm.
00833.91590 Longitude (degrees & minutes), see format
mmmmm
description
- character E
East/West indicator
- digit
1
Quality indicator for position fix, see position
fix flags description
- numeric
08
Number of satellites used (range: 0-12)
- numeric
1.01
Horizontal Dilution of Precision
m numeric
499.6
Altitude above mean sea level
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GGA continued Field Name No.
10 altUnit 11 sep
Unit Format
- character m numeric
Example
M 48.0
12 sepUnit - character M
13 diffAge s numeric
-
14 diffStat -
ion
15 cs
-
16 <CR><LF> -
numeric
-
hexadecimal *5B character -
Description
Altitude units: M (meters, fixed field) Geoid separation: difference between ellipsoid and mean sea level Geoid separation units: M (meters, fixed field) Age of differential corrections (null when DGPS is not used) ID of station providing differential corrections (null when DGPS is not used) Checksum Carriage return and line feed
4.2.6 GLL
4.2.6.1 Latitude and longitude, with time of position fix and status
Message
GLL
Description Firmware Type Comment
Message Info
Latitude and longitude, with time of position fix and status Supported on: · u-blox 9 with protocol version 27.11 Output The output of this message is dependent on the currently selected datum (default: WGS84) -
ID for CFG-MSG Number of fields
0xF0 0x01 10
Message Structure:
$xxGLL,lat,NS,lon,EW,time,status,posMode*cs<CR><LF>
Example:
$GPGLL,4717.11364,N,00833.91565,E,092321.00,A,A*60
Field Name No.
0 xxGLL
1 lat
2 NS 3 lon
4 EW 5 time 6 status
7 posMode
Unit Format
Example
Description
- string
$GPGLL
GLL Message ID (xx = current Talker ID, see
NMEA Talker IDs table)
- ddmm.
4717.11364 Latitude (degrees & minutes), see format
mmmmm
description
- character N
North/South indicator
- dddmm.
00833.91565 Longitude (degrees & minutes), see format
mmmmm
description
- character E
East/West indicator
- hhmmss.ss 092321.00 UTC time, see note on UTC representation
- character A
Data validity status, see position fix flags
description
- character A
Positioning mode, see position fix flags
description (only available in NMEA 2.3 and
later)
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GLL continued Field Name No.
8 cs 9 <CR><LF>
Unit Format
Example
- hexadecimal *60 - character -
Description
Checksum Carriage return and line feed
4.2.7 GLQ
4.2.7.1 Poll a standard message (if the current Talker ID is GL)
Message
GLQ
Description Firmware
Type Comment
Message Info
Poll a standard message (if the current Talker ID is GL) Supported on: · u-blox 9 with protocol version 27.11 Poll Request Polls a standard NMEA message if the current Talker ID is GL
ID for CFG-MSG Number of fields
0xF0 0x43 4
Message Structure:
$xxGLQ,msgId*cs<CR><LF>
Example:
$EIGLQ,RMC*3A
Field Name No.
0 xxGLQ
Unit Format
- string
Example
$EIGLQ
1 msgId
-
2 cs
-
3 <CR><LF> -
string
RMC
hexadecimal *3A
character -
Description
GLQ Message ID (xx = Talker ID of the device requesting the poll) Message ID of the message to be polled Checksum Carriage return and line feed
4.2.8 GNQ
4.2.8.1 Poll a standard message (if the current Talker ID is GN)
Message
GNQ
Description Firmware
Type Comment
Message Info
Poll a standard message (if the current Talker ID is GN) Supported on: · u-blox 9 with protocol version 27.11 Poll Request Polls a standard NMEA message if the current Talker ID is GN
ID for CFG-MSG Number of fields
0xF0 0x42 4
Message Structure:
$xxGNQ,msgId*cs<CR><LF>
Example:
$EIGNQ,RMC*3A
Field Name No.
Unit Format
Example
Description
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GNQ continued Field Name No.
0 xxGNQ
Unit Format
- string
Example
$EIGNQ
1 msgId
-
2 cs
-
3 <CR><LF> -
string
RMC
hexadecimal *3A
character -
Description
GNQ Message ID (xx = Talker ID of the device requesting the poll) Message ID of the message to be polled Checksum Carriage return and line feed
4.2.9 GNS
4.2.9.1 GNSS fix data
Message
GNS
Description
GNSS fix data
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
The output of this message is dependent on the currently selected datum (default: WGS84) Time and position, together with GNSS fixing related data (number of satellites in use, and the resulting HDOP, age of differential data if in use, etc.).
ID for CFG-MSG Number of fields
Message Info
0xF0 0x0D 16
Message Structure:
$xxGNS,time,lat,NS,lon,EW,posMode,numSV,HDOP,alt,sep,diffAge,diffStation,navStatus*cs<CR><LF>
Example:
$GNGNS,103600.01,5114.51176,N,00012.29380,W,ANNN,07,1.18,111.5,45.6,,,V*00
$GNGNS,122310.2,3722.425671,N,12258.856215,W,DAAA,14,0.9,1005.543,6.5,,,V*0E
$GPGNS,122310.2,,,,,,07,,,,5.2,23,V*02
Field Name
Unit Format
Example
Description
No.
0 xxGNS
-
1 time
-
2 lat
-
3 NS
-
4 lon
-
5 EW
-
6 posMode -
7 numSV
-
8 HDOP
-
string
hhmmss.ss ddmm. mmmmm character dddmm. mmmmm character character
numeric numeric
$GPGNS
GNS Message ID (xx = current Talker ID, see
NMEA Talker IDs table)
091547.00 UTC time, see note on UTC representation
5114.50897 Latitude (degrees & minutes), see format
description
N
North/South indicator
00012.28663 Longitude (degrees & minutes), see format
description
E
East/West indicator
AAAA
Positioning mode, see position fix flags
description. First character for GPS, second
character for GLONASS, Third character for
Galileo, Fourth character for BeiDou
10
Number of satellites used (range: 0-99)
0.83
Horizontal Dilution of Precision
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GNS continued Field Name No.
9 alt 10 sep
Unit Format
m numeric m numeric
11 diffAge s numeric
12 diffStat ion
13 navStatu s
numeric character
Example
111.1 45.6 V
14 cs
-
15 <CR><LF> -
hexadecimal *71 character -
Description
Altitude above mean sea level Geoid separation: difference between ellipsoid and mean sea level Age of differential corrections (null when DGPS is not used) ID of station providing differential corrections (null when DGPS is not used) Navigational status indicator: V (Equipment is not providing navigational status information, fixed field, only available in NMEA 4.10 and later) Checksum Carriage return and line feed
4.2.10 GPQ
4.2.10.1 Poll a standard message (if the current Talker ID is GP)
Message
GPQ
Description Firmware
Type Comment
Message Info
Poll a standard message (if the current Talker ID is GP) Supported on: · u-blox 9 with protocol version 27.11 Poll Request Polls a standard NMEA message if the current Talker ID is GP
ID for CFG-MSG Number of fields
0xF0 0x40 4
Message Structure:
$xxGPQ,msgId*cs<CR><LF>
Example:
$EIGPQ,RMC*3A
Field Name No.
0 xxGPQ
Unit Format
- string
Example
$EIGPQ
1 msgId
-
2 cs
-
3 <CR><LF> -
string
RMC
hexadecimal *3A
character -
Description
GPQ Message ID (xx = Talker ID of the device requesting the poll) Message ID of the message to be polled Checksum Carriage return and line feed
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4.2.11 GRS
4.2.11.1 GNSS Range Residuals
Message
GRS
Description
GNSS Range Residuals
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
This messages relates to associated GGA and GSA messages. If less than 12 SVs are available, the remaining fields are output empty. If more than 12 SVs are used, only the residuals of the first 12 SVs are output, in order to remain consistent with the NMEA standard. In a multi-GNSS system this message will be output multiple times, once for each GNSS.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x06 19
Message Structure:
$xxGRS,time,mode{,residual},systemId,signalId*cs<CR><LF>
Example:
$GNGRS,104148.00,1,2.6,2.2,-1.6,-1.1,-1.7,-1.5,5.8,1.7,,,,,1,1*52
$GNGRS,104148.00,1,,0.0,2.5,0.0,,2.8,,,,,,,1,5*52
Field Name No.
0 xxGRS
1 time
2 mode
Unit Format
Example
- string
$GPGRS
- hhmmss.ss 082632.00
- digit
1
Start of repeated block (12 times)
3 + residual m numeric 1*N
End of repeated block
15 systemId -
numeric
0.54 1
16 signalId - numeric
0
17 cs
-
18 <CR><LF> -
hexadecimal *70 character -
Description
GRS Message ID (xx = current Talker ID, see NMEA Talker IDs table) UTC time of associated position fix, see note on UTC representation Computation method used: 1 = Residuals were recomputed after the GGA position was computed (fixed)
Range residuals for SVs used in navigation. The SV order matches the order from the GSA sentence
NMEA defined GNSS System ID, see Signal Identifiers table (only available in NMEA 4.10 and later) NMEA defined GNSS Signal ID, see Signal Identifiers table (only available in NMEA 4.10 and later) Checksum Carriage return and line feed
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4.2.12 GSA
4.2.12.1 GNSS DOP and Active Satellites
Message
GSA
Description Firmware Type Comment
Message Info
GNSS DOP and Active Satellites Supported on: · u-blox 9 with protocol version 27.11 Output The GNSS receiver operating mode, satellites used for navigation, and DOP values. · If less than 12 SVs are used for navigation, the remaining fields are left empty.
If more than 12 SVs are used for navigation, only the IDs of the first 12 are output. · The SV numbers (fields 'svid') are in the range of 1 to 32 for GPS satellites, and 33 to 64 for SBAS satellites (33 = SBAS PRN 120, 34 = SBAS PRN 121, and so on) In a multi-GNSS system this message will be output multiple times, once for each GNSS.
ID for CFG-MSG Number of fields
0xF0 0x02 21
Message Structure:
$xxGSA,opMode,navMode{,svid},PDOP,HDOP,VDOP,systemId*cs<CR><LF>
Example:
$GPGSA,A,3,23,29,07,08,09,18,26,28,,,,,1.94,1.18,1.54,1*0D
Field Name No.
0 xxGSA
1 opMode
Unit Format
- string - character
Example
$GPGSA A
2 navMode - digit
3
Description
GSA Message ID (xx = current Talker ID, see NMEA Talker IDs table) Operation mode: M = Manually set to operate in 2D or 3D mode A = Automatically switching between 2D or 3D mode Navigation mode, see position fix flags description
Start of repeated block (12 times)
3 + svid 1*N
- numeric
29
Satellite number
End of repeated block
15 PDOP
-
16 HDOP
-
17 VDOP
-
18 systemId -
numeric numeric numeric numeric
1.94 1.18 1.54 1
19 cs
-
20 <CR><LF> -
hexadecimal *0D character -
Position dilution of precision Horizontal dilution of precision Vertical dilution of precision NMEA defined GNSS System ID, see Signal Identifiers table (only available in NMEA 4.10 and later) Checksum Carriage return and line feed
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4.2.13 GST
4.2.13.1 GNSS Pseudo Range Error Statistics
Message
GST
Description Firmware Type Comment
Message Info
GNSS Pseudo Range Error Statistics Supported on: · u-blox 9 with protocol version 27.11 Output This message reports statistical information on the quality of the position solution.
ID for CFG-MSG Number of fields
0xF0 0x07 11
Message Structure:
$xxGST,time,rangeRms,stdMajor,stdMinor,orient,stdLat,stdLong,stdAlt*cs<CR><LF>
Example:
$GPGST,082356.00,1.8,,,,1.7,1.3,2.2*7E
Field Name No.
0 xxGST
Unit Format
- string
Example
$GPGST
1 time
- hhmmss.ss 082356.00
2 rangeRms m numeric
1.8
3 stdMajor m numeric
-
4 stdMinor m numeric
-
5 orient deg numeric
-
6 stdLat m numeric
1.7
7 stdLong m numeric
1.3
8 stdAlt m numeric
2.2
9 cs
- hexadecimal *7E
10 <CR><LF> - character -
Description
GST Message ID (xx = current Talker ID, see NMEA Talker IDs table) UTC time of associated position fix, see note on UTC representation RMS value of the standard deviation of the ranges Standard deviation of semi-major axis (only supported in ADR 4.10 and later) Standard deviation of semi-minor axis (only supported in ADR 4.10 and later) Orientation of semi-major axis (only supported in ADR 4.10 and later) Standard deviation of latitude error Standard deviation of longitude error Standard deviation of altitude error Checksum Carriage return and line feed
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4.2.14 GSV
4.2.14.1 GNSS Satellites in View
Message
GSV
Description
GNSS Satellites in View
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
The number of satellites in view, together with each SV ID, elevation azimuth, and signal strength (C/No) value. Only four satellite details are transmitted in one message. In a multi-GNSS system sets of GSV messages will be output multiple times, one set for each GNSS.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x03 8..16
Message Structure:
$xxGSV,numMsg,msgNum,numSV{,svid,elv,az,cno},signalId*cs<CR><LF>
Example:
$GPGSV,3,1,09,09,,,17,10,,,40,12,,,49,13,,,35,1*6F
$GPGSV,3,2,09,15,,,44,17,,,45,19,,,44,24,,,50,1*64
$GPGSV,3,3,09,25,,,40,1*6E
$GPGSV,1,1,03,12,,,42,24,,,47,32,,,37,5*66
$GAGSV,1,1,00,2*76
Field Name No.
0 xxGSV
Unit Format
- string
1 numMsg - digit
2 msgNum - digit
3 numSV
- numeric
Start of repeated block (1..4 times)
4 + svid 4*N 5 + elv 4*N 6 + az 4*N 7 + cno 4*N
- numeric deg numeric deg numeric dB numeric Hz
End of repeated block
Example
$GPGSV
3 1 10
23 38 230 44
Description
GSV Message ID (xx = GSV Talker ID, see NMEA Talker IDs table). Talker ID GN shall not be used Number of messages, total number of GSV messages being output (range: 1-9) Number of this message (range: 1-numMsg) Number of known satellites in view regarding both the talker ID and the signalId
Satellite ID
Elevation (range: 0-90)
Azimuth (range: 0-359)
Signal strength (C/N0, range: 0-99), null when not tracking
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GSV continued Field Name No.
5.. signalId 16
Unit Format
- numeric
Example
0
6.. cs
-
16
7.. <CR><LF> -
16
hexadecimal *7F character -
Description
NMEA defined GNSS Signal ID, see Signal Identifiers table (only available in NMEA 4.10 and later) Checksum
Carriage return and line feed
4.2.15 RMC
4.2.15.1 Recommended Minimum data
Message
RMC
Description Firmware Type Comment
Message Info
Recommended Minimum data Supported on: · u-blox 9 with protocol version 27.11 Output The output of this message is dependent on the currently selected datum (default: WGS84) The recommended minimum sentence defined by NMEA for GNSS system data.
ID for CFG-MSG Number of fields
0xF0 0x04 16
Message Structure:
$xxRMC,time,status,lat,NS,lon,EW,spd,cog,date,mv,mvEW,posMode,navStatus*cs<CR><LF>
Example:
$GPRMC,083559.00,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A,V*57
Field Name No.
0 xxRMC
1 time 2 status
3 lat
4 NS 5 lon
6 EW 7 spd
8 cog
Unit Format
Example
Description
- string
- hhmmss.ss - character
- ddmm. mmmmm
- character - dddmm.
mmmmm - character kno numeric ts deg numeric ree s
$GPRMC
RMC Message ID (xx = current Talker ID, see
NMEA Talker IDs table)
083559.00 UTC time, see note on UTC representation
A
Data validity status, see position fix flags
description
4717.11437 Latitude (degrees & minutes), see format
description
N
North/South indicator
00833.91522 Longitude (degrees & minutes), see format
description
E
East/West indicator
0.004
Speed over ground
77.52
Course over ground
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RMC continued Field Name No.
9 date
Unit Format
- ddmmyy
10 mv 11 mvEW
deg numeric ree s - character
12 posMode - character
Example
091202 -
A
13 navStatu - character V s
14 cs
-
15 <CR><LF> -
hexadecimal *57 character -
Description
Date in day, month, year format, see note on UTC representation Magnetic variation value. Only supported in ADR 4.10 and later
Magnetic variation E/W indicator. Only supported in ADR 4.10 and later Mode Indicator, see position fix flags description (only available in NMEA 2.3 and later) Navigational status indicator: V (Equipment is not providing navigational status information, fixed field, only available in NMEA 4.10 and later) Checksum Carriage return and line feed
4.2.16 TXT
4.2.16.1 Text Transmission
Message
TXT
Description
Text Transmission
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Output
Comment
This message outputs various information on the receiver, such as power-up screen, software version etc. This message can be configured using UBX Protocol message UBX-CFG-INF.
ID for CFG-MSG Number of fields
Message Info
0xF0 0x41 7
Message Structure:
$xxTXT,numMsg,msgNum,msgType,text*cs<CR><LF>
Example:
$GPTXT,01,01,02,u-blox ag - www.u-blox.com*50
$GPTXT,01,01,02,ANTARIS ATR0620 HW 00000040*67
Field Name
Unit Format
Example
No.
0 xxTXT
- string
$GPTXT
1 numMsg - numeric
01
2 msgNum - numeric
01
Description
TXT Message ID (xx = current Talker ID, see NMEA Talker IDs table) Total number of messages in this transmission (range: 1-99) Message number in this transmission (range: 1-numMsg)
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TXT continued Field Name No.
3 msgType
4 text 5 cs 6 <CR><LF>
Unit Format
- numeric
Example
02
- string
www.u-blox.
com
- hexadecimal *67
- character -
Description
Text identifier (u-blox receivers specify the type of the message with this number): 00: Error 01: Warning 02: Notice 07: User Any ASCII text
Checksum Carriage return and line feed
4.2.17 VLW
4.2.17.1 Dual ground/water distance
Message
VLW
Description Firmware Type Comment
Message Info
Dual ground/water distance Supported on: · u-blox 9 with protocol version 27.11 Output The distance traveled, relative to the water and over the ground. This message relates to the Odometer functionality. Contrarily to the NMEA standard, if NMEA 2.1 or 2.3 are configured, the sentence will additionally contain tgd, tgdUnit, gd and gdUnit fields.
ID for CFG-MSG Number of fields
0xF0 0x0F 11
Message Structure:
$xxVLW,twd,twdUnit,wd,wdUnit,tgd,tgdUnit,gd,gdUnit*cs<CR><LF>
Example:
$GPVLW,,N,,N,15.8,N,1.2,N*06
Field Name No.
0 xxVLW
Unit Format
- string
1 twd
nmi numeric
2 twdUnit - character
3 wd 4 wdUnit
nmi numeric - character
5 tgd
nmi numeric
Example
$GPVLW N N 15.8
Description
VLW Message ID (xx = current Talker ID, see NMEA Talker IDs table) Total cumulative water distance: null (fixed field) Total cumulative water distance units: N (nautical miles, fixed field) Water distance since reset: null (fixed field) Water distance since reset units: N (nautical miles, fixed field) Total cumulative ground distance (only available in NMEA 4.00 and later)
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VLW continued Field Name No.
6 tgdUnit
Unit Format
- character
Example
N
7 gd
nmi numeric
1.2
8 gdUnit - character N
9 cs
-
10 <CR><LF> -
hexadecimal *06 character -
Description
Total cumulative ground distance units: N (nautical miles, fixed field, only available in NMEA 4.00 and later) Ground distance since reset (only available in NMEA 4.00 and later) Ground distance since reset units: N (nautical miles, fixed field, only available in NMEA 4.00 and later) Checksum Carriage return and line feed
4.2.18 VTG
4.2.18.1 Course over ground and Ground speed
Message
VTG
Description Firmware
Type Comment
Message Info
Course over ground and Ground speed Supported on: · u-blox 9 with protocol version 27.11 Output Velocity is given as Course over Ground (COG) and Speed over Ground (SOG).
ID for CFG-MSG Number of fields
0xF0 0x05 12
Message Structure:
$xxVTG,cogt,cogtUnit,cogm,cogmUnit,sogn,sognUnit,sogk,sogkUnit,posMode*cs<CR><LF>
Example:
$GPVTG,77.52,T,,M,0.004,N,0.008,K,A*06
Field Name No.
0 xxVTG
Unit Format
- string
1 cogt
deg numeric
ree
s
2 cogtUnit - character
3 cogm
deg numeric
ree
s
4 cogmUnit - character
5 sogn
kno numeric
ts
6 sognUnit - character
Example
$GPVTG 77.52
T -
M 0.004 N
Description
VTG Message ID (xx = current Talker ID, see NMEA Talker IDs table) Course over ground (true)
Course over ground units: T (degrees true, fixed field) Course over ground (magnetic). Only supported in ADR 4.10 and above
Course over ground units: M (degrees magnetic, fixed field) Speed over ground
Speed over ground units: N (knots, fixed field)
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VTG continued Field Name No.
7 sogk
8 sogkUnit
Unit Format
km/ numeric h - character
9 posMode - character
Example
0.008 K A
10 cs
-
11 <CR><LF> -
hexadecimal *06 character -
Description
Speed over ground
Speed over ground units: K (kilometers per hour, fixed field) Mode Indicator, see position fix flags description (only available in NMEA 2.3 and later) Checksum Carriage return and line feed
4.2.19 ZDA
4.2.19.1 Time and Date
Message
ZDA
Description Firmware
Type Comment
Message Info
Time and Date Supported on: · u-blox 9 with protocol version 27.11 Output UTC, day, month, year and local time zone.
ID for CFG-MSG Number of fields
0xF0 0x08 9
Message Structure:
$xxZDA,time,day,month,year,ltzh,ltzn*cs<CR><LF>
Example:
$GPZDA,082710.00,16,09,2002,00,00*64
Field Name No.
0 xxZDA
Unit Format
- string
Example
$GPZDA
1 time
- hhmmss.ss 082710.00
2 day
day dd
16
3 month
mo mm
09
nth
4 year
yea yyyy
2002
r
5 ltzh
- xx
00
6 ltzn
- zz
00
7 cs
- hexadecimal *64
8 <CR><LF> - character -
Description
ZDA Message ID (xx = current Talker ID, see NMEA Talker IDs table) UTC Time, see note on UTC representation UTC day (range: 1-31) UTC month (range: 1-12)
UTC year
Local time zone hours: 00 (fixed field) Local time zone minutes: 00 (fixed field) Checksum Carriage return and line feed
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5 UBX Protocol
5.1 UBX Protocol Key Features
u-blox receivers support a u-blox proprietary protocol to communicate with a host computer. This protocol has the following key features: · Compact - uses 8-bit Binary Data. · Checksum Protected - uses a low-overhead checksum algorithm · Modular - uses a 2-stage message identifier (Class and Message ID)
5.2 UBX Frame Structure
The structure of a basic UBX Frame is shown in the following diagram.
· Every Frame starts with a 2-byte Preamble consisting of two synchronization characters: 0xB5 0x62.
· A 1-byte Message Class field follows. A Class is a group of messages that are related to each other.
· A 1-byte Message ID field defines the message that is to follow. · A 2-byte Length field follows. The length is defined as being that of the payload only. It does not
include the Preamble, Message Class, Message ID, Length, or CRC fields. The number format of the length field is a Little-Endian unsigned 16-bit integer. · The Payload field contains a variable number of bytes. · The two 1-byte CK_A and CK_B fields hold a 16-bit checksum whose calculation is defined below. This concludes the Frame.
5.3 UBX Payload Definition Rules
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5.3.1 Structure Packing Values are placed in an order that structure packing is not a problem. This means that 2-byte values shall start on offsets which are a multiple of 2; 4-byte values shall start at a multiple of 4; and so on.
5.3.2 Reserved Elements Some messages contain reserved fields or bits to allow for future expansion. The contents of these elements should be ignored in output messages and must be set to zero in input messages. Where a message is output and subsequently returned to the receiver as input message, reserved elements can either be explicitly set to zero or left with whatever value they were output with.
5.3.3 Undefined Values The description of some fields provide specific meanings for specific values. For example, the field gnssId appears in many UBX messages and uses 0 to indicate GPS, 1 for SBAS and so on (see Satellite Numbering for details); however it is usually stored in a byte with far more possible values than the handful currently defined. All such undefined values are reserved for future expansion and therefore should not be used.
5.3.4 Message Naming Referring to messages is done by adding the class name and a dash in front of the message name. For example, the version information message is referred to as UBX-MON-VER. Referring to message fields or their values is done by adding a dot and the name, e.g. UBX-MON-VER. swVersion.
5.3.5 Number Formats All multi-byte values are ordered in Little Endian format, unless otherwise indicated.
All floating point values are transmitted in IEEE754 single or double precision.
Variable Type Definitions
Short
Type
U1
Unsigned Char
RU1_3 Unsigned Char
I1
Signed Char
X1
Bitfield
U2
Unsigned Short
I2
Signed Short
X2
Bitfield
U4
Unsigned Long
I4
Signed Long
Size Comment
Min/Max
Resolution
(Bytes)
1
0..255
1
1
binary floating 0..(31*2^7) non- ~ 2^(Value >> 5)
point with 3 bit continuous
exponent, eeeb
bbbb, (Value &
0x1F) << (Value
>> 5)
1
2's complement -128 .. 127
1
1
n/a
n/a
2
0 .. 65535
1
2
2's complement -32768 .. 32767 1
2
n/a
n/a
4
0 ..
1
4'294'967'295
4
2's complement -2'147'483'648 .. 1
2'147'483'647
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Variable Type Definitions continued
Short
Type
X4
Bitfield
R4
IEEE 754 Single Precision
Size (Bytes)
4 4
R8
IEEE 754 Double Precision 8
CH
ASCII / ISO 8859.1
1
Encoding
Comment Min/Max
n/a -1*2^+127 .. 2^+127 -1*2^+1023 .. 2^+1023
Resolution
n/a ~ Value * 2^-24
~ Value * 2^-53
5.4 UBX Checksum
The checksum is calculated over the Message, starting and including the CLASS field, up until, but excluding, the Checksum Field:
The checksum algorithm used is the 8-Bit Fletcher Algorithm, which is used in the TCP standard ( RFC 1145). This algorithm works as follows: · Buffer[N] contains the data over which the checksum is to be calculated. · The two CK_ values are 8-Bit unsigned integers, only! If implementing with larger-sized integer
values, make sure to mask both CK_A and CK_B with 0xFF after both operations in the loop. CK_A = 0, CK_B = 0 For(I=0;I<N;I++) {
CK_A = CK_A + Buffer[I] CK_B = CK_B + CK_A } · After the loop, the two U1 values contain the checksum, transmitted after the Message, which conclude the Frame.
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5.5 UBX Message Flow
There are certain features associated with the messages being sent back and forth:
5.5.1 Acknowledgement When messages from the class CFG are sent to the receiver, the receiver will send an "acknowledge" (UBX-ACK-ACK) or a "not acknowledge" (UBX-ACK-NAK) message back to the sender, depending on whether or not the message was processed correctly. Some messages from other classes (e.g. LOG) also use the same acknowledgement mechanism.
5.5.2 Polling Mechanism All messages that are output by the receiver in a periodic manner (i.e. messages in classes MON, NAV and RXM) and Get/Set type messages, such as the messages in the CFG class, can also be polled. The UBX protocol is designed so that messages can be polled by sending the message required to the receiver but without a payload (or with just a single parameter that identifies the poll request). The receiver then responds with the same message with the payload populated.
5.6 UBX Class IDs
A class is a grouping of messages which are related to each other. The following table lists all the current message classes.
Name Class Description
NAV 0x01 Navigation Results Messages: Position, Speed, Time, Acceleration, Heading, DOP, SVs used
RXM 0x02 Receiver Manager Messages: Satellite Status, RTC Status INF 0x04 Information Messages: Printf-Style Messages, with IDs such as Error, Warning,
Notice ACK 0x05 Ack/Nak Messages: Acknowledge or Reject messages to UBX-CFG input messages CFG 0x06 Configuration Input Messages: Configure the receiver. UPD 0x09 Firmware Update Messages: Memory/Flash erase/write, Reboot, Flash
identification, etc. MON 0x0A Monitoring Messages: Communication Status, CPU Load, Stack Usage, Task
Status TIM 0x0D Timing Messages: Time Pulse Output, Time Mark Results MGA 0x13 Multiple GNSS Assistance Messages: Assistance data for various GNSS LOG 0x21 Logging Messages: Log creation, deletion, info and retrieval SEC 0x27 Security Feature Messages All remaining class IDs are reserved.
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5.7 UBX Messages Overview
Page Mnemonic
Cls/ID
Length
Type
Description
UBX Class ACK
Ack/Nak Messages
37 ACK-ACK
0x05 0x01 2
Output
Message Acknowledged
37 ACK-NAK
0x05 0x00 2
Output
Message Not-Acknowledged
UBX Class CFG
Configuration Input Messages
38 CFG-ANT
0x06 0x13 4
Get/Set
Antenna Control Settings
39 CFG-CFG
0x06 0x09 (12) or (13) Command
Clear, Save and Load configurations
42 CFG-DAT
0x06 0x06 44
Set
Set User-defined Datum.
43 CFG-DAT
0x06 0x06 52
Get
The currently defined Datum
44 CFG-DGNSS
0x06 0x70 4
Get/Set
DGNSS configuration
44 CFG-GEOFENCE 0x06 0x69 8 + 12*numF... Get/Set
Geofencing configuration
46 CFG-GNSS
0x06 0x3E 4 + 8*numCo... Get/Set
GNSS system configuration
48 CFG-INF
0x06 0x02 1
Poll Request
Poll configuration for one protocol
49 CFG-INF
0x06 0x02 0 + 10*N
Get/Set
Information message configuration
50 CFG-ITFM
0x06 0x39 8
Get/Set
Jamming/Interference Monitor...
51 CFG-LOGFILTER 0x06 0x47 12
Get/Set
Data Logger Configuration
53 CFG-MSG
0x06 0x01 2
Poll Request
Poll a message configuration
53 CFG-MSG
0x06 0x01 8
Get/Set
Set Message Rate(s)
54 CFG-MSG
0x06 0x01 3
Get/Set
Set Message Rate
54 CFG-NAV5
0x06 0x24 36
Get/Set
Navigation Engine Settings
57 CFG-NAVX5
0x06 0x23 40
Get/Set
Navigation Engine Expert Settings
59 CFG-NMEA
0x06 0x17 20
Get/Set
Extended NMEA protocol configuration V1
62 CFG-ODO
0x06 0x1E 20
Get/Set
Odometer, Low-speed COG Engine...
63 CFG-PRT
0x06 0x00 1
Poll Request
Polls the configuration for one I/O Port
64 CFG-PRT
0x06 0x00 20
Get/Set
Port configuration for UART ports
67 CFG-PRT
0x06 0x00 20
Get/Set
Port configuration for USB port
69 CFG-PRT
0x06 0x00 20
Get/Set
Port configuration for SPI port
72 CFG-PRT
0x06 0x00 20
Get/Set
Port configuration for DDC port
74 CFG-PWR
0x06 0x57 8
Set
Put receiver in a defined power state.
75 CFG-RATE
0x06 0x08 6
Get/Set
Navigation/Measurement Rate Settings
76 CFG-RINV
0x06 0x34 1 + 1*N
Get/Set
Contents of Remote Inventory
77 CFG-RST
0x06 0x04 4
Command
Reset Receiver / Clear Backup Data...
78 CFG-TMODE3
0x06 0x71 40
Get/Set
Time Mode Settings 3
80 CFG-TP5
0x06 0x31 32
Get/Set
Time Pulse Parameters
82 CFG-USB
0x06 0x1B 108
Get/Set
USB Configuration
83 CFG-VALDEL
0x06 0x8C 4 + 4*N
Set
Deletes values corresponding to...
85 CFG-VALDEL
0x06 0x8C 4 + 4*N
Set
Deletes values corresponding to...
87 CFG-VALGET
0x06 0x8B 4 + 4*N
Poll Request
Get Configuration Items
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UBX Messages Overview continued
Page Mnemonic
Cls/ID
Length
Type
Description
88 CFG-VALGET
0x06 0x8B 4 + 1*N
Polled
Configuration Items
88 CFG-VALSET
0x06 0x8A 4 + 1*N
Set
Sets values corresponding to provided...
90 CFG-VALSET
0x06 0x8A 4 + 1*N
Set
Sets values corresponding to provided...
UBX Class INF
Information Messages
92 INF-DEBUG
0x04 0x04 0 + 1*N
Output
ASCII output with debug contents
92 INF-ERROR
0x04 0x00 0 + 1*N
Output
ASCII output with error contents
93 INF-NOTICE
0x04 0x02 0 + 1*N
Output
ASCII output with informational contents
93 INF-TEST
0x04 0x03 0 + 1*N
Output
ASCII output with test contents
94 INF-WARNING
0x04 0x01 0 + 1*N
Output
ASCII output with warning contents
UBX Class LOG
Logging Messages
95 LOG-CREATE
0x21 0x07 8
Command
Create Log File
96 LOG-ERASE
0x21 0x03 0
Command
Erase Logged Data
96 LOG-FINDTIME
0x21 0x0E 12
Input
Find index of a log entry based on a...
97 LOG-FINDTIME
0x21 0x0E 8
Output
Response to FINDTIME request
98 LOG-INFO
0x21 0x08 0
Poll Request
Poll for log information
98 LOG-INFO
0x21 0x08 48
Output
Log information
100 LOG-RETRIEVEPO... 0x21 0x0f 32
Output
Odometer log entry
100 LOG-RETRIEVEPOS 0x21 0x0b 40
Output
Position fix log entry
101 LOG-RETRIEVEST... 0x21 0x0d 16 + 1*byteCo... Output
Byte string log entry
102 LOG-RETRIEVE
0x21 0x09 12
Command
Request log data
103 LOG-STRING
0x21 0x04 0 + 1*N
Command
Store arbitrary string in on-board flash
UBX Class MGA
Multiple GNSS Assistance Messages
104 MGA-ACK-DATA0 0x13 0x60 8
Output
Multiple GNSS Acknowledge message
105 MGA-BDS-EPH
0x13 0x03 88
Input
BDS Ephemeris Assistance
106 MGA-BDS-ALM
0x13 0x03 40
Input
BDS Almanac Assistance
107 MGA-BDS-HEALTH 0x13 0x03 68
Input
BDS Health Assistance
108 MGA-BDS-UTC
0x13 0x03 20
Input
BDS UTC Assistance
108 MGA-BDS-IONO 0x13 0x03 16
Input
BDS Ionospheric Assistance
109 MGA-DBD
0x13 0x80 0
Poll Request
Poll the Navigation Database
109 MGA-DBD
0x13 0x80 12 + 1*N
Input/Output
Navigation Database Dump Entry
110 MGA-GAL-EPH
0x13 0x02 76
Input
Galileo Ephemeris Assistance
112 MGA-GAL-ALM
0x13 0x02 32
Input
Galileo Almanac Assistance
113 MGA-GAL-TIMEO... 0x13 0x02 12
Input
Galileo GPS time offset assistance
113 MGA-GAL-UTC
0x13 0x02 20
Input
Galileo UTC Assistance
114 MGA-GLO-EPH
0x13 0x06 48
Input
GLONASS Ephemeris Assistance
115 MGA-GLO-ALM
0x13 0x06 36
Input
GLONASS Almanac Assistance
116 MGA-GLO-TIMEO... 0x13 0x06 20
Input
GLONASS Auxiliary Time Offset...
117 MGA-GPS-EPH
0x13 0x00 68
Input
GPS Ephemeris Assistance
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UBX Messages Overview continued
Page Mnemonic
Cls/ID
Length
Type
Description
118 MGA-GPS-ALM
0x13 0x00 36
Input
GPS Almanac Assistance
119 MGA-GPS-HEALTH 0x13 0x00 40
Input
GPS Health Assistance
120 MGA-GPS-UTC
0x13 0x00 20
Input
GPS UTC Assistance
120 MGA-GPS-IONO 0x13 0x00 16
Input
GPS Ionosphere Assistance
121 MGA-INI-POS_XYZ 0x13 0x40 20
Input
Initial Position Assistance
122 MGA-INI-POS_LLH 0x13 0x40 20
Input
Initial Position Assistance
123 MGA-INI-TIME_UTC 0x13 0x40 24
Input
Initial Time Assistance
124 MGA-INI-TIME_GN... 0x13 0x40 24
Input
Initial Time Assistance
125 MGA-INI-CLKD
0x13 0x40 12
Input
Initial Clock Drift Assistance
126 MGA-INI-FREQ
0x13 0x40 12
Input
Initial Frequency Assistance
127 MGA-INI-EOP
0x13 0x40 72
Input
Earth Orientation Parameters Assistance
127 MGA-QZSS-EPH 0x13 0x05 68
Input
QZSS Ephemeris Assistance
129 MGA-QZSS-ALM 0x13 0x05 36
Input
QZSS Almanac Assistance
130 MGA-QZSS-HEAL... 0x13 0x05 12
Input
QZSS Health Assistance
UBX Class MON
Monitoring Messages
131 MON-COMMS
0x0A 0x36 8 + 40*nPorts Periodic/Polled
Comm port information
132 MON-GNSS
0x0A 0x28 8
Polled
Information message major GNSS...
134 MON-HW2
0x0A 0x0B 28
Periodic/Polled
Extended Hardware Status
135 MON-HW3
0x0A 0x37 22 + 6*nPins Periodic/Polled
HW I/O pin information
137 MON-HW
0x0A 0x09 60
Periodic/Polled
Hardware Status
138 MON-IO
0x0A 0x02 0 + 20*N
Periodic/Polled
I/O Subsystem Status
139 MON-MSGPP
0x0A 0x06 120
Periodic/Polled
Message Parse and Process Status
139 MON-PATCH
0x0A 0x27 4 + 16*nEntries Polled
Output information about installed...
140 MON-RF
0x0A 0x38 4 + 24*nBlocks Periodic/Polled
RF information
142 MON-RXBUF
0x0A 0x07 24
Periodic/Polled
Receiver Buffer Status
142 MON-RXR
0x0A 0x21 1
Output
Receiver Status Information
143 MON-TXBUF
0x0A 0x08 28
Periodic/Polled
Transmitter Buffer Status
144 MON-VER
0x0A 0x04 40 + 30*N
Polled
Receiver/Software Version
UBX Class NAV
Navigation Results Messages
145 NAV-CLOCK
0x01 0x22 20
Periodic/Polled
Clock Solution
145 NAV-DOP
0x01 0x04 18
Periodic/Polled
Dilution of precision
146 NAV-EOE
0x01 0x61 4
Periodic
End Of Epoch
147 NAV-GEOFENCE 0x01 0x39 8 + 2*numFe... Periodic/Polled
Geofencing status
148 NAV-HPPOSECEF 0x01 0x13 28
Periodic/Polled
High Precision Position Solution in ECEF
149 NAV-HPPOSLLH 0x01 0x14 36
Periodic/Polled
High Precision Geodetic Position Solution
150 NAV-ODO
0x01 0x09 20
Periodic/Polled
Odometer Solution
151 NAV-ORB
0x01 0x34 8 + 6*numSv Periodic/Polled
GNSS Orbit Database Info
154 NAV-POSECEF
0x01 0x01 20
Periodic/Polled
Position Solution in ECEF
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UBX Messages Overview continued
Page Mnemonic
Cls/ID
Length
Type
Description
154 NAV-POSLLH
0x01 0x02 28
Periodic/Polled
Geodetic Position Solution
155 NAV-PVT
0x01 0x07 92
Periodic/Polled
Navigation Position Velocity Time...
158 NAV-RELPOSNED 0x01 0x3C 64
Periodic/Polled
Relative Positioning Information in...
160 NAV-RESETODO 0x01 0x10 0
Command
Reset odometer
161 NAV-SAT
0x01 0x35 8 + 12*numSvs Periodic/Polled
Satellite Information
163 NAV-SIG
0x01 0x43 8 + 16*numSi... Periodic/Polled
Signal Information
165 NAV-STATUS
0x01 0x03 16
Periodic/Polled
Receiver Navigation Status
167 NAV-SVIN
0x01 0x3B 40
Periodic/Polled
Survey-in data
168 NAV-TIMEBDS
0x01 0x24 20
Periodic/Polled
BDS Time Solution
169 NAV-TIMEGAL
0x01 0x25 20
Periodic/Polled
Galileo Time Solution
170 NAV-TIMEGLO
0x01 0x23 20
Periodic/Polled
GLO Time Solution
171 NAV-TIMEGPS
0x01 0x20 16
Periodic/Polled
GPS Time Solution
172 NAV-TIMELS
0x01 0x26 24
Periodic/Polled
Leap second event information
174 NAV-TIMEUTC
0x01 0x21 20
Periodic/Polled
UTC Time Solution
176 NAV-VELECEF
0x01 0x11 20
Periodic/Polled
Velocity Solution in ECEF
176 NAV-VELNED
0x01 0x12 36
Periodic/Polled
Velocity Solution in NED
UBX Class RXM
Receiver Manager Messages
178 RXM-MEASX
0x02 0x14 44 + 24*num... Periodic/Polled
Satellite Measurements for RRLP
180 RXM-PMREQ
0x02 0x41 8
Command
Requests a Power Management task
180 RXM-PMREQ
0x02 0x41 16
Command
Requests a Power Management task
182 RXM-RAWX
0x02 0x15 16 + 32*num... Periodic/Polled
Multi-GNSS Raw Measurement Data
185 RXM-RLM
0x02 0x59 16
Output
Galileo SAR Short-RLM report
186 RXM-RLM
0x02 0x59 28
Output
Galileo SAR Long-RLM report
186 RXM-RTCM
0x02 0x32 8
Output
RTCM input status
187 RXM-SFRBX
0x02 0x13 8 + 4*numW... Output
Broadcast Navigation Data Subframe
UBX Class SEC
Security Feature Messages
189 SEC-UNIQID
0x27 0x03 9
Output
Unique Chip ID
UBX Class TIM
Timing Messages
190 TIM-TM2
0x0D 0x03 28
Periodic/Polled
Time mark data
191 TIM-TP
0x0D 0x01 16
Periodic/Polled
Time Pulse Timedata
193 TIM-VRFY
0x0D 0x06 20
Periodic/Polled
Sourced Time Verification
UBX Class UPD
Firmware Update Messages
194 UPD-SOS
0x09 0x14 0
Poll Request
Poll Backup File Restore Status
194 UPD-SOS
0x09 0x14 4
Command
Create Backup File in Flash
195 UPD-SOS
0x09 0x14 4
Command
Clear Backup in Flash
195 UPD-SOS
0x09 0x14 8
Output
Backup File Creation Acknowledge
196 UPD-SOS
0x09 0x14 8
Output
System Restored from Backup
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5.8 UBX-ACK (0x05)
Ack/Nak Messages: i.e. Acknowledge or Reject messages to UBX-CFG input messages. Messages in the UBX-ACK class output the processing results to UBX-CFG and some other messages. 5.8.1 UBX-ACK-ACK (0x05 0x01)
5.8.1.1 Message Acknowledged
Message
UBX-ACK-ACK
Description Firmware
Type Comment
Message Acknowledged
Supported on:
· u-blox 9 with protocol version 27.11
Output
Output upon processing of an input message. ACK Message is sent as soon as
possible but at least within one second.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x05 0x01 2
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1
-
Name
clsID msgID
Unit
Description
-
Class ID of the Acknowledged Message
-
Message ID of the Acknowledged
Message
5.8.2 UBX-ACK-NAK (0x05 0x00)
5.8.2.1 Message Not-Acknowledged
Message
UBX-ACK-NAK
Description
Message Not-Acknowledged
Firmware
Type Comment
Supported on:
· u-blox 9 with protocol version 27.11
Output
Output upon processing of an input message. NAK Message is sent as soon as
possible but at least within one second.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x05 0x00 2
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
clsID
1
U1
-
msgID
Unit
Description
-
Class ID of the Not-Acknowledged
Message
-
Message ID of the Not-Acknowledged
Message
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5.9 UBX-CFG (0x06)
Configuration Input Messages: i.e. Configure the receiver.. Messages in the CFG class can be used to configure the receiver and poll current configuration values. Any messages in the CFG class sent to the receiver are either acknowledged (with message UBX-ACK-ACK) if processed successfully or rejected (with message UBX-ACK-NAK) if processing unsuccessfully. 5.9.1 UBX-CFG-ANT (0x06 0x13)
5.9.1.1 Antenna Control Settings
Message
UBX-CFG-ANT
Description Firmware Type Comment
Message Structure
Antenna Control Settings
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See the Legacy UBX Message Fields Reference for the corresponding
configuration item. This message allows the user to configure the antenna supervisor.
The antenna supervisor can be used to detect the status of an active antenna and control it. It can be used to turn off the supply to the antenna in the event of
a short (for example) or to manage power consumption in Power Save Mode. Refer to Antenna Supervisor Configuration and the relevant Integration manual (IM) for more information regarding the behavior of the antenna supervisor.
Refer to UBX-MON-HW for a description of the fields in the message used to obtain the status of the antenna.
Note that not all pins can be used for antenna supervisor operation, it is recommended that you use the default pins, consult the Integration Manual if
you need to use other pins.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x13 4
see below CK_A CK_B
Payload Contents:
Byte Offset
0 2
Number Scaling
Format
X2
-
X2
-
Name
flags pins
Unit
Description
-
Antenna Flag Mask (see graphic below)
-
Antenna Pin Configuration (see graphic
below)
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
svcs scd ocd pdwnOnSCD recovery
Description Enable Antenna Supply Voltage Control Signal Enable Short Circuit Detection Enable Open Circuit Detection Power Down Antenna supply if Short Circuit is detected. (only in combination with Bit 1) Enable automatic recovery from short state
Bitfield pins
This graphic explains the bits of pins
Name
pinSwitch pinSCD pinOCD reconfig
Description PIO-Pin used for switching antenna supply PIO-Pin used for detecting a short in the antenna supply PIO-Pin used for detecting open/not connected antenna if set to one, and this command is sent to the receiver, the receiver will reconfigure the pins as specified.
5.9.2 UBX-CFG-CFG (0x06 0x09)
5.9.2.1 Clear, Save and Load configurations
Message
UBX-CFG-CFG
Description
Clear, Save and Load configurations
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Command
Comment
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See Receiver Configuration for a detailed description on how Receiver Configuration should be used. The behaviour of this message has changed. The three masks which were used to clear, save and load a subsection of configuration lost their meaning. It is no longer possible to save or clear a subsection of the configuration using this message. The behaviour of the masks is described as follows: · if any bit is set in the clearMask: all configuration in the selected non-volatile
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Message Structure
memory is deleted
· if any bit is set in the saveMask: all current configuration is stored (copied) to the selected layers
· if any bit is set in the loadMask: The curerent configuration is discarded and rebuilt from all the lower layers
Note that commands can be combined. The sequence of execution is clear, save,
then load. Also note that this message is considered deprecated. Use UBX-CFG-VALSET
and UBX-CFG-VALDEL with the appropriate layers instead. These new messages support selective saving and clearing to retain the behaviour removed
from this message.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x09 (12) or (13)
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
X4
-
Name
clearMask
4
X4
-
saveMask
8
X4
-
loadMask
Unit
Description
-
Mask for configuration to clear (see
graphic below)
-
Mask for configuration to save (see
graphic below)
-
Mask for configuration to load (see
graphic below)
Start of optional block
12
X1
-
deviceMask -
Mask which selects the memory devices
for saving and/or clearing operation
Note that if a deviceMask is not provided,
the receiver defaults the operation
requested to Battery Backed RAM (BBR)
and Flash (if available) (see graphic below)
End of optional block
Bitfield clearMask
This graphic explains the bits of clearMask
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Name
clearAll
Description Clear all saved configuration from the selected non-volatile memory if any bit is set
Bitfield saveMask
This graphic explains the bits of saveMask
Name
saveAll
Description Save all current configuration to the selected non-volatile memory if any bit is set
Bitfield loadMask
This graphic explains the bits of loadMask
Name
loadAll
Description Discard current configuration and rebuilt it from lower non-volatile memory layers if any bit is set
Bitfield deviceMask
This graphic explains the bits of deviceMask
Name
devBBR devFlash devEEPROM devSpiFlash
Description Battery Backed RAM Flash EEPROM SPI Flash
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5.9.3 UBX-CFG-DAT (0x06 0x06)
5.9.3.1 Set User-defined Datum.
Message
UBX-CFG-DAT
Description Firmware
Type Comment
Set User-defined Datum.
Supported on:
· u-blox 9 with protocol version 27.11
Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x06 44
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
R8
-
Name
majA
8
R8
-
flat
16
R4
-
dX
20
R4
-
dY
24
R4
-
dZ
28
R4
-
rotX
32
R4
-
rotY
36
R4
-
rotZ
40
R4
-
scale
Unit
Description
m m m m s s s ppm
Semi-major Axis ( accepted range = 6,300, 000.0 to 6,500,000.0 meters ). 1.0 / Flattening ( accepted range is 0.0 to 500.0 ). X Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Y Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Z Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Rotation about the X Axis ( accepted range is +/- 20.0 milli-arc seconds ). Rotation about the Y Axis ( accepted range is +/- 20.0 milli-arc seconds ). Rotation about the Z Axis ( accepted range is +/- 20.0 milli-arc seconds ). Scale change ( accepted range is 0.0 to 50.0 parts per million ).
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5.9.3.2 The currently defined Datum
Message
UBX-CFG-DAT
Description Firmware
Type Comment
The currently defined Datum
Supported on:
· u-blox 9 with protocol version 27.11
Get
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Returns the parameters of the currently defined datum. If no user-defined
datum has been set, this will default to WGS84.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x06 52
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U2
-
Name
datumNum
2
CH[6] -
datumName
8
R8
-
majA
16
R8
-
flat
24
R4
-
dX
28
R4
-
dY
32
R4
-
dZ
36
R4
-
rotX
40
R4
-
rotY
44
R4
-
rotZ
48
R4
-
scale
Unit
Description
m m m m s s s ppm
Datum Number: 0 = WGS84, 0xFFFF = user-defined ASCII String: WGS84 or USER Semi-major Axis ( accepted range = 6,300, 000.0 to 6,500,000.0 meters ). 1.0 / Flattening ( accepted range is 0.0 to 500.0 ). X Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Y Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Z Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Rotation about the X Axis ( accepted range is +/- 20.0 milli-arc seconds ). Rotation about the Y Axis ( accepted range is +/- 20.0 milli-arc seconds ). Rotation about the Z Axis ( accepted range is +/- 20.0 milli-arc seconds ). Scale change ( accepted range is 0.0 to 50.0 parts per million ).
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5.9.4 UBX-CFG-DGNSS (0x06 0x70)
5.9.4.1 DGNSS configuration
Message
UBX-CFG-DGNSS
Description Firmware Type Comment
Message Structure
DGNSS configuration
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding configuration item.
This message allows the user to configure the DGNSS configuration of the
receiver.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x70 4
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
dgnssMode
1
U1[3] -
reserved1
Unit
Description
-
Specifies differential mode:
2: RTK float: No attempts are made to fix
ambiguities.
3: RTK fixed: Ambiguities are fixed
whenever possible.
-
Reserved
5.9.5 UBX-CFG-GEOFENCE (0x06 0x69)
5.9.5.1 Geofencing configuration
Message
UBX-CFG-GEOFENCE
Description
Geofencing configuration
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Get/Set
Comment
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See the Legacy UBX Message Fields Reference for the corresponding configuration item. Gets or sets the geofencing configuration If the receiver is sent a valid new configuration, it will respond with a UBX-ACKACK message and immediately change to the new configuration. Otherwise the receiver will reject the request, by issuing a UBX-ACK-NAK and continuing operation with the previous configuration. Note that the acknowledge message does not indicate whether the PIO configuration has been successfully applied (pin assigned), it only indicates the successful configuration of the feature. The configured PIO must be previously unoccupied for successful assignment.
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Header
Class ID Length (Bytes)
Message Structure 0xB5 0x62 0x06 0x69 8 + 12*numFences
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
U1
-
numFences
-
2
U1
-
confLvl
-
3
U1[1] -
reserved1
-
4
U1
-
pioEnabled -
5
U1
-
pinPolarity -
6
U1
-
pin
-
7
U1[1] -
reserved2
-
Description
Message version (0x00 for this version) Number of geofences contained in this message. Note that the receiver can only store a limited number of geofences (currently 4). Required confidence level for state evaluation. This value times the position's standard deviation (sigma) defines the confidence band. 0 = no confidence required 1 = 68% 2 = 95% 3 = 99.7% 4 = 99.99% Reserved 1 = Enable PIO combined fence state output, 0 = disable PIO pin polarity. 0 = Low means inside, 1 = Low means outside. Unknown state is always high. PIO pin number Reserved
Start of repeated block (numFences times)
8 + 12*N I4 12 + 12*N I4 16 + 12*N U4
1e-7 lat 1e-7 lon 1e-2 radius
deg Latitude of the geofence circle center
deg Longitude of the geofence circle center
m
Radius of the geofence circle
End of repeated block
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5.9.6 UBX-CFG-GNSS (0x06 0x3E)
5.9.6.1 GNSS system configuration
Message
UBX-CFG-GNSS
Description Firmware
Type Comment
GNSS system configuration
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Gets or sets the GNSS system channel sharing configuration.
If the receiver is sent a valid new configuration, it will respond with a UBX-ACK-
ACK message and immediately change to the new configuration. Otherwise the
receiver will reject the request, by issuing a UBX-ACK-NAK and continuing
operation with the previous configuration.
Configuration requirements:
· It is necessary for at least one major GNSS to be enabled, after applying the
new configuration to the current one.
· It is also required that at least 4 tracking channels are available to each
enabled major GNSS, i.e. maxTrkCh must have a minimum value of 4 for each
enabled major GNSS.
· The number of tracking channels in use must not exceed the number of
tracking channels available in hardware, and the sum of all reserved tracking
channels needs to be less than or equal to the number of tracking channels in
use.
Notes:
· To avoid cross-correlation issues, it is recommended that GPS and QZSS are
always both enabled or both disabled.
· Polling this message returns the configuration of all supported GNSS, whether
enabled or not; it may also include GNSS unsupported by the particular
product, but in such cases the enable flag will always be unset.
· See section Satellite Numbering for a description of the GNSS IDs available.
· Configuration specific to the GNSS system can be done via other messages (e.
g. UBX-CFG-SBAS).
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x3E 4 + 8*numConfigBlocks
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
msgVer
-
Message version (0x00 for this version)
1
U1
-
numTrkChHw -
Number of tracking channels available in
hardware (read only)
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UBX-CFG-GNSS continued
Byte Offset Number Scaling Name
Unit
Format
2
U1
-
numTrkChUse -
3
U1
-
numConfigBloc -
ks
Start of repeated block (numConfigBlocks times)
4 + 8*N
U1
-
gnssId
-
5 + 8*N
U1
-
resTrkCh
-
6 + 8*N
U1
-
maxTrkCh
-
7 + 8*N
U1
-
8 + 8*N
X4
-
End of repeated block
reserved1
-
flags
-
Description
(Read only in protocol versions greater than 23) Number of tracking channels to use. Must be > 0, <= numTrkChHw. If 0xFF, then number of tracking channels to use will be set to numTrkChHw. Number of configuration blocks following
System identifier (see Satellite Numbering ) (Read only in protocol versions greater than 23) Number of reserved (minimum) tracking channels for this system. (Read only in protocol versions greater than 23) Maximum number of tracking channels used for this system. Must be > 0, >= resTrkChn, <= numTrkChUse and <= maximum number of tracking channels supported for this system. Reserved bitfield of flags. At least one signal must be configured in every enabled system. (see graphic below)
Bitfield flags
This graphic explains the bits of flags
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Name
enable sigCfgMask
Description Enable this system Signal configuration mask When gnssId is 0 (GPS) * 0x01 = GPS L1C/A * 0x10 = GPS L2C When gnssId is 1 (SBAS) * 0x01 = SBAS L1C/A When gnssId is 2 (Galileo) * 0x01 = Galileo E1 * 0x20 = Galileo E5b When gnssId is 3 (BeiDou) * 0x01 = BeiDou B1I * 0x10 = BeiDou B2I When gnssId is 4 (IMES) * 0x01 = IMES L1 When gnssId is 5 (QZSS) * 0x01 = QZSS L1C/A * 0x04 = QZSS L1S * 0x10 = QZSS L2C When gnssId is 6 (GLONASS) * 0x01 = GLONASS L1 * 0x10 = GLONASS L2
5.9.7 UBX-CFG-INF (0x06 0x02)
5.9.7.1 Poll configuration for one protocol
Message
UBX-CFG-INF
Description Firmware
Type Comment
Poll configuration for one protocol
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x02 1
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
protocolID -
Protocol Identifier, identifying the output
protocol for this Poll Request. The
following are valid Protocol Identifiers:
0: UBX Protocol
1: NMEA Protocol
2-255: Reserved
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5.9.7.2 Information message configuration
Message
UBX-CFG-INF
Description Firmware
Type Comment
Information message configuration
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
The value of infMsgMask[x] below are that each bit represents one of the INF
class messages (Bit 0 for ERROR, Bit 1 for WARNING and so on.). For a complete
list, see the Message Class INF. Several configurations can be concatenated to
one input message. In this case the payload length can be a multiple of the
normal length. Output messages from the module contain only one
configuration unit. Note that I/O Ports 1 and 2 correspond to serial ports 1 and 2.
I/O port 0 is DDC. I/O port 3 is USB. I/O port 4 is SPI. I/O port 5 is reserved for
future use.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x02 0 + 10*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*10
U1
-
protocolID -
1 + 10*N 4 + 10*N
U1[3] X1[6] -
reserved1
-
infMsgMask -
Protocol Identifier, identifying for which protocol the configuration is set/get. The following are valid Protocol Identifiers: 0: UBX Protocol 1: NMEA Protocol 2-255: Reserved Reserved A bit mask, saying which information messages are enabled on each I/O port (see graphic below)
End of repeated block
Bitfield infMsgMask
This graphic explains the bits of infMsgMask
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Name
ERROR WARNING NOTICE TEST DEBUG
Description enable ERROR enable WARNING enable NOTICE enable TEST enable DEBUG
5.9.8 UBX-CFG-ITFM (0x06 0x39)
5.9.8.1 Jamming/Interference Monitor configuration
Message
UBX-CFG-ITFM
Description Firmware
Type Comment
Jamming/Interference Monitor configuration
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Configuration of Jamming/Interference monitor.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x39 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
X4
-
Name
config
4
X4
-
config2
Unit
Description
-
interference config word. (see graphic
below)
-
extra settings for jamming/interference
monitor (see graphic below)
Bitfield config
This graphic explains the bits of config
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Name
Description
bbThreshold Broadband jamming detection threshold (unit = dB)
cwThreshold CW jamming detection threshold (unit = dB)
algorithmBits reserved algorithm settings - should be set to 0x16B156 in hex for correct settings
enable
enable interference detection
Bitfield config2
This graphic explains the bits of config2
Name
generalBits antSetting enable2
Description general settings - should be set to 0x31E in hex for correct setting antennaSetting, 0=unknown, 1=passive, 2=active Set to 1 to scan auxiliary bands (u-blox 8 / u-blox M8 only, otherwise ignored)
5.9.9 UBX-CFG-LOGFILTER (0x06 0x47)
5.9.9.1 Data Logger Configuration
Message
UBX-CFG-LOGFILTER
Description
Data Logger Configuration
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Get/Set
Comment
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
This message can be used to configure the data logger, i.e. to enable/disable the
log recording and to get/set the position entry filter settings.
Position entries can be filtered based on time difference, position difference or
current speed thresholds. Position and speed filtering also have a minimum time
interval. A position is logged if any of the thresholds are exceeded. If a threshold
is set to zero it is ignored. The maximum rate of position logging is 1Hz.
The filter settings will be configured to the provided values only if the
'applyAllFilterSettings' flag is set. This allows the recording to be
enabled/disabled independently of configuring the filter settings.
It is supported to configure the data logger in the absence of a logging file. By
doing so, once the logging file is created, the data logger configuration will take
effect immediately and logging recording and filtering will activate according to
the configuration.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x47 12
see below CK_A CK_B
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Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
X1
-
flags
-
2
U2
-
minInterval s
4
U2
-
timeThreshold s
6
U2
-
speedThreshol m/s
d
8
U4
-
positionThres m
hold
Description
Message version (0x01 for this version) Flags (see graphic below) Minimum time interval between logged positions (0 = not set). This is only applied in combination with the speed and/or position thresholds. If both minInterval and timeThreshold are set, minInterval must be less than or equal to timeThreshold. If the time difference is greater than the threshold then the position is logged (0 = not set). If the current speed is greater than the threshold then the position is logged (0 = not set). minInterval also applies If the 3D position difference is greater than the threshold then the position is logged (0 = not set). minInterval also applies
Bitfield flags
This graphic explains the bits of flags
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Name
Description
recordEnabled 1 = enable recording, 0 = disable recording
psmOncePerWak 1 = enable recording only one single position per PSM on/off mode wake-up period, 0 = disable once
upEnabled
per wake-up
applyAllFilte 1 = apply all filter settings, 0 = only apply recordEnabled
rSettings
5.9.10 UBX-CFG-MSG (0x06 0x01)
5.9.10.1 Poll a message configuration
Message
UBX-CFG-MSG
Description Firmware Type Comment
Message Structure
Poll a message configuration
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x01 2
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1
-
Name
msgClass msgID
Unit
Description
-
Message Class
-
Message Identifier
5.9.10.2 Set Message Rate(s)
Message
UBX-CFG-MSG
Description Firmware
Type Comment
Set Message Rate(s)
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Set/Get message rate configuration (s) to/from the receiver.
· Send rate is relative to the event a message is registered on. For example, if
the rate of a navigation message is set to 2, the message is sent every second
navigation solution. For configuring NMEA messages, the section NMEA
Messages Overview describes Class and Identifier numbers used.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x01 8
see below CK_A CK_B
Payload Contents:
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UBX-CFG-MSG continued
Byte Offset Number Scaling
Format
Byte Offset Number Scaling
Format
0
U1
-
1
U1
-
2
U1[6] -
Name
Name
msgClass msgID rate
Unit
Description
Unit
Description
-
Message Class
-
Message Identifier
-
Send rate on I/O Port (6 Ports)
5.9.10.3 Set Message Rate
Message
UBX-CFG-MSG
Description Firmware Type Comment
Message Structure
Set Message Rate
Supported on: · u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding configuration item.
Set message rate configuration for the current port.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x01 3
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
msgClass msgID rate
Unit
Description
-
Message Class
-
Message Identifier
-
Send rate on current Port
5.9.11 UBX-CFG-NAV5 (0x06 0x24)
5.9.11.1 Navigation Engine Settings
Message
UBX-CFG-NAV5
Description Firmware Type Comment
Message Structure
Navigation Engine Settings
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x24 36
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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Byte Offset Number Scaling
Format
0
X2
-
Name
mask
Unit
-
2
U1
-
dynModel
-
3
U1
-
fixMode
-
4
I4
0.01 fixedAlt
m
8
U4
0.0001 fixedAltVar m^2
12
I1
-
minElev
deg
13
U1
-
drLimit
s
14
U2
0.1
pDop
-
16
U2
0.1
tDop
-
18
U2
-
pAcc
m
20
U2
-
tAcc
m
22
U1
-
staticHoldThr cm/s
esh
23
U1
-
dgnssTimeout s
24
U1
-
cnoThreshNumS -
Vs
25
U1
-
cnoThresh
dBHz
26
U1[2] -
reserved1
-
28
U2
-
staticHoldMax m
Dist
Description
Parameters Bitmask. Only the masked parameters will be applied. (see graphic below) Dynamic platform model: 0: portable 2: stationary 3: pedestrian 4: automotive 5: sea 6: airborne with <1g acceleration 7: airborne with <2g acceleration 8: airborne with <4g acceleration 9: wrist worn watch 10: bike Position Fixing Mode: 1: 2D only 2: 3D only 3: auto 2D/3D Fixed altitude (mean sea level) for 2D fix mode. Fixed altitude variance for 2D mode. Minimum Elevation for a GNSS satellite to be used in NAV Reserved Position DOP Mask to use Time DOP Mask to use Position Accuracy Mask Time Accuracy Mask Static hold threshold
DGNSS timeout Number of satellites required to have C/N0 above cnoThresh for a fix to be attempted C/N0 threshold for deciding whether to attempt a fix Reserved Static hold distance threshold (before quitting static hold)
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Byte Offset Number Scaling Name
Unit
Format
30
U1
-
utcStandard -
31
U1[5] -
reserved2
-
Description
UTC standard to be used: 0: Automatic; receiver selects based on GNSS configuration (see GNSS time bases). 3: UTC as operated by the U.S. Naval Observatory (USNO); derived from GPS time 6: UTC as operated by the former Soviet Union; derived from GLONASS time 7: UTC as operated by the National Time Service Center, China; derived from BeiDou time Reserved
Bitfield mask
This graphic explains the bits of mask
Name
Description
dyn
Apply dynamic model settings
minEl
Apply minimum elevation settings
posFixMode
Apply fix mode settings
drLim
Reserved
posMask
Apply position mask settings
timeMask
Apply time mask settings
staticHoldMas Apply static hold settings
k
dgpsMask
Apply DGPS settings.
cnoThreshold Apply CNO threshold settings (cnoThresh, cnoThreshNumSVs).
utc
Apply UTC settings.
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5.9.12 UBX-CFG-NAVX5 (0x06 0x23)
5.9.12.1 Navigation Engine Expert Settings
Message
UBX-CFG-NAVX5
Description Firmware
Type Comment
Navigation Engine Expert Settings
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x23 40
see below CK_A CK_B
Payload Contents:
Byte Offset
0 2
4
8 10 11 12 13 14 15 17 18
20 21 22
Number Scaling
Format
U2
-
X2
-
X4
-
U1[2] -
U1
-
U1
-
U1
-
U1
-
U1
-
U1[2] -
U1
-
U2
-
U1
-
U1
-
U1[2] -
Name
Unit
version
-
mask1
-
mask2
-
reserved1 minSVs
#SVs
maxSVs
#SVs
minCNO
dBHz
reserved2
-
iniFix3D
-
reserved3
-
ackAiding
-
wknRollover -
sigAttenCompM dBHz
ode
reserved4
-
reserved5
-
Description
Message version (0x0002 for this version) First parameters bitmask. Only the flagged parameters will be applied, unused bits must be set to 0. (see graphic below) Second parameters bitmask. Only the flagged parameters will be applied, unused bits must be set to 0. (see graphic below) Reserved Minimum number of satellites for navigation Maximum number of satellites for navigation Minimum satellite signal level for navigation Reserved 1 = initial fix must be 3D Reserved 1 = issue acknowledgements for assistance message input GPS week rollover number; GPS week numbers will be set correctly from this week up to 1024 weeks after this week. Setting this to 0 reverts to firmware default. Only supported on certain products
Reserved Reserved
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UBX-CFG-NAVX5 continued
Byte Offset Number Scaling Name
Unit
Format
24
U1[2] -
reserved6
-
26
U1
-
usePPP
-
27
U1
-
aopCfg
-
28
U1[2] -
reserved7
-
30
U2
-
aopOrbMaxErr m
32
U1[4] -
reserved8
-
36
U1[3] -
reserved9
-
39
U1
-
useAdr
-
Description
Reserved 1 = use Precise Point Positioning (only available with the PPP product variant) AssistNow Autonomous configuration (see graphic below) Reserved Maximum acceptable (modeled) AssistNow Autonomous orbit error (valid range = 5..1000, or 0 = reset to firmware default) Reserved Reserved Only supported on certain products
Bitfield mask1
This graphic explains the bits of mask1
Name
minMax minCno initial3dfix wknRoll ackAid ppp aop
Description 1 = apply min/max SVs settings 1 = apply minimum C/N0 setting 1 = apply initial 3D fix settings 1 = apply GPS weeknumber rollover settings 1 = apply assistance acknowledgement settings 1 = apply usePPP flag 1 = apply aopCfg (useAOP flag) and aopOrbMaxErr settings (AssistNow Autonomous)
Bitfield mask2
This graphic explains the bits of mask2
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Name
adr sigAttenComp
Description Apply ADR/UDR sensor fusion on/off setting (useAdr flag) Only supported on certain products
Bitfield aopCfg
This graphic explains the bits of aopCfg
Name
useAOP
Description 1 = enable AssistNow Autonomous
5.9.13 UBX-CFG-NMEA (0x06 0x17)
5.9.13.1 Extended NMEA protocol configuration V1
Message
UBX-CFG-NMEA
Description Firmware
Type Comment
Extended NMEA protocol configuration V1
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
Set/Get the NMEA protocol configuration. See section NMEA Protocol
Configuration for a detailed description of the configuration effects on NMEA
output.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x17 20
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
X1
-
filter
-
1
U1
-
nmeaVersion -
2
U1
-
numSV
-
3
X1
-
flags
-
Description
filter flags (see graphic below) 0x41: NMEA version 4.10 0x40: NMEA version 4.0 0x23: NMEA version 2.3 0x21: NMEA version 2.1 Maximum Number of SVs to report per TalkerId. 0: unlimited 8: 8 SVs 12: 12 SVs 16: 16 SVs flags (see graphic below)
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Byte Offset Number Scaling Name
Unit
Format
4
X4
-
gnssToFilter -
8
U1
-
svNumbering -
9
U1
-
mainTalkerId -
10
U1
-
gsvTalkerId -
11
U1
-
version
-
12
CH[2] -
bdsTalkerId -
14
U1[6] -
reserved1
-
Description
Filters out satellites based on their GNSS. If a bitfield is enabled, the corresponding satellites will be not output. (see graphic below) Configures the display of satellites that do not have an NMEA-defined value. Note: this does not apply to satellites with an unknown ID. 0: Strict - Satellites are not output 1: Extended - Use proprietary numbering (see Satellite Numbering) By default the main Talker ID (i.e. the Talker ID used for all messages other than GSV) is determined by the GNSS assignment of the receiver's channels (see UBX-CFG-GNSS). This field enables the main Talker ID to be overridden. 0: Main Talker ID is not overridden 1: Set main Talker ID to 'GP' 2: Set main Talker ID to 'GL' 3: Set main Talker ID to 'GN' 4: Set main Talker ID to 'GA' 5: Set main Talker ID to 'GB' By default the Talker ID for GSV messages is GNSS specific (as defined by NMEA). This field enables the GSV Talker ID to be overridden. 0: Use GNSS specific Talker ID (as defined by NMEA) 1: Use the main Talker ID Message version (0x01 for this version) Sets the two characters that should be used for the BeiDou Talker ID If these are set to zero, the default BeiDou TalkerId will be used Reserved
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Bitfield filter
This graphic explains the bits of filter
u-blox ZED-F9P Interface Description - Manual
Name
Description
posFilt
Enable position output for failed or invalid fixes
mskPosFilt
Enable position output for invalid fixes
timeFilt
Enable time output for invalid times
dateFilt
Enable date output for invalid dates
gpsOnlyFilter Restrict output to GPS satellites only
trackFilt
Enable COG output even if COG is frozen
Bitfield flags
This graphic explains the bits of flags
Name
compat
consider limit82 highPrec
Description enable compatibility mode. This might be needed for certain applications when customer's NMEA parser expects a fixed number of digits in position coordinates enable considering mode. enable strict limit to 82 characters maximum. enable high precision mode. This flag cannot be set in conjunction with either Compatibility Mode or Limit82 Mode.
Bitfield gnssToFilter
This graphic explains the bits of gnssToFilter
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Name
gps sbas galileo qzss glonass beidou
Description Disable reporting of GPS satellites Disable reporting of SBAS satellites Disable reporting of Galileo satellites Disable reporting of QZSS satellites Disable reporting of GLONASS satellites Disable reporting of BeiDou satellites
5.9.14 UBX-CFG-ODO (0x06 0x1E)
5.9.14.1 Odometer, Low-speed COG Engine Settings
Message
UBX-CFG-ODO
Description Firmware Type Comment
Message Structure
Odometer, Low-speed COG Engine Settings
Supported on: · u-blox 9 with protocol version 27.11
Get/Set
This feature is not supported for the FTS product variant.
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x1E 20
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
U1[3] -
reserved1
-
4
U1
-
flags
-
5
X1
-
odoCfg
-
6
U1[6] -
reserved2
-
12
U1
1e-1 cogMaxSpeed m/s
13
U1
-
cogMaxPosAcc m
14
U1[2] -
reserved3
-
16
U1
-
velLpGain
-
17
U1
-
cogLpGain
-
18
U1[2] -
reserved4
-
Description
Message version (0x00 for this version) Reserved Odometer/Low-speed COG filter flags (see graphic below) Odometer filter settings (see graphic below) Reserved Speed below which course-over-ground (COG) is computed with the low-speed COG filter Maximum acceptable position accuracy for computing COG with the low-speed COG filter Reserved Velocity low-pass filter level, range 0..255 COG low-pass filter level (at speed < 8 m/s), range 0..255 Reserved
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
useODO useCOG outLPVel outLPCog
Description Odometer enabled flag Low-speed COG filter enabled flag Output low-pass filtered velocity flag Output low-pass filtered heading (COG) flag
Bitfield odoCfg
This graphic explains the bits of odoCfg
Name
profile
Description Profile type (0=running, 1=cycling, 2=swimming, 3=car, 4=custom)
5.9.15 UBX-CFG-PRT (0x06 0x00)
5.9.15.1 Polls the configuration for one I/O Port
Message
UBX-CFG-PRT
Description Firmware
Type Comment
Polls the configuration for one I/O Port
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Sending this message with a port ID as payload results in having the receiver
return the configuration for the specified port.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 1
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
PortID
Unit
Description
-
Port Identifier Number (see the other
versions of CFG-PRT for valid values)
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5.9.15.2 Port configuration for UART ports
Message
UBX-CFG-PRT
Description Firmware
Type Comment
Port configuration for UART ports
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Several configurations can be concatenated to one input message. In this case
the payload length can be a multiple of the normal length (see the other versions
of CFG-PRT). Output messages from the module contain only one configuration
unit.
Note that this message can affect baud rate and other transmission
parameters. Because there may be messages queued for transmission there
may be uncertainty about which protocol applies to such messages. In addition a
message currently in transmission may be corrupted by a protocol change. Host
data reception parameters may have to be changed to be able to receive future
messages, including the acknowledge message resulting from the CFG-PRT
message.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8 12
14
Number Scaling
Format
U1
-
U1
-
X2
-
X4
-
U4
-
X2
-
X2
-
Name
portID reserved1 txReady mode baudRate inProtoMask
outProtoMask
Unit
Description
Bits/s -
-
Port Identifier Number (see Integration Manual for valid UART port IDs) Reserved TX ready PIN configuration (see graphic below) A bit mask describing the UART mode (see graphic below) Baud rate in bits/second A mask describing which input protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) A mask describing which output protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below)
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UBX-CFG-PRT continued
Byte Offset Number Scaling
Format
16
X2
-
18
U1[2] -
Name
flags reserved2
Bitfield txReady
This graphic explains the bits of txReady
Unit
Description
-
Flags bit mask (see graphic below)
-
Reserved
Name
en pol
pin thres
Description Enable TX ready feature for this port Polarity 0 High-active 1 Low-active PIO to be used (must not be in use already by another function) Threshold The given threshold is multiplied by 8 bytes. The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last pending bytes have been written to hardware (0-4 bytes before end of stream). 0x000 no threshold 0x001 8byte 0x002 16byte ... 0x1FE 4080byte 0x1FF 4088byte
Bitfield mode
This graphic explains the bits of mode
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Name
charLen
parity nStopBits
Description Character Length 00 5bit (not supported) 01 6bit (not supported) 10 7bit (supported only with parity) 11 8bit 000 Even Parity 001 Odd Parity 10X No Parity X1X Reserved Number of Stop Bits 00 1 Stop Bit 01 1.5 Stop Bit 10 2 Stop Bit 11 0.5 Stop Bit
Bitfield inProtoMask
This graphic explains the bits of inProtoMask
Name
inUbx inNmea inRtcm inRtcm3
Description UBX protocol NMEA protocol RTCM2 protocol RTCM3 protocol
Bitfield outProtoMask
This graphic explains the bits of outProtoMask
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Name
outUbx outNmea outRtcm3
Description UBX protocol NMEA protocol RTCM3 protocol
Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.
eout
5s. If not set the port will timeout if no activity for 1.5s regardless on the amount of allocated TX
memory.
5.9.15.3 Port configuration for USB port
Message
UBX-CFG-PRT
Description Firmware
Type
Port configuration for USB port Supported on: · u-blox 9 with protocol version 27.11 Get/Set
Comment
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Several configurations can be concatenated to one input message. In this case
the payload length can be a multiple of the normal length (see the other versions
of CFG-PRT). Output messages from the module contain only one configuration
unit.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x00 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
X2
-
Name
portID reserved1 txReady
4
U1[8] -
reserved2
Unit
Description
-
Port Identifier Number (= 3 for USB port)
-
Reserved
-
TX ready PIN configuration (see graphic
below)
-
Reserved
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UBX-CFG-PRT continued
Byte Offset Number Scaling Name
Unit
Format
12
X2
-
inProtoMask -
14
X2
-
outProtoMask -
16
U1[2] -
reserved3
-
18
U1[2] -
reserved4
-
Description
A mask describing which input protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) A mask describing which output protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) Reserved Reserved
Bitfield txReady
This graphic explains the bits of txReady
Name
en pol
pin thres
Description Enable TX ready feature for this port Polarity 0 High-active 1 Low-active PIO to be used (must not be in use already by another function) Threshold The given threshold is multiplied by 8 bytes. The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last pending bytes have been written to hardware (0-4 bytes before end of stream). 0x000 no threshold 0x001 8byte 0x002 16byte ... 0x1FE 4080byte 0x1FF 4088byte
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Bitfield inProtoMask
This graphic explains the bits of inProtoMask
u-blox ZED-F9P Interface Description - Manual
Name
inUbx inNmea inRtcm inRtcm3
Description UBX protocol NMEA protocol RTCM2 protocol RTCM3 protocol
Bitfield outProtoMask
This graphic explains the bits of outProtoMask
Name
outUbx outNmea outRtcm3
Description UBX protocol NMEA protocol RTCM3 protocol
5.9.15.4 Port configuration for SPI port
Message
UBX-CFG-PRT
Description Firmware Type Comment
Message Structure
Port configuration for SPI port
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item. Several configurations can be concatenated to one input message. In this case
the payload length can be a multiple of the normal length (see the other versions of CFG-PRT). Output messages from the module contain only one configuration
unit.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x00 20
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-CFG-PRT continued
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
portID
-
1
U1
-
reserved1
-
2
X2
-
txReady
-
4
X4
-
mode
-
8
U1[4] -
reserved2
-
12
X2
-
inProtoMask -
14
X2
-
outProtoMask -
16
X2
-
flags
-
18
U1[2] -
reserved3
-
Description
Port Identifier Number (= 4 for SPI port) Reserved TX ready PIN configuration (see graphic below) SPI Mode Flags (see graphic below) Reserved A mask describing which input protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) A mask describing which output protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) Flags bit mask (see graphic below) Reserved
Bitfield txReady
This graphic explains the bits of txReady
Name
en pol
pin thres
Description Enable TX ready feature for this port Polarity 0 High-active 1 Low-active PIO to be used (must not be in use already by another function) Threshold The given threshold is multiplied by 8 bytes. The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last pending bytes have been written to hardware (0-4 bytes before end of stream). 0x000 no threshold 0x001 8byte 0x002 16byte ... 0x1FE 4080byte 0x1FF 4088byte
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Bitfield mode
This graphic explains the bits of mode
u-blox ZED-F9P Interface Description - Manual
Name
spiMode
ffCnt
Description 00 SPI Mode 0: CPOL = 0, CPHA = 0 01 SPI Mode 1: CPOL = 0, CPHA = 1 10 SPI Mode 2: CPOL = 1, CPHA = 0 11 SPI Mode 3: CPOL = 1, CPHA = 1 Number of bytes containing 0xFF to receive before switching off reception. Range: 0(mechanism off)-63
Bitfield inProtoMask
This graphic explains the bits of inProtoMask
Bitfield outProtoMask
This graphic explains the bits of outProtoMask
Bitfield flags
This graphic explains the bits of flags
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Name
Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.
eout
5s.
5.9.15.5 Port configuration for DDC port
Message
UBX-CFG-PRT
Description Firmware Type Comment
Message Structure
Port configuration for DDC port
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding configuration item.
Several configurations can be concatenated to one input message. In this case
the payload length can be a multiple of the normal length (see the other versions of CFG-PRT). Output messages from the module contain only one configuration
unit.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x00 20
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
portID
-
1
U1
-
reserved1
-
2
X2
-
txReady
-
4
X4
-
mode
-
8
U1[4] -
reserved2
-
12
X2
-
inProtoMask -
14
X2
-
outProtoMask -
16
X2
-
flags
-
18
U1[2] -
reserved3
-
Description
Port Identifier Number (= 0 for DDC port) Reserved TX ready PIN configuration (see graphic below) DDC Mode Flags (see graphic below) Reserved A mask describing which input protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) A mask describing which output protocols are active. Each bit of this mask is used for a protocol. Through that, multiple protocols can be defined on a single port. (see graphic below) Flags bit mask (see graphic below) Reserved
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Bitfield txReady
This graphic explains the bits of txReady
u-blox ZED-F9P Interface Description - Manual
Name
en pol
pin thres
Description Enable TX ready feature for this port Polarity 0 High-active 1 Low-active PIO to be used (must not be in use already by another function) Threshold The given threshold is multiplied by 8 bytes. The TX ready PIN goes active after >= thres*8 bytes are pending for the port and going inactive after the last pending bytes have been written to hardware (0-4 bytes before end of stream). 0x000 no threshold 0x001 8byte 0x002 16byte ... 0x1FE 4080byte 0x1FF 4088byte
Bitfield mode
This graphic explains the bits of mode
Name
slaveAddr
Description Slave address Range: 0x07 < slaveAddr < 0x78. Bit 0 must be 0
Bitfield inProtoMask
This graphic explains the bits of inProtoMask
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Bitfield outProtoMask
This graphic explains the bits of outProtoMask
Bitfield flags
This graphic explains the bits of flags
Name
Description
extendedTxTim Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.
eout
5s.
5.9.16 UBX-CFG-PWR (0x06 0x57)
5.9.16.1 Put receiver in a defined power state.
Message
UBX-CFG-PWR
Description Firmware Type Comment
Message Structure
Put receiver in a defined power state.
Supported on:
· u-blox 9 with protocol version 27.11
Set
This message is deprecated in protocol versions greater than 17. Use UBX-CFG-
RST for GNSS start/stop and UBX-RXM-PMREQ for software backup. See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x57 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1[3] -
Name
version reserved1
Unit
Description
-
Message version (0x01 for this version)
-
Reserved
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UBX-CFG-PWR continued
Byte Offset Number Scaling
Format
4
U4
-
Name
state
Unit
Description
-
Enter system state
0x52554E20: GNSS running
0x53544F50: GNSS stopped
0x42434B50: Software Backup. USB
interface will be disabled, other wakeup
source is needed.
5.9.17 UBX-CFG-RATE (0x06 0x08)
5.9.17.1 Navigation/Measurement Rate Settings
Message
UBX-CFG-RATE
Description
Navigation/Measurement Rate Settings
Firmware
Type Comment
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
This message allows the user to alter the rate at which navigation solutions (and
the measurements that they depend on) are generated by the receiver. The
calculation of the navigation solution will always be aligned to the top of a
second zero (first second of the week) of the configured reference time system.
(Navigation period is an integer multiple of the measurement period in protocol
versions greater than 17)
· Each measurement triggers the measurements generation and raw data
output.
· The navRate value defines that every nth measurement triggers a navigation
epoch.
· The update rate has a direct influence on the power consumption. The more
fixes that are required, the more CPU power and communication resources are
required.
· For most applications a 1 Hz update rate would be sufficient.
· When using Power Save Mode, measurement and navigation rate can differ
from the values configured here.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x08 6
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-CFG-RATE continued
Byte Offset Number Scaling
Format
0
U2
-
Name
measRate
2
U2
-
navRate
4
U2
-
timeRef
Unit
Description
ms cycles -
The elapsed time between GNSS measurements, which defines the rate, e. g. 100ms => 10Hz, 1000ms => 1Hz, 10000ms => 0.1Hz. Measurement rate should be greater than or equal to 25 ms. The ratio between the number of measurements and the number of navigation solutions, e.g. 5 means five measurements for every navigation solution. Maximum value is 127. The time system to which measurements are aligned: 0: UTC time 1: GPS time 2: GLONASS time 3: BeiDou time 4: Galileo time
5.9.18 UBX-CFG-RINV (0x06 0x34)
5.9.18.1 Contents of Remote Inventory
Message
UBX-CFG-RINV
Description Firmware
Type Comment
Contents of Remote Inventory
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
If N is greater than 30, the excess bytes are discarded.
See the Legacy UBX Message Fields Reference for the corresponding
configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x34 1 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
X1
-
Name
flags
Unit
Description
-
Flags (see graphic below)
Start of repeated block (N times)
1 + 1*N
U1
-
data
-
Data to store/stored in Remote Inventory.
End of repeated block
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
dump binary
Description Dump data at startup. Does not work if flag binary is set. Data is binary.
5.9.19 UBX-CFG-RST (0x06 0x04)
5.9.19.1 Reset Receiver / Clear Backup Data Structures
Message
UBX-CFG-RST
Description Firmware
Type Comment
Reset Receiver / Clear Backup Data Structures
Supported on:
· u-blox 9 with protocol version 27.11
Command
Don't expect this message to be acknowledged by the receiver.
· Newer FW version won't acknowledge this message at all.
· Older FW version will acknowledge this message but the acknowledge may not
be sent completely before the receiver is reset.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x04 4
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
X2
-
navBbrMask -
BBR Sections to clear. The following
Special Sets apply:
0x0000 Hot start
0x0001 Warm start
0xFFFF Cold start (see graphic below)
2
U1
-
resetMode
-
Reset Type
0x00 - Hardware reset (Watchdog)
immediately
0x01 - Controlled Software reset
0x02 - Controlled Software reset (GNSS
only)
0x04 - Hardware reset (Watchdog) after
shutdown
0x08 - Controlled GNSS stop
0x09 - Controlled GNSS start
3
U1
-
reserved1
-
Reserved
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Bitfield navBbrMask
This graphic explains the bits of navBbrMask
u-blox ZED-F9P Interface Description - Manual
Name
eph alm health klob pos clkd osc utc rtc aop
Description Ephemeris Almanac Health Klobuchar parameters Position Clock Drift Oscillator Parameter UTC Correction + GPS Leap Seconds Parameters RTC Autonomous Orbit Parameters
5.9.20 UBX-CFG-TMODE3 (0x06 0x71)
5.9.20.1 Time Mode Settings 3
Message
UBX-CFG-TMODE3
Description Firmware Type Comment
Message Structure
Time Mode Settings 3
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBX-
CFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead. See the Legacy UBX Message Fields Reference for the corresponding
configuration item. Configures the receiver to be in Time Mode. The position referred to in this
message is that of the Antenna Reference Point (ARP). Note that using UBX-CFG-TMODE3 to set the receiver mode to Survey In or to
Fixed Mode, will set automatically the dynamic platform model (CFG-NAVSPG-
DYNMODEL) to Stationary. Note that using UBX-CFG-TMODE3 to set the receiver mode to Disabled, will set automatically the dynamic platform model (CFG-
NAVSPG-DYNMODEL) to Portable.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x71 40
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
X2
-
Name
version reserved1 flags
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
-
Receiver mode flags (see graphic below)
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UBX-CFG-TMODE3 continued
Byte Offset Number Scaling
Format
4
I4
-
8
I4
-
12
I4
-
16
I1
-
17
I1
-
18
I1
-
19
U1
-
20
U4
-
24
U4
-
28
U4
-
32
U1[8] -
Name
ecefXOrLat ecefYOrLon ecefZOrAlt ecefXOrLatHP
ecefYOrLonHP
ecefZOrAltHP
reserved2 fixedPosAcc svinMinDur svinAccLimit reserved3
Unit
Description
cm_ WGS84 ECEF X coordinate (or latitude) of
or_ the ARP position, depending on flags
deg*1e- above
7
cm_ WGS84 ECEF Y coordinate (or longitude)
or_ of the ARP position, depending on flags
deg*1e- above
7
cm WGS84 ECEF Z coordinate (or altitude) of
the ARP position, depending on flags
above
0.1_ High-precision WGS84 ECEF X coordinate
mm_ (or latitude) of the ARP position,
or_ depending on flags above. Must be in the
deg*1e- range -99..+99.
9
The precise WGS84 ECEF X coordinate in
units of cm, or the precise WGS84 ECEF
latitude in units of 1e-7 degrees, is given by
ecefXOrLat + (ecefXOrLatHP * 1e-2)
0.1_ High-precision WGS84 ECEF Y coordinate
mm_ (or longitude) of the ARP position,
or_ depending on flags above. Must be in the
deg*1e- range -99..+99.
9
The precise WGS84 ECEF Y coordinate in
units of cm, or the precise WGS84 ECEF
longitude in units of 1e-7 degrees, is given
by
ecefYOrLon + (ecefYOrLonHP * 1e-2)
0.1_ High-precision WGS84 ECEF Z coordinate
mm (or altitude) of the ARP position,
depending on flags above. Must be in the
range -99..+99.
The precise WGS84 ECEF Z coordinate, or
altitude coordinate, in units of cm is given
by
ecefZOrAlt + (ecefZOrAltHP * 1e-2)
-
Reserved
0.1_ Fixed position 3D accuracy
mm
s
Survey-in minimum duration
0.1_ Survey-in position accuracy limit
mm
-
Reserved
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
mode
lla
Description Receiver Mode: 0 Disabled 1 Survey In 2 Fixed Mode (true ARP position information required) 3-255 Reserved Position is given in LAT/LON/ALT (default is ECEF)
5.9.21 UBX-CFG-TP5 (0x06 0x31)
5.9.21.1 Time Pulse Parameters
Message
UBX-CFG-TP5
Description Firmware Type Comment
Message Structure
Time Pulse Parameters
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 27. Use UBX-CFGVALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x31 32
see below CK_A CK_B
Payload Contents:
Byte Offset
0
1 2 4 6 8
12
16
20
Number Scaling
Format
U1
-
U1
-
U1[2] -
I2
-
I2
-
U4
-
U4
-
U4
-
U4
-
Name
Unit
Description
tpIdx
-
Time pulse selection (0 = TIMEPULSE, 1 =
TIMEPULSE2)
version
-
Message version (0x01 for this version)
reserved1
-
Reserved
antCableDelay ns
Antenna cable delay
rfGroupDelay ns
RF group delay
freqPeriod Hz_or_ Frequency or period time, depending on
us
setting of bit 'isFreq'
freqPeriodLoc Hz_or_ Frequency or period time when locked to
k
us
GNSS time, only used if 'lockedOtherSet'
is set
pulseLenRatio us_or_ Pulse length or duty cycle, depending on
2^-32 'isLength'
pulseLenRatio us_or_ Pulse length or duty cycle when locked to
Lock
2^-32 GNSS time, only used if 'lockedOtherSet'
is set
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UBX-CFG-TP5 continued
Byte Offset Number Scaling
Format
24
I4
-
28
X4
-
Name
Unit
userConfigDel ns
ay
flags
-
Description
User configurable time pulse delay Configuration flags (see graphic below)
Bitfield flags
This graphic explains the bits of flags
Name
Description
active
If set enable time pulse; if pin assigned to another function, other function takes precedence.
Must be set for FTS variant.
lockGnssFreq If set synchronize time pulse to GNSS as soon as GNSS time is valid. If not set, or before GNSS time
is valid use local clock.
This flag is ignored by the FTS product variant; in this case the receiver always locks to the best
available time/frequency reference (which is not necessarily GNSS).
lockedOtherSe If set the receiver switches between the timepulse settings given by 'freqPeriodLocked' &
t
'pulseLenLocked' and those given by 'freqPeriod' & 'pulseLen'. The 'Locked' settings are used where
the receiver has an accurate sense of time. For non-FTS products, this occurs when GNSS solution
with a reliable time is available, but for FTS products the setting syncMode field governs behavior. In
all cases, the receiver only uses 'freqPeriod' & 'pulseLen' when the flag is unset.
isFreq
If set 'freqPeriodLock' and 'freqPeriod' are interpreted as frequency, otherwise interpreted as period.
isLength
If set 'pulseLenRatioLock' and 'pulseLenRatio' interpreted as pulse length, otherwise interpreted as
duty cycle.
alignToTow
Align pulse to top of second (period time must be integer fraction of 1s).
Also set 'lockGnssFreq' to use this feature.
This flag is ignored by the FTS product variant; it is assumed to be always set (as is lockGnssFreq).
Set maxSlewRate and maxPhaseCorrRate fields of UBX-CFG-SMGR to 0 to disable alignment.
polarity
Pulse polarity:
0: falling edge at top of second
1: rising edge at top of second
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Bitfield flags Description continued
Name
Description
gridUtcGnss Timegrid to use:
0: UTC
1: GPS
2: GLONASS
3: BeiDou
4: Galileo
This flag is only relevant if 'lockGnssFreq' and 'alignToTow' are set.
Note that configured GNSS time is estimated by the receiver if locked to any GNSS system. If the
receiver has a valid GNSS fix it will attempt to steer the TP to the specified time grid even if the
specified time is not based on information from the constellation's satellites. To ensure timing based
purely on a given GNSS, restrict the supported constellations in UBX-CFG-GNSS.
syncMode
Sync Manager lock mode to use:
0: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate
time, never switch back to 'freqPeriod' and 'pulseLenRatio'
1: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate
time, and switch back to 'freqPeriod' and 'pulseLenRatio' as soon as time gets inaccurate
This field is only relevant for the FTS product variant.
This field is only relevant if the flag 'lockedOtherSet' is set.
5.9.22 UBX-CFG-USB (0x06 0x1B)
5.9.22.1 USB Configuration
Message
UBX-CFG-USB
Description Firmware Type Comment
Message Structure
USB Configuration
Supported on:
· u-blox 9 with protocol version 27.11
Get/Set
This message is deprecated in protocol versions greater than 23.01. Use UBXCFG-VALSET, UBX-CFG-VALGET, UBX-CFG-VALDEL instead.
See the Legacy UBX Message Fields Reference for the corresponding configuration item.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x1B 108
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U2
-
vendorID
-
2
U2
-
productID
-
4
U1[2] -
reserved1
-
6
U1[2] -
reserved2
-
8
U2
-
powerConsumpt mA
ion
Description
Vendor ID. This field shall only be set to registered Vendor IDs. Changing this field requires special Host drivers. Product ID. Changing this field requires special Host drivers. Reserved Reserved Power consumed by the device
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UBX-CFG-USB continued
Byte Offset Number Scaling
Format
10
X2
-
Name
flags
Unit
-
12
CH[32 -
vendorString -
]
44
CH[32 -
productString -
]
76
CH[32 -
serialNumber -
]
Description
various configuration flags (see graphic below) String containing the vendor name. 32 ASCII bytes including 0-termination. String containing the product name. 32 ASCII bytes including 0-termination. String containing the serial number. 32 ASCII bytes including 0-termination. Changing the String fields requires special Host drivers.
Bitfield flags
This graphic explains the bits of flags
Name
reEnum powerMode
Description force re-enumeration self-powered (1), bus-powered (0)
5.9.23 UBX-CFG-VALDEL (0x06 0x8C)
5.9.23.1 Deletes values corresponding to provided keys
Message
UBX-CFG-VALDEL
Description
Deletes values corresponding to provided keys
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Set
Comment
Overview: · This message can be used to delete saved configuration to effectively revert
them to defaults. · This message can delete saved configuration from the Flash configuration
layer and the BBR configuration layer. The changes won't be effective until these layers are loaded into the RAM layer. · This message is limited to containing a maximum of 64 keys up for deletion; i. e. N is a maximum of 64. · This message can be used multiple times and every time the result will be applied immediately. To send this message multiple times with the result being applied at the end, see version 1 of UBX-CFG-VALDEL that supports transactions. · This message does not check if the resulting configuration is valid.
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Message Structure
· See Receiver Configuration for details.
This message returns a UBX-ACK-NAK and no configuration is applied: · if any key is unknown to the receiver FW
· if the layers bitfield does not specify a layer to delete a value from Notes:
· If a key is sent multiple times within the same message, then the value is
effectively deleted only once. · Attempting to delete items that have not been set before, or that have already
been deleted, is considered a valid request
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x8C 4 + 4*N
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
X1
-
Name
version layers
2
U1[2] -
reserved1
Unit
Description
-
Message version, set to 0
-
The layers where the configuration should
be deleted from (see graphic below)
-
Reserved
Start of repeated block (N times)
4 + 4*N
U4
-
keys
-
Configuration Item IDs of the
Configuration Items to be deleted
End of repeated block
Bitfield layers
This graphic explains the bits of layers
Name
bbr flash
Description Delete configuration from the BBR layer Delete configuration from the Flash layer
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5.9.23.2 Deletes values corresponding to provided keys within a transaction
Message
UBX-CFG-VALDEL
Description Firmware
Type Comment
Deletes values corresponding to provided keys within a transaction
Supported on:
· u-blox 9 with protocol version 27.11
Set
Overview:
· This message can be used to delete saved configuration to effectively revert
them to defaults.
· This message can delete saved configuration from the Flash configuration
layer and the BBR configuration layer. The changes won't be effective until
these layers are loaded into the RAM layer.
· This message is limited to containing a maximum of 64 keys up for deletion; i.
e. N is a maximum of 64.
· This message can be used multiple times with the result being managed
within a transaction.
· This message does not check if the resulting configuration is valid.
· See Receiver Configuration for details.
· See version 0 of UBX-CFG-VALDEL for simplified version of this message.
This message returns a UBX-ACK-NAK, cancels any started transaction, and no
configuration is applied:
· if any key within a transaction is unknown to the receiver FW
· if an invalid transaction state transition is requested
· if the layers bitfield changes within a transaction
· if the layers bitfield does not specify a layer to delete a value from
Notes:
· Any request for another UBX-CFG- message type (including UBX-CFG-
VALSET and UBX-CFG-VALGET) will cancel any started transaction, and no
configuration is applied.
· This message can be sent with no keys to delete for the purposes of managing
the transaction state transition.
· If a key is sent multiple times within the same message or within the same
transaction, then the value is effectively deleted only once.
· Attempting to delete items that have not been set before, or that have already
been deleted, is considered a valid request
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x8C 4 + 4*N
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
X1
-
layers
-
2
X1
-
transaction -
3
U1
-
reserved1
-
Description
Message version, set to 1 The layers where the configuration should be deleted from (see graphic below) Transaction action to be applied: (see graphic below) Reserved
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UBX-CFG-VALDEL continued
Byte Offset Number Scaling
Format
Start of repeated block (N times)
4 + 4*N
U4
-
Name
keys
End of repeated block
Bitfield layers
This graphic explains the bits of layers
u-blox ZED-F9P Interface Description - Manual
Unit
Description
-
Configuration Item IDs of the
Configuration Items to be deleted
Name
bbr flash
Description Delete configuration from the BBR layer Delete configuration from the Flash layer
Bitfield transaction
This graphic explains the bits of transaction
Name
action
Description Transaction action to be applied: 0: Transactionless UBX-CFG-VALDEL: In the next UBX-CFG-VALDEL, it can be either 0 or 1. If a transaction has not yet been started, the incoming configuration is applied. If a transaction has already been started, cancels any started transaction and the incoming configuration is applied. 1: (Re)Start deletion transaction: In the next UBX-CFG-VALDEL, it can be either 0, 1, 2 or 3. If a transaction has not yet been started, a transaction will be started. If a transaction has already been started, restarts the transaction, effectively removing all previous non-applied UBX-CFG-VALDEL messages. 2: Deletion transaction ongoing: In the next UBX-CFG-VALDEL, it can be either 0, 1, 2 or 3. 3: Apply and end a deletion transaction: In the next UBX-CFG-VALDEL, it can be either 0 or 1.
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5.9.24 UBX-CFG-VALGET (0x06 0x8B)
5.9.24.1 Get Configuration Items
Message
UBX-CFG-VALGET
Description Firmware Type Comment
Message Structure
Get Configuration Items
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
This message is used to read configuration items from the receiver. It returns the configuration data for the specified items and layer.
A UBX-CFG-NAK message is returned in case one or more items are unknown to the receiver or when the number of requested items is greater than 64.
Otherwise a UBX-CFG-ACK message is returned.
The configuration items are identified by their configuration key IDs. Keys can be complete key values (group and item specifiers) or wild-card
specifications. A complete key value will constitute a request for one key-value pair. A key value which has a valid group specifier and 0xffff in the item part of
the key value (bits 0-15) constitutes a request for all items in the specified group. A key with a value of 0xfff in the group part of the key value (bits 16-27) is
a request for all items known to the receiver in all groups. The response message
is limited to containing a maximum of 64 key-value pairs. If there are wild-card specifications then there may be more than 64 possible responses. In order to
handle this, the 'position' field can specify that the response message should skip this number of key-value pairs before it starts constructing the message.
This allows a large set of values to be retrieved 64 at a time. If the response contains less than 64 key-value pairs then all values have been reported,
otherwise there may be more to read. See Receiver Configuration for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x8B 4 + 4*N
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1
-
Name
version layer
2
U2
-
position
Unit
Description
-
Message version (0x00 for this version)
-
The layers from which the configuration
items should be retrieved:
0 - RAM layer
1 - BBR layer
2 - Flash layer
7 - Default layer
-
skip this many key values before
constructing output message
Start of repeated block (N times)
4 + 4*N
U4
-
keys
-
configuration key ID selected for retrieval
End of repeated block
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5.9.24.2 Configuration Items
Message
UBX-CFG-VALGET
Description Firmware
Type Comment
Configuration Items
Supported on:
· u-blox 9 with protocol version 27.11
Polled
This message is output by the receiver to return requested configuration data
(key and value pairs).
See Receiver Configuration for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x8B 4 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1
-
Name
version layer
2
U2
-
position
Unit
Description
-
Message version (0x01 for this version)
-
The layers from which the configuration
items originate:
0 - RAM layer
1 - BBR
2 - Flash
7 - Default
-
number of configuration items skipped in
the result set before constructing this
message (mirrors the equivalent field in
the request message)
Start of repeated block (N times)
4 + 1*N
U1
-
cfgData
-
configuration data (key and value pairs)
End of repeated block
5.9.25 UBX-CFG-VALSET (0x06 0x8A)
5.9.25.1 Sets values corresponding to provided key-value pairs
Message
UBX-CFG-VALSET
Description
Sets values corresponding to provided key-value pairs
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Set
Comment
Overview: · This message is used to set a configuration by providing configuration data (a
list of key and value pairs), which identify the configuration parameters to change, and their new values. · This message is limited to containing a maximum of 64 key-value pairs. · This message can be used multiple times and every time the result will be applied immediately. To send this message multiple times with the result being applied at the end, see version 1 of UBX-CFG-VALSET that supports transactions.
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· See Receiver Configuration for details.
This message returns a UBX-ACK-NAK and no configuration is applied:
· if any key is unknown to the receiver FW
· if the layers bitfield does not specify a layer to save a value to
· if the requested configuration is not valid. The validity of a configuration is
checked only if the message requests to apply the configuration to the RAM
configuration layer.
Notes:
· If a key is sent multiple times within the same message, then the value
eventually being applied is the last sent.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x06 0x8A 4 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
X1
-
Name
version layers
2
U1[2] -
reserved1
Unit
Description
-
Message version, set to 0
-
The layers where the configuration should
be applied (see graphic below)
-
Reserved
Start of repeated block (N times)
4 + 1*N
U1
-
cfgData
-
configuration data (key and value pairs)
End of repeated block
Bitfield layers
This graphic explains the bits of layers
Name
ram bbr flash
Description Update configuration in the RAM layer Update configuration in the BBR layer Update configuration in the Flash layer
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5.9.25.2 Sets values corresponding to provided key-value pairs within a transaction
Message
UBX-CFG-VALSET
Description Firmware Type Comment
Message Structure
Sets values corresponding to provided key-value pairs within a transaction
Supported on: · u-blox 9 with protocol version 27.11
Set
Overview:
· This message is used to set a configuration by providing configuration data (a list of key and value pairs), which identify the configuration parameters to
change, and their new values. · This message is limited to containing a maximum of 64 key-value pairs. · This message can be used multiple times with the result being managed
within a transaction. Within a transaction there is no limit on the number keyvalue pairs; a transaction is effectively limited to the number of known keys.
· See Receiver Configuration for details. · See version 0 of UBX-CFG-VALSET for simplified version of this message.
This message returns a UBX-ACK-NAK, cancels any started transaction, and no configuration is applied: · if any key within a transaction is unknown to the receiver FW
· if an invalid transaction state transition is requested · if the layers bitfield changes within a transaction
· if the layers bitfield does not specify a layer to save a value to This message returns a UBX-ACK-NAK, and no configuration is applied:
· if the requested configuration is not valid. While in a transaction context, only the last message that requests to apply the transaction returns a NAK. The
validity of a configuration is checked only if the message requests to apply the
configuration to the RAM configuration layer. This also applies to a transaction-less request.
Notes: · Any request for another UBX-CFG-message type (including UBX-CFG-VALDEL
and UBX-CFG-VALGET) will cancel any started transaction, and no configuration is applied.
· This message can be sent with no key/values to set for the purposes of
managing the transaction state transition. · If a key is sent multiple times within the same message or within the same
transaction, then the value eventually being applied is the last sent.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x06 0x8A 4 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
X1
-
layers
-
2
U1
-
transaction -
Description
Message version, set to 1 The layers where the configuration should be applied (see graphic below) Transaction action to be applied (see graphic below)
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UBX-CFG-VALSET continued
Byte Offset Number Scaling
Format
3
U1
-
Start of repeated block (N times)
4 + 1*N
U1
-
End of repeated block
Name
reserved1 cfgData
Bitfield layers
This graphic explains the bits of layers
Unit
Description
-
Reserved
-
configuration data (key and value pairs)
Name
ram bbr flash
Description Update configuration in the RAM layer Update configuration in the BBR layer Update configuration in the Flash layer
Bitfield transaction
This graphic explains the bits of transaction
Name
action
Description Transaction action to be applied: 0: Transactionless UBX-CFG-VALSET: In the next UBX-CFG-VALSET, it can be either 0 or 1. If a transaction has not yet been started, the incoming configuration is applied (if valid). If a transaction has already been started, cancels any started transaction and the incoming configuration is applied (if valid). 1: (Re)Start set transaction: In the next UBX-CFG-VALSET, it can be either 0, 1, 2 or 3. If a transaction has not yet been started, a transaction will be started. If a transaction has already been started, restarts the transaction, effectively removing all previous non-applied UBX-CFG-VALSET messages. 2: Set transaction ongoing: In the next UBX-CFG-VALSET, it can be either 0, 1, 2 or 3. 3: Apply and end a set transaction: In the next UBX-CFG-VALSET, it can be either 0 or 1.
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5.10 UBX-INF (0x04)
Information Messages: i.e. Printf-Style Messages, with IDs such as Error, Warning, Notice. Messages in the INF class are used to output strings in a printf style from the firmware or application code. All INF messages have an associated type to indicate the kind of message. 5.10.1 UBX-INF-DEBUG (0x04 0x04)
5.10.1.1 ASCII output with debug contents
Message
UBX-INF-DEBUG
Description Firmware
Type Comment
Message Structure
ASCII output with debug contents
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message has a variable length payload, representing an ASCII string.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x04 0x04 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
CH -
str
-
ASCII Character
End of repeated block
5.10.2 UBX-INF-ERROR (0x04 0x00)
5.10.2.1 ASCII output with error contents
Message
UBX-INF-ERROR
Description Firmware
Type Comment
Message Structure
ASCII output with error contents
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message has a variable length payload, representing an ASCII string.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x04 0x00 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
CH -
str
-
ASCII Character
End of repeated block
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5.10.3 UBX-INF-NOTICE (0x04 0x02)
5.10.3.1 ASCII output with informational contents
Message
UBX-INF-NOTICE
Description Firmware
Type Comment
Message Structure
ASCII output with informational contents
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message has a variable length payload, representing an ASCII string.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x04 0x02 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
CH -
str
-
ASCII Character
End of repeated block
5.10.4 UBX-INF-TEST (0x04 0x03)
5.10.4.1 ASCII output with test contents
Message
UBX-INF-TEST
Description Firmware
Type Comment
Message Structure
ASCII output with test contents
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message has a variable length payload, representing an ASCII string.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x04 0x03 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
CH -
str
-
ASCII Character
End of repeated block
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5.10.5 UBX-INF-WARNING (0x04 0x01)
5.10.5.1 ASCII output with warning contents
Message
UBX-INF-WARNING
Description Firmware
Type Comment
Message Structure
ASCII output with warning contents
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message has a variable length payload, representing an ASCII string.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x04 0x01 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
CH -
str
-
ASCII Character
End of repeated block
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5.11 UBX-LOG (0x21)
Logging Messages: i.e. Log creation, deletion, info and retrieval. Messages in the LOG class are used to configure and report status information of the logging and batching features. 5.11.1 UBX-LOG-CREATE (0x21 0x07)
5.11.1.1 Create Log File
Message
UBX-LOG-CREATE
Description Firmware
Type Comment
Create Log File
Supported on:
· u-blox 9 with protocol version 27.11
Command
This message is used to create an initial logging file and activate the logging
subsystem.
UBX-ACK-ACK or UBX-ACK-NAK are returned to indicate success or failure.
This message does not handle activation of recording or filtering of log entries
(see UBX-CFG-LOGFILTER).
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x07 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 3
4
Number Scaling
Format
U1
-
X1
-
U1
-
U1
-
U4
-
Name
Unit
Description
version
-
logCfg
-
reserved1
-
logSize
-
userDefinedSi bytes ze
Message version (0x00 for this version) Config flags (see graphic below) Reserved Indicates the size of the log: 0 (maximum safe size): Ensures that logging will not be interrupted and enough space will be left available for all other uses of the filestore 1 (minimum size): 2 (user defined): See 'userDefinedSize' below Sets the maximum amount of space in the filestore that can be used by the logging task. This field is only applicable if logSize is set to user defined.
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Bitfield logCfg
This graphic explains the bits of logCfg
u-blox ZED-F9P Interface Description - Manual
Name
circular
Description Log is circular (new entries overwrite old ones in a full log) if this bit set
5.11.2 UBX-LOG-ERASE (0x21 0x03)
5.11.2.1 Erase Logged Data
Message
UBX-LOG-ERASE
Description Firmware Type Comment
Message Structure
Erase Logged Data
Supported on:
· u-blox 9 with protocol version 27.11
Command
This message deactivates the logging system and erases all logged data. UBX-ACK-ACK or UBX-ACK-NAK are returned to indicate success or failure.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x21 0x03 0
see below CK_A CK_B
No payload
5.11.3 UBX-LOG-FINDTIME (0x21 0x0E)
5.11.3.1 Find index of a log entry based on a given time
Message
UBX-LOG-FINDTIME
Description Firmware
Type Comment
Find index of a log entry based on a given time
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message can be used for a time-based search of a log. It can find the index
of the first log entry with time equal to the given time, otherwise the index of the
most recent entry with time less than the given time. This index can then be
used with the UBX-LOG-RETRIEVE message to provide time-based retrieval of
log entries.
Searching a log is effective for a given time later than the base date (January
1st, 2004). Searching a log for a given time earlier than the base date will result
in an 'entry not found' response.
Searching a log for a given time greater than the last recorded entry's time will
return the index of the last recorded entry.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0E 12
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-LOG-FINDTIME continued
Byte Offset Number Scaling
Format
0
U1
-
1
U1
-
2
U1[2] -
4
U2
-
6
U1
-
7
U1
-
8
U1
-
9
U1
-
10
U1
-
11
U1
-
Name
version type reserved1 year month day hour minute second reserved2
Unit
Description
-
Message version (0x00 for this version)
-
Message type, 0 for request
-
Reserved
-
Year (1-65635) of UTC time
-
Month (1-12) of UTC time
-
Day (1-31) of UTC time
-
Hour (0-23) of UTC time
-
Minute (0-59) of UTC time
-
Second (0-60) of UTC time
-
Reserved
5.11.3.2 Response to FINDTIME request
Message
UBX-LOG-FINDTIME
Description Firmware
Type Comment
Response to FINDTIME request
Supported on:
· u-blox 9 with protocol version 27.11
Output
-
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x0E 8
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U1
-
version
-
1
U1
-
type
-
2
U1[2] -
reserved1
-
4
U4
-
entryNumber -
Description
Message version (0x01 for this version) Message type, 1 for response Reserved Index of the first log entry with time = given time, otherwise index of the most recent entry with time < given time. If 0xFFFFFFFF, no log entry found with time <= given time. The indexing of log entries is zero based.
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5.11.4 UBX-LOG-INFO (0x21 0x08)
5.11.4.1 Poll for log information
Message
UBX-LOG-INFO
Description Firmware
Type Comment
Poll for log information
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
Upon sending of this message, the receiver returns UBX-LOG-INFO as defined
below.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x08 0
see below CK_A CK_B
No payload
5.11.4.2 Log information
Message
UBX-LOG-INFO
Description Firmware
Type Comment
Log information
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message is used to report information about the logging subsystem.
Note:
· The reported maximum log size will be smaller than that originally specified in
LOG-CREATE due to logging and filestore implementation overheads.
· Log entries are compressed in a variable length fashion, so it may be difficult
to predict log space usage with any precision.
· There may be times when the receiver does not have an accurate time (e.g. if
the week number is not yet known), in which case some entries will not have a
timestamp. This may result in the oldest/newest entry time values not taking
account of these entries.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x08 48
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
8 16
20
Number Scaling
Format
U1
-
U1[3] -
U4
-
U1[8] -
U4
-
U4
-
Name
Unit
Description
version
-
reserved1
-
filestoreCapa bytes
city
reserved2
-
currentMaxLog bytes
Size
currentLogSiz bytes
e
Message version (0x01 for this version) Reserved The capacity of the filestore
Reserved The maximum size the current log is allowed to grow to Approximate amount of space in log currently occupied
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UBX-LOG-INFO continued
Byte Offset Number Scaling Name
Unit
Format
24
U4
-
entryCount -
28
U2
-
oldestYear -
30
U1
-
oldestMonth -
31
U1
-
oldestDay
-
32
U1
-
oldestHour -
33
U1
-
oldestMinute -
34
U1
-
oldestSecond -
35
U1
-
reserved3
-
36
U2
-
newestYear -
38
U1
-
newestMonth -
39
U1
-
newestDay
-
40
U1
-
newestHour -
41
U1
-
newestMinute -
42
U1
-
newestSecond -
43
U1
-
reserved4
-
44
X1
-
status
-
45
U1[3] -
reserved5
-
Description
Number of entries in the log. Note: for circular logs this value will decrease when a group of entries is deleted to make space for new ones. Oldest entry UTC year (1-65635) or zero if there are no entries with known time Oldest month (1-12) Oldest day (1-31) Oldest hour (0-23) Oldest minute (0-59) Oldest second (0-60) Reserved Newest year (1-65635) or zero if there are no entries with known time Newest month (1-12) Newest day (1-31) Newest hour (0-23) Newest minute (0-59) Newest second (0-60) Reserved Log status flags (see graphic below) Reserved
Bitfield status
This graphic explains the bits of status
Name
recording inactive circular
Description Log entry recording is currently turned on Logging system not active - no log present The current log is circular
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5.11.5 UBX-LOG-RETRIEVEPOSEXTRA (0x21 0x0f)
5.11.5.1 Odometer log entry
Message
UBX-LOG-RETRIEVEPOSEXTRA
Description Firmware
Type Comment
Message Structure
Odometer log entry
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message is used to report an odometer log entry
Header
Class ID Length (Bytes)
0xB5 0x62 0x21 0x0f 32
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U4
-
entryIndex -
The index of this log entry
4
U1
-
version
-
Message version (0x00 for this version)
5
U1
-
reserved1
-
Reserved
6
U2
-
year
-
Year (1-65635) of UTC time. Will be zero if
time not known
8
U1
-
month
-
Month (1-12) of UTC time
9
U1
-
day
-
Day (1-31) of UTC time
10
U1
-
hour
-
Hour (0-23) of UTC time
11
U1
-
minute
-
Minute (0-59) of UTC time
12
U1
-
second
-
Second (0-60) of UTC time
13
U1[3] -
reserved2
-
Reserved
16
U4
-
distance
-
Odometer distance traveled since the last
time the odometer was reset by a UBX-
NAV-RESETODO
20
U1[12] -
reserved3
-
Reserved
5.11.6 UBX-LOG-RETRIEVEPOS (0x21 0x0b)
5.11.6.1 Position fix log entry
Message
UBX-LOG-RETRIEVEPOS
Description Firmware
Type Comment
Message Structure
Position fix log entry
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message is used to report a position fix log entry
Header
Class ID Length (Bytes)
0xB5 0x62 0x21 0x0b 40
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset
0 4 8
Number Scaling
Format
U4
-
I4
1e-7
I4
1e-7
Name
entryIndex lon lat
Unit
Description
-
The index of this log entry
deg Longitude
deg Latitude
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UBX-LOG-RETRIEVEPOS continued
Byte Offset Number Scaling Name
Format
12
I4
-
hMSL
16
U4
-
hAcc
20
U4
-
gSpeed
24
U4
1e-5 heading
28
U1
-
version
29
U1
-
fixType
30
U2
-
year
32
U1
-
month
33
U1
-
day
34
U1
-
hour
35
U1
-
minute
36
U1
-
second
37
U1
-
reserved1
38
U1
-
numSV
39
U1
-
reserved2
Unit
Description
mm mm mm/s deg -
-
-
Height above mean sea level Horizontal accuracy estimate Ground speed (2-D) Heading Message version (0x00 for this version) Fix type: 0x01: Dead Reckoning only 0x02: 2D-Fix 0x03: 3D-Fix 0x04: GNSS + Dead Reckoning combined Year (1-65635) of UTC time Month (1-12) of UTC time Day (1-31) of UTC time Hour (0-23) of UTC time Minute (0-59) of UTC time Second (0-60) of UTC time Reserved Number of satellites used in the position fix Reserved
5.11.7 UBX-LOG-RETRIEVESTRING (0x21 0x0d)
5.11.7.1 Byte string log entry
Message
UBX-LOG-RETRIEVESTRING
Description Firmware
Type Comment
Message Structure
Byte string log entry
Supported on: · u-blox 9 with protocol version 27.11
Output
This message is used to report a byte string log entry
Header
Class ID Length (Bytes)
0xB5 0x62 0x21 0x0d 16 + 1*byteCount
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U4
-
entryIndex -
The index of this log entry
4
U1
-
version
-
Message version (0x00 for this version)
5
U1
-
reserved1
-
Reserved
6
U2
-
year
-
Year (1-65635) of UTC time. Will be zero if
time not known
8
U1
-
month
-
Month (1-12) of UTC time
9
U1
-
day
-
Day (1-31) of UTC time
10
U1
-
hour
-
Hour (0-23) of UTC time
11
U1
-
minute
-
Minute (0-59) of UTC time
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UBX-LOG-RETRIEVESTRING continued
Byte Offset Number Scaling Name
Format
12
U1
-
second
13
U1
-
reserved2
14
U2
-
byteCount
Start of repeated block (byteCount times)
16 + 1*N U1
-
bytes
End of repeated block
Unit
Description
-
Second (0-60) of UTC time
-
Reserved
-
Size of string in bytes
-
The bytes of the string
5.11.8 UBX-LOG-RETRIEVE (0x21 0x09)
5.11.8.1 Request log data
Message
UBX-LOG-RETRIEVE
Description Firmware
Type Comment
Request log data
Supported on:
· u-blox 9 with protocol version 27.11
Command
This message is used to request logged data (log recording must first be
disabled, see UBX-CFG-LOGFILTER).
Log entries are returned in chronological order, using the messages UBX-LOG-
RETRIEVEPOS and UBX-LOG-RETRIEVESTRING. If the odometer was enabled at
the time a position was logged, then message UBX-LOG-RETRIEVEPOSEXTRA will
also be used. The maximum number of entries that can be returned in response
to a single UBX-LOG-RETRIEVE message is 256. If more entries than this are
required the message will need to be sent multiple times with different
startNumbers. The retrieve will be stopped if any UBX-LOG message is received.
The speed of transfer can be maximized by using a high data rate and
temporarily stopping the GPS processing (see UBX-CFG-RST).
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x21 0x09 12
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Format
0
U4
-
startNumber -
4
U4
-
entryCount -
Description
Index of first log entry to be transferred. If it is larger than the index of the last available log entry, then the first log entry to be transferred is the last available log entry. The indexing of log entries is zero based. Number of log entries to transfer in total including the first entry to be transferred. If it is larger than the log entries available starting from the first entry to be transferred, then only the available log entries are transferred followed by a UBXACK-NAK. The maximum is 256.
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Byte Offset Number Scaling
Format
8
U1
-
9
U1[3] -
Name
version reserved1
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
5.11.9 UBX-LOG-STRING (0x21 0x04)
5.11.9.1 Store arbitrary string in on-board flash
Message
UBX-LOG-STRING
Description Firmware Type Comment
Message Structure
Store arbitrary string in on-board flash
Supported on: · u-blox 9 with protocol version 27.11
Command
This message can be used to store an arbitrary byte string in the on-board flash
memory. The maximum length that can be stored is 256 bytes.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x21 0x04 0 + 1*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*1
U1
-
bytes
-
The string of bytes to be logged
(maximum 256)
End of repeated block
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5.12 UBX-MGA (0x13)
Multiple GNSS Assistance Messages: i.e. Assistance data for various GNSS. Messages in the MGA class are used for GNSS aiding information from and to the receiver. 5.12.1 UBX-MGA-ACK (0x13 0x60)
5.12.1.1 UBX-MGA-ACK-DATA0
Message
UBX-MGA-ACK-DATA0
Description Firmware
Type Comment
Multiple GNSS Acknowledge message
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message is sent by a u-blox receiver to acknowledge the receipt of an
assistance message.
Acknowledgments are enabled by setting the CFG-NAVSPG-ACKAIDING item.
See the section Flow control in Integration Manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x60 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
type
1
U1
-
version
2
U1
-
infoCode
3
U1
-
msgId
Unit
Description
-
Type of acknowledgment:
0: The message was not used by the
receiver (see infoCode field for an
indication of why)
1: The message was accepted for use by
the receiver (the infoCode field will be 0)
-
Message version (0x00 for this version)
-
Provides greater information on what the
receiver chose to do with the message
contents:
0: The receiver accepted the data
1: The receiver doesn't know the time so
can't use the data (To resolve this a UBX-
MGA-INI-TIME_UTC message should be
supplied first)
2: The message version is not supported
by the receiver
3: The message size does not match the
message version
4: The message data could not be stored
to the database
5: The receiver is not ready to use the
message data
6: The message type is unknown
-
UBX message ID of the ack'ed message
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UBX-MGA-ACK continued
Byte Offset Number Scaling
Format
4
U1[4] -
Name
Unit
msgPayloadSta rt
Description
The first 4 bytes of the ack'ed message's payload
5.12.2 UBX-MGA-BDS (0x13 0x03)
5.12.2.1 UBX-MGA-BDS-EPH
Message
UBX-MGA-BDS-EPH
Description Firmware Type Comment
Message Structure
BDS Ephemeris Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of BeiDou ephemeris assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x03 88
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U1
-
SatH1
5
U1
-
IODC
6
I2
2^-66 a2
8
I4
2^-50 a1
12
I4
2^-33 a0
16
U4
2^3 toc
20
I2
0.1
TGD1
22
U1
-
URAI
23
U1
-
IODE
24
U4
2^3 toe
28
U4
2^-19 sqrtA
32
U4
2^-33 e
36
I4
2^-31 omega
40
I2
2^-43 Deltan
42
I2
2^-43 IDOT
Unit
Description
-
Message type (0x01 for this type)
-
Message version (0x00 for this version)
-
BDS satellite identifier (see Satellite
Numbering)
-
Reserved
-
Autonomous satellite Health flag
-
Issue of Data, Clock
s/s^2 Time polynomial coefficient 2
s/s Time polynomial coefficient 1
s
Time polynomial coefficient 0
s
Clock data reference time
ns
Equipment Group Delay Differential
-
User Range Accuracy Index
-
Issue of Data, Ephemeris
s
Ephemeris reference time
m^0.5 Square root of semi-major axis
-
Eccentricity
semi- Argument of perigee
circles
semi- Mean motion difference from computed
circles value
/s
semi- Rate of inclination angle
circles
/s
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UBX-MGA-BDS continued
Byte Offset Number Scaling
Format
44
I4
2^-31
Name
M0
48
I4
2^-31 Omega0
52
I4
2^-43 OmegaDot
56
I4
2^-31 i0
60
I4
2^-31 Cuc
64
I4
2^-31 Cus
68
I4
2^-6 Crc
72
I4
2^-6 Crs
76
I4
2^-31 Cic
80
I4
2^-31 Cis
84
U1[4] -
reserved2
Unit
Description
semi- Mean anomaly at reference time
circles
semi- Longitude of ascending node of orbital of
circles plane computed according to reference
time
semi- Rate of right ascension
circles
/s
semi- Inclination angle at reference time
circles
semi- Amplitude of cosine harmonic correction
circles term to the argument of latitude
semi- Amplitude of sine harmonic correction
circles term to the argument of latitude
m
Amplitude of cosine harmonic correction
term to the orbit radius
m
Amplitude of sine harmonic correction
term to the orbit radius
semi- Amplitude of cosine harmonic correction
circles term to the angle of inclination
semi- Amplitude of sine harmonic correction
circles term to the angle of inclination
-
Reserved
5.12.2.2 UBX-MGA-BDS-ALM
Message
UBX-MGA-BDS-ALM
Description Firmware
Type Comment
BDS Almanac Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of BeiDou almanac assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x03 40
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U1
-
Wna
Unit
Description
-
week
Message type (0x02 for this version) Message version (0x00 for this version) BeiDou satellite identifier (see Satellite Numbering) Reserved Almanac Week Number
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UBX-MGA-BDS continued
Byte Offset Number Scaling
Format
5
U1
2^12
6
I2
2^-19
Name
toa deltaI
8
U4
2^-11 sqrtA
12
U4
2^-21 e
16
I4
2^-23 omega
20
I4
2^-23 M0
24
I4
2^-23 Omega0
28
I4
2^-38 omegaDot
32
I2
2^-20 a0
34
I2
2^-38 a1
36
U1[4] -
reserved2
Unit
Description
s
Almanac reference time
semi- Almanac correction of orbit reference
circles inclination at reference time
m^0.5 Almanac square root of semi-major axis
-
Almanac eccentricity
semi- Almanac argument of perigee
circles
semi- Almanac mean anomaly at reference time
circles
semi- Almanac longitude of ascending node of
circles orbit plane at computed according to
reference time
semi- Almanac rate of right ascension
circles
/s
s
Almanac satellite clock bias
s/s Almanac satellite clock rate
-
Reserved
5.12.2.3 UBX-MGA-BDS-HEALTH
Message
UBX-MGA-BDS-HEALTH
Description Firmware Type Comment
Message Structure
BDS Health Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of BeiDou health assistance to a receiver. See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x03 68
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
type
-
Message type (0x04 for this type)
1
U1
-
version
-
Message version (0x00 for this version)
2
U1[2] -
reserved1
-
Reserved
4
U2[30] -
healthCode -
Each two-byte value represents a BDS SV
(1-30). The 9 LSBs of each byte contain
the 9 bit health code from subframe 5
pages 7,8 of the D1 message, and from
subframe 5 pages 35,36 of the D1
message.
64
U1[4] -
reserved2
-
Reserved
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5.12.2.4 UBX-MGA-BDS-UTC
Message
UBX-MGA-BDS-UTC
Description Firmware Type Comment
Message Structure
BDS UTC Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of BeiDou UTC assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x03 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8 12
Number Scaling
Format
U1
-
U1
-
U1[2] -
I4
2^-30
I4
2^-50
I1
-
Name
type version reserved1 a0UTC a1UTC dtLS
13
U1[1] -
reserved2
14
U1
-
wnRec
15
U1
-
wnLSF
16
U1
-
dN
17
I1
-
dtLSF
18
U1[2] -
reserved3
Unit
Description
s s/s s
week
week day s
-
Message type (0x05 for this type) Message version (0x00 for this version) Reserved BDT clock bias relative to UTC BDT clock rate relative to UTC Delta time due to leap seconds before the new leap second effective Reserved BeiDou week number of reception of this UTC parameter set (8 bit truncated) Week number of the new leap second Day number of the new leap second Delta time due to leap seconds after the new leap second effective Reserved
5.12.2.5 UBX-MGA-BDS-IONO
Message
UBX-MGA-BDS-IONO
Description Firmware
Type Comment
BDS Ionospheric Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of BeiDou ionospheric assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x03 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1[2] -
Name
type version reserved1
Unit
Description
-
Message type (0x06 for this type)
-
Message version (0x00 for this version)
-
Reserved
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Byte Offset Number Scaling
Format
4
I1
2^-30
5
I1
2^-27
6
I1
2^-24
7
I1
2^-24
8
I1
2^11
9
I1
2^14
10
I1
2^16
11
I1
2^16
12
U1[4] -
Name
alpha0 alpha1 alpha2 alpha3 beta0 beta1 beta2 beta3 reserved2
Unit
Description
s s/pi s/pi^2 s/pi^3 s s/pi s/pi^2 s/pi^3 -
Ionospheric parameter alpha0 Ionospheric parameter alpha1 Ionospheric parameter alpha2 Ionospheric parameter alpha3 Ionospheric parameter beta0 Ionospheric parameter beta1 Ionospheric parameter beta2 Ionospheric parameter beta3 Reserved
5.12.3 UBX-MGA-DBD (0x13 0x80)
5.12.3.1 Poll the Navigation Database
Message
UBX-MGA-DBD
Description Firmware Type Comment
Message Structure
Poll the Navigation Database
Supported on: · u-blox 9 with protocol version 27.11
Poll Request
Poll the whole navigation data base. The receiver will send all available data from
its internal database. The receiver will indicate the finish of the transmission with a UBX-MGA-ACK. The msgPayloadStart field of the UBX-MGA-ACK message
will contain a U4 representing the number of UBX-MGA-DBD-DATA* messages
sent.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x80 0
see below CK_A CK_B
No payload
5.12.3.2 Navigation Database Dump Entry
Message
UBX-MGA-DBD
Description
Navigation Database Dump Entry
Firmware
Supported on: · u-blox 9 with protocol version 27.11
Type
Input/Output
Comment
UBX-MGA-DBD messages are only intended to be sent back to the same
receiver that generated them.
Navigation database entry. The data fields are firmware specific. Transmission
of this type of message will be acknowledged by UBX-MGA-ACK messages, if
acknowledgment has been enabled.
See the section AssistNow online in Integration manual for details.
The maximum payload size for firmware 2.01 onwards is 164 bytes (which makes
the maximum message size 172 bytes).
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x80 12 + 1*N
see below CK_A CK_B
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Payload Contents:
Byte Offset Number Scaling
Format
0
U1[12] -
Start of repeated block (N times)
12 + 1*N U1
-
End of repeated block
Name
reserved1 data
Unit
Description
-
Reserved
-
fw specific data
5.12.4 UBX-MGA-GAL (0x13 0x02)
5.12.4.1 UBX-MGA-GAL-EPH
Message
UBX-MGA-GAL-EPH
Description Firmware Type Comment
Message Structure
Galileo Ephemeris Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of Galileo ephemeris assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x02 76
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U2
-
iodNav
6
I2
2^-43 deltaN
8
I4
2^-31 m0
12
U4
2^-33 e
16
U4
2^-19 sqrtA
20
I4
2^-31 omega0
24
I4
2^-31 i0
28
I4
2^-31 omega
32
I4
2^-43 omegaDot
Unit
Description
-
Message type (0x01 for this type)
-
Message version (0x00 for this version)
-
Galileo Satellite identifier (see Satellite
Numbering)
-
Reserved
-
Ephemeris and clock correction Issue of
Data
semi- Mean motion difference from computed
circles value
/s
semi- Mean anomaly at reference time
circles
-
Eccentricity
m^0.5 Square root of the semi-major axis
semi- Longitude of ascending node of orbital
circles plane at weekly epoch
semi- Inclination angle at reference time
circles
semi- Argument of perigee
circles
semi- Rate of change of right ascension
circles
/s
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Byte Offset Number Scaling
Format
36
I2
2^-43
38
I2
2^-29
40
I2
2^-29
42
I2
2^-5
44
I2
2^-5
46
I2
2^-29
48
I2
2^-29
50
U2
60
52
I4
2^-34
56
I4
2^-46
60
I1
2^-59
61
U1
-
62
U2
60
64
I2
-
66
U1[2] -
68
U1
-
69
U1
-
70
U1
-
71
U1
-
72
U1[4] -
Name
Unit
Description
iDot
semi- Rate of change of inclination angle
circles
/s
cuc
radian Amplitude of the cosine harmonic
s
correction term to the argument of
latitude
cus
radian Amplitude of the sine harmonic correction
s
term to the argument of latitude
crc
radian Amplitude of the cosine harmonic
s
correction term to the orbit radius
crs
radian Amplitude of the sine harmonic correction
s
term to the orbit radius
cic
radian Amplitude of the cosine harmonic
s
correction term to the angle of inclination
cis
radian Amplitude of the sine harmonic correction
s
term to the angle of inclination
toe
s
Ephemeris reference time
af0
s
SV clock bias correction coefficient
af1
s/s SV clock drift correction coefficient
af2
s/s SV clock drift rate correction coefficient
square
d
sisaIndexE1E5 -
Signal-In-Space Accuracy index for dual
b
frequency E1-E5b
toc
s
Clock correction data reference Time of
Week
bgdE1E5b
-
E1-E5b Broadcast Group Delay
reserved2
-
Reserved
healthE1B
-
E1-B Signal Health Status
dataValidityE -
E1-B Data Validity Status
1B
healthE5b
-
E5b Signal Health Status
dataValidityE -
E5b Data Validity Status
5b
reserved3
-
Reserved
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5.12.4.2 UBX-MGA-GAL-ALM
Message
UBX-MGA-GAL-ALM
Description Firmware Type Comment
Message Structure
Galileo Almanac Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of Galileo almanac assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x02 32
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U1
-
ioda
5
U1
-
almWNa
6
U2
600 toa
8
I2
2^-9 deltaSqrtA
10
U2
2^-16 e
12
I2
2^-14 deltaI
14
I2
2^-15 omega0
16
I2
2^-33 omegaDot
18
I2
2^-15 omega
20
I2
2^-15 m0
22
I2
2^-19 af0
24
I2
2^-38 af1
26
U1
-
healthE1B
27
U1
-
healthE5b
28
U1[4] -
reserved2
Unit
Description
-
Message type (0x02 for this type)
-
Message version (0x00 for this version)
-
Galileo Satellite identifier (see Satellite
Numbering)
-
Reserved
-
Almanac Issue of Data
week Almanac reference week number
s
Almanac reference time
m^0.5 Difference with respect to the square root
of the nominal semi-major axis (29 600
km)
-
Eccentricity
semi- Inclination at reference time relative to i0
circles = 56 degree
semi- Longitude of ascending node of orbital
circles plane at weekly epoch
semi- Rate of change of right ascension
circles
/s
semi- Argument of perigee
circles
semi- Satellite mean anomaly at reference time
circles
s
Satellite clock correction bias 'truncated'
s/s Satellite clock correction linear 'truncated'
-
Satellite E1-B signal health status
-
Satellite E5b signal health status
-
Reserved
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5.12.4.3 UBX-MGA-GAL-TIMEOFFSET
Message
UBX-MGA-GAL-TIMEOFFSET
Description Firmware Type Comment
Message Structure
Galileo GPS time offset assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of Galileo time to GPS time offset.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x02 12
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4
Number Scaling
Format
U1
-
U1
-
U1[2] -
I2
2^-35
Name
type version reserved1 a0G
6
I2
2^-51 a1G
8
U1
3600 t0G
9
U1
-
wn0G
10
U1[2] -
reserved2
Unit
Description
s
s/s s weeks -
Message type (0x03 for this type) Message version (0x00 for this version) Reserved Constant term of the polynomial describing the offset Rate of change of the offset DReference time for GGTO data Week Number of GGTO reference Reserved
5.12.4.4 UBX-MGA-GAL-UTC
Message
UBX-MGA-GAL-UTC
Description Firmware Type Comment
Message Structure
Galileo UTC Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of Galileo UTC assistance to a receiver. See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x02 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8 12 13
Number Scaling
Format
U1
-
U1
-
U1[2] -
I4
2^-30
I4
2^-50
I1
-
U1
3600
Name
type version reserved1 a0 a1 dtLS tot
Unit
Description
-
Message type (0x05 for this type)
-
Message version (0x00 for this version)
-
Reserved
s
First parameter of UTC polynomial
s/s Second parameter of UTC polynomial
s
Delta time due to current leap seconds
s
UTC parameters reference time of week
(Galileo time)
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Byte Offset Number Scaling
Format
14
U1
-
Name
wnt
15
U1
-
wnLSF
16
U1
-
dN
17
I1
-
dTLSF
18
U1[2] -
reserved2
Unit
Description
weeks weeks
days s -
UTC parameters reference week number (the 8 bit WNt field) Week number at the end of which the future leap second becomes effective (the 8 bit WNLSF field) Day number at the end of which the future leap second becomes effective Delta time due to future leap seconds Reserved
5.12.5 UBX-MGA-GLO (0x13 0x06)
5.12.5.1 UBX-MGA-GLO-EPH
Message
UBX-MGA-GLO-EPH
Description Firmware
Type Comment
GLONASS Ephemeris Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GLONASS ephemeris assistance to a
receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x06 48
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U1
-
FT
5
U1
-
B
6
U1
-
M
7
I1
-
H
8
I4
2^-11 x
12
I4
2^-11 y
16
I4
2^-11 z
Unit
Description
-
Message type (0x01 for this type)
-
Message version (0x00 for this version)
-
GLONASS Satellite identifier (see Satellite
Numbering)
-
Reserved
-
User range accuracy
-
Health flag from string 2
-
Type of GLONASS satellite (1 indicates
GLONASS-M)
-
Carrier frequency number of navigation RF
signal, Range=(-7 .. 6), -128 for unknown
km X component of the SV position in PZ-90.
02 coordinate System
km Y component of the SV position in PZ-90.
02 coordinate System
km Z component of the SV position in PZ-90.
02 coordinate System
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Byte Offset Number Scaling
Format
20
I4
2^-20
Name
dx
24
I4
2^-20 dy
28
I4
2^-20 dz
32
I1
2^-30 ddx
33
I1
2^-30 ddy
34
I1
2^-30 ddz
35
U1
15
tb
36
I2
2^-40 gamma
38
U1
-
E
39
I1
2^-30 deltaTau
40
I4
2^-30 tau
44
U1[4] -
reserved2
Unit
Description
km/s X component of the SV velocity in PZ-90.
02 coordinate System
km/s Y component of the SV velocity in PZ-90.
02 coordinate System
km/s Z component of the SV velocity in PZ-90.
02 coordinate System
km/s^ X component of the SV acceleration in PZ-
2
90.02 coordinate System
km/s^ Y component of the SV acceleration in PZ-
2
90.02 coordinate System
km/s^ Z component of the SV acceleration in PZ-
2
90.02 coordinate System
minut Index of a time interval within current day
es
according to UTC(SU)
-
Relative carrier frequency deviation
days Ephemeris data age indicator
s
Time difference between L2 and L1 band
s
SV clock bias
-
Reserved
5.12.5.2 UBX-MGA-GLO-ALM
Message
UBX-MGA-GLO-ALM
Description Firmware
Type Comment
GLONASS Almanac Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GLONASS almanac assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x06 36
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
reserved1
4
U2
-
N
6
U1
-
M
Unit
Description
-
days
-
Message type (0x02 for this type) Message version (0x00 for this version) GLONASS Satellite identifier (see Satellite Numbering) Reserved Reference calender day number of almanac within the four-year period (from string 5) Type of GLONASS satellite (1 indicates GLONASS-M)
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Byte Offset Number Scaling
Format
7
U1
-
Name
C
8
I2
2^-18 tau
10
U2
2^-20 epsilon
12
I4
2^-20 lambda
16
I4
2^-20 deltaI
20
U4
2^-5 tLambda
24
I4
2^-9 deltaT
28
I1
2^-14 deltaDT
29
I1
-
H
30
I2
-
omega
32
U1[4] -
reserved2
Unit
Description
-
Unhealthy flag at instant of almanac
upload (1 indicates operability of satellite)
s
Coarse time correction to GLONASS time
-
Eccentricity
semi- Longitude of the first (within the N-day)
circles ascending node of satellite orbit in PC-90.
02 coordinate system
semi- Correction to the mean value of inclination
circles
s
Time of the first ascending node passage
s/orbit Correction to the mean value of Draconian
al-
period
period
s/orbit Rate of change of Draconian period
al-
period
^2
-
Carrier frequency number of navigation RF
signal, Range=(-7 .. 6)
-
Argument of perigee
-
Reserved
5.12.5.3 UBX-MGA-GLO-TIMEOFFSET
Message
UBX-MGA-GLO-TIMEOFFSET
Description Firmware Type Comment
Message Structure
GLONASS Auxiliary Time Offset Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of auxiliary GLONASS assistance (including the GLONASS time offsets to other GNSS systems) to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x06 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U2
-
Name
type version N
4
I4
2^-27 tauC
8
I4
2^-31 tauGps
Unit
Description
days
s s
Message type (0x03 for this type) Message version (0x00 for this version) Reference calendar day number within the four-year period of almanac (from string 5) Time scale correction to UTC(SU) time Correction to GPS time relative to GLONASS time
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Byte Offset Number Scaling
Format
12
I2
2^-10
14
I2
2^-16
16
U1[4] -
Name
B1 B2 reserved1
Unit
Description
s
Coefficient to determine delta UT1
s/msd Rate of change of delta UT1
-
Reserved
5.12.6 UBX-MGA-GPS (0x13 0x00)
5.12.6.1 UBX-MGA-GPS-EPH
Message
UBX-MGA-GPS-EPH
Description Firmware
Type Comment
GPS Ephemeris Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GPS ephemeris assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x00 68
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
3 4 5 6 7 8 10 12 13
14 16 20 22
24
28
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
U1
-
reserved1
U1
-
fitInterval
U1
-
uraIndex
U1
-
svHealth
I1
2^-31 tgd
U2
-
iodc
U2
2^4 toc
U1
-
reserved2
I1
2^-55 af2
I2
2^-43 af1
I4
2^-31 af0
I2
2^-5 crs
I2
2^-43 deltaN
I4
2^-31 m0
I2
2^-29 cuc
Unit
Description
-
Message type (0x01 for this type)
-
Message version (0x00 for this version)
-
GPS Satellite identifier (see Satellite
Numbering)
-
Reserved
-
Fit interval flag
-
URA index
-
SV health
s
Group delay differential
-
IODC
s
Clock data reference time
-
Reserved
s/s Time polynomial coefficient 2
square
d
s/s Time polynomial coefficient 1
s
Time polynomial coefficient 0
m
Crs
semi- Mean motion difference from computed
circles value
/s
semi- Mean anomaly at reference time
circles
radian Amplitude of cosine harmonic correction
s
term to argument of latitude
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Byte Offset Number Scaling
Format
30
I2
2^-29
Name
cus
32
U4
2^-33 e
36
U4
2^-19 sqrtA
40
U2
2^4 toe
42
I2
2^-29 cic
44
I4
2^-31 omega0
48
I2
2^-29 cis
50
I2
2^-5 crc
52
I4
2^-31 i0
56
I4
2^-31 omega
60
I4
2^-43 omegaDot
64
I2
2^-43 idot
66
U1[2] -
reserved3
Unit
Description
radian Amplitude of sine harmonic correction
s
term to argument of latitude
-
Eccentricity
m^0.5 Square root of the semi-major axis
s
Reference time of ephemeris
radian Amplitude of cos harmonic correction
s
term to angle of inclination
semi- Longitude of ascending node of orbit
circles plane at weekly epoch
radian Amplitude of sine harmonic correction
s
term to angle of inclination
m
Amplitude of cosine harmonic correction
term to orbit radius
semi- Inclination angle at reference time
circles
semi- Argument of perigee
circles
semi- Rate of right ascension
circles
/s
semi- Rate of inclination angle
circles
/s
-
Reserved
5.12.6.2 UBX-MGA-GPS-ALM
Message
UBX-MGA-GPS-ALM
Description Firmware Type Comment
Message Structure
GPS Almanac Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GPS almanac assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x00 36
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
svHealth
Unit
Description
-
Message type (0x02 for this type)
-
Message version (0x00 for this version)
-
GPS Satellite identifier (see Satellite
Numbering)
-
SV health information
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Byte Offset Number Scaling
Format
4
U2
2^-21
6
U1
-
Name
e almWNa
7
U1
2^12 toa
8
I2
2^-19 deltaI
10
I2
2^-38 omegaDot
12
U4
2^-11 sqrtA
16
I4
2^-23 omega0
20
I4
2^-23 omega
24
I4
2^-23 m0
28
I2
2^-20 af0
30
I2
2^-38 af1
32
U1[4] -
reserved1
Unit
Description
-
Eccentricity
week Reference week number of almanac (the 8
bit WNa field)
s
Reference time of almanac
semi- Delta inclination angle at reference time
circles
semi- Rate of right ascension
circles
/s
m^0.5 Square root of the semi-major axis
semi- Longitude of ascending node of orbit
circles plane
semi- Argument of perigee
circles
semi- Mean anomaly at reference time
circles
s
Time polynomial coefficient 0 (8 MSBs)
s/s Time polynomial coefficient 1
-
Reserved
5.12.6.3 UBX-MGA-GPS-HEALTH
Message
UBX-MGA-GPS-HEALTH
Description Firmware
Type Comment
GPS Health Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GPS health assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x00 40
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
type
-
Message type (0x04 for this type)
1
U1
-
version
-
Message version (0x00 for this version)
2
U1[2] -
reserved1
-
Reserved
4
U1[32] -
healthCode -
Each byte represents a GPS SV (1-32). The
6 LSBs of each byte contains the 6 bit
health code from subframes 4/5 page 25.
36
U1[4] -
reserved2
-
Reserved
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5.12.6.4 UBX-MGA-GPS-UTC
Message
UBX-MGA-GPS-UTC
Description Firmware Type Comment
Message Structure
GPS UTC Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GPS UTC assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x00 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8 12 13
Number Scaling
Format
U1
-
U1
-
U1[2] -
I4
2^-30
I4
2^-50
I1
-
U1
2^12
Name
type version reserved1 utcA0 utcA1 utcDtLS utcTot
14
U1
-
utcWNt
15
U1
-
utcWNlsf
16
U1
-
utcDn
17
I1
-
utcDtLSF
18
U1[2] -
reserved2
Unit
Description
s s/s s s
weeks
weeks
days
s -
Message type (0x05 for this type) Message version (0x00 for this version) Reserved First parameter of UTC polynomial Second parameter of UTC polynomial Delta time due to current leap seconds UTC parameters reference time of week (GPS time) UTC parameters reference week number (the 8 bit WNt field) Week number at the end of which the future leap second becomes effective (the 8 bit WNLSF field) Day number at the end of which the future leap second becomes effective Delta time due to future leap seconds Reserved
5.12.6.5 UBX-MGA-GPS-IONO
Message
UBX-MGA-GPS-IONO
Description Firmware
Type Comment
GPS Ionosphere Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of GPS ionospheric assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x00 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
type
Unit
Description
-
Message type (0x06 for this type)
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UBX-MGA-GPS continued
Byte Offset Number Scaling
Format
1
U1
-
2
U1[2] -
4
I1
2^-30
5
I1
2^-27
Name
version reserved1 ionoAlpha0 ionoAlpha1
6
I1
2^-24 ionoAlpha2
7
I1
2^-24 ionoAlpha3
8
I1
2^11 ionoBeta0
9
I1
2^14 ionoBeta1
10
I1
2^16 ionoBeta2
11
I1
2^16 ionoBeta3
12
U1[4] -
reserved2
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
s
Ionospheric parameter alpha0 [s]
s/semi- Ionospheric parameter alpha1 [s/semi-
circle circle]
s/(sem Ionospheric parameter alpha2 [s/semi-
i-
circle^2]
circle^
2)
s/(sem Ionospheric parameter alpha3 [s/semi-
i-
circle^3]
circle^
3)
s
Ionospheric parameter beta0 [s]
s/semi- Ionospheric parameter beta1 [s/semi-
circle circle]
s/(sem Ionospheric parameter beta2 [s/semi-
i-
circle^2]
circle^
2)
s/(sem Ionospheric parameter beta3 [s/semi-
i-
circle^3]
circle^
3)
-
Reserved
5.12.7 UBX-MGA-INI (0x13 0x40)
5.12.7.1 UBX-MGA-INI-POS_XYZ
Message
UBX-MGA-INI-POS_XYZ
Description Firmware
Type Comment
Initial Position Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying position assistance that is inaccurate by more than the specified
position accuracy, may lead to substantially degraded receiver performance.
This message allows the delivery of initial position assistance to a receiver in
cartesian ECEF coordinates. This message is equivalent to the UBX-MGA-INI-
POS_LLH message, except for the coordinate system.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x40 20
see below CK_A CK_B
Payload Contents:
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UBX-MGA-INI continued
Byte Offset Number Scaling
Format
Byte Offset Number Scaling
Format
0
U1
-
1
U1
-
2
U1[2] -
4
I4
-
8
I4
-
12
I4
-
16
U4
-
Name
Name
type version reserved1 ecefX ecefY ecefZ posAcc
Unit
Description
Unit
Description
-
Message type (0x00 for this type)
-
Message version (0x00 for this version)
-
Reserved
cm WGS84 ECEF X coordinate
cm WGS84 ECEF Y coordinate
cm WGS84 ECEF Z coordinate
cm Position accuracy (stddev)
5.12.7.2 UBX-MGA-INI-POS_LLH
Message
UBX-MGA-INI-POS_LLH
Description Firmware Type Comment
Message Structure
Initial Position Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying position assistance that is inaccurate by more than the specified position accuracy, may lead to substantially degraded receiver performance.
This message allows the delivery of initial position assistance to a receiver in WGS84 lat/long/alt coordinates. This message is equivalent to the UBX-MGAINI-POS_XYZ message, except for the coordinate system.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x40 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8 12 16
Number Scaling
Format
U1
-
U1
-
U1[2] -
I4
1e-7
I4
1e-7
I4
-
U4
-
Name
type version reserved1 lat lon alt posAcc
Unit
Description
-
Message type (0x01 for this type)
-
Message version (0x00 for this version)
-
Reserved
deg WGS84 Latitude
deg WGS84 Longitude
cm WGS84 Altitude
cm Position accuracy (stddev)
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5.12.7.3 UBX-MGA-INI-TIME_UTC
Message
UBX-MGA-INI-TIME_UTC
Description Firmware
Type Comment
Initial Time Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying time assistance that is inaccurate by more than the specified time
accuracy, may lead to substantially degraded receiver performance.
This message allows the delivery of UTC time assistance to a receiver. This
message is equivalent to the UBX-MGA-INI-TIME_GNSS message, except for the
time base.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x40 24
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
X1
-
Name
type version ref
3
I1
-
leapSecs
4
U2
-
year
6
U1
-
month
7
U1
-
day
8
U1
-
hour
9
U1
-
minute
10
U1
-
second
11
U1
-
reserved1
12
U4
-
ns
16
U2
-
tAccS
18
U1[2] -
reserved2
20
U4
-
tAccNs
Unit
Description
-
Message type (0x10 for this type)
-
Message version (0x00 for this version)
-
Reference to be used to set time (see
graphic below)
s
Number of leap seconds since 1980 (or
0x80 = -128 if unknown)
-
Year
-
Month, starting at 1
-
Day, starting at 1
-
Hour, from 0 to 23
-
Minute, from 0 to 59
s
Seconds, from 0 to 59
-
Reserved
ns
Nanoseconds, from 0 to 999,999,999
s
Seconds part of time accuracy
-
Reserved
ns
Nanoseconds part of time accuracy, from
0 to 999,999,999
Bitfield ref
This graphic explains the bits of ref
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Name
source
fall last
Description 0: none, i.e. on receipt of message (will be inaccurate!) 1: relative to pulse sent to EXTINT0 2: relative to pulse sent to EXTINT1 3-15: reserved use falling edge of EXTINT pulse (default rising) - only if source is EXTINT use last EXTINT pulse (default next pulse) - only if source is EXTINT
5.12.7.4 UBX-MGA-INI-TIME_GNSS
Message
UBX-MGA-INI-TIME_GNSS
Description Firmware Type Comment
Message Structure
Initial Time Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying time assistance that is inaccurate by more than the specified time
accuracy, may lead to substantially degraded receiver performance. This message allows the delivery of time assistance to a receiver in a chosen
GNSS timebase. This message is equivalent to the UBX-MGA-INI-TIME_UTC message, except for the time base.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x40 24
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
X1
-
Name
type version ref
3
U1
-
gnssId
4
U1[2] -
reserved1
6
U2
-
week
8
U4
-
tow
12
U4
-
ns
16
U2
-
tAccS
18
U1[2] -
reserved2
20
U4
-
tAccNs
Unit
Description
-
Message type (0x11 for this type)
-
Message version (0x00 for this version)
-
Reference to be used to set time (see
graphic below)
-
Source of time information. Currently
supported:
0: GPS time
2: Galileo time
3: BeiDou time
6: GLONASS time: week = 834 + ((N4-
1)*1461 + Nt)/7, tow = (((N4-1)*1461 + Nt) %
7) * 86400 + tod
-
Reserved
-
GNSS week number
s
GNSS time of week
ns
GNSS time of week, nanosecond part from
0 to 999,999,999
s
Seconds part of time accuracy
-
Reserved
ns
Nanoseconds part of time accuracy, from
0 to 999,999,999
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Bitfield ref
This graphic explains the bits of ref
u-blox ZED-F9P Interface Description - Manual
Name
source
fall last
Description 0: none, i.e. on receipt of message (will be inaccurate!) 1: relative to pulse sent to EXTINT0 2: relative to pulse sent to EXTINT1 3-15: reserved use falling edge of EXTINT pulse (default rising) - only if source is EXTINT use last EXTINT pulse (default next pulse) - only if source is EXTINT
5.12.7.5 UBX-MGA-INI-CLKD
Message
UBX-MGA-INI-CLKD
Description Firmware
Type Comment
Initial Clock Drift Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying clock drift assistance that is inaccurate by more than the specified
accuracy, may lead to substantially degraded receiver performance.
This message allows the delivery of clock drift assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x40 12
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4 8
Number Scaling
Format
U1
-
U1
-
U1[2] -
I4
-
U4
-
Name
type version reserved1 clkD clkDAcc
Unit
Description
ns/s ns/s
Message type (0x20 for this type) Message version (0x00 for this version) Reserved Clock drift Clock drift accuracy
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5.12.7.6 UBX-MGA-INI-FREQ
Message
UBX-MGA-INI-FREQ
Description Firmware
Type Comment
Initial Frequency Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
Supplying external frequency assistance that is inaccurate by more than the
specified accuracy, may lead to substantially degraded receiver performance.
This message allows the delivery of external frequency assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x40 12
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 3 4 8
Number Scaling
Format
U1
-
U1
-
U1
-
X1
-
I4
1e-2
U4
-
Name
type version reserved1 flags freq freqAcc
Unit
Description
-
Message type (0x21 for this type)
-
Message version (0x00 for this version)
-
Reserved
-
Frequency reference (see graphic below)
Hz
Frequency
ppb Frequency accuracy
Bitfield flags
This graphic explains the bits of flags
Name
source
fall
Description 0: frequency available on EXTINT0 1: frequency available on EXTINT1 2-15: reserved use falling edge of EXTINT pulse (default rising)
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5.12.7.7 UBX-MGA-INI-EOP
Message
UBX-MGA-INI-EOP
Description Firmware Type Comment
Message Structure
Earth Orientation Parameters Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of new Earth Orientation Parameters (EOP) to
a receiver to improve AssistNow Autonomous operation.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x40 72
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 4
Number Scaling
Format
U1
-
U1
-
U1[2] -
U2
-
Name
type version reserved1 d2kRef
6
U2
-
d2kMax
8
I4
2^-30 xpP0
12
I4
2^-30 xpP1
16
I4
2^-30 ypP0
20
I4
2^-30 ypP1
24
I4
2^-25 dUT1
28
I4
2^-30 ddUT1
32
U1[40] -
reserved2
Unit
Description
-
Message type (0x30 for this type)
-
Message version (0x00 for this version)
-
Reserved
d
reference time (days since 1.1.2000 12.00h
UTC)
d
expiration time (days since 1.1.2000 12.00h
UTC)
arcsec x_p t^0 polynomial term (offset)
arcsec x_p t^1 polynomial term (drift)
/d
arcsec y_p t^0 polynomial term (offset)
arcsec y_p t^1 polynomial term (drift)
/d
s
dUT1 t^0 polynomial term (offset)
s/d dUT1 t^1 polynomial term (drift)
-
Reserved
5.12.8 UBX-MGA-QZSS (0x13 0x05)
5.12.8.1 UBX-MGA-QZSS-EPH
Message
UBX-MGA-QZSS-EPH
Description Firmware
Type Comment
QZSS Ephemeris Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of QZSS ephemeris assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x13 0x05 68
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
type
Unit
Description
-
Message type (0x01 for this type)
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UBX-MGA-QZSS continued
Byte Offset Number Scaling
Format
1
U1
-
2
U1
-
Name
version svId
3
U1
-
reserved1
4
U1
-
fitInterval
5
U1
-
uraIndex
6
U1
-
svHealth
7
I1
2^-31 tgd
8
U2
-
iodc
10
U2
2^4 toc
12
U1
-
reserved2
13
I1
2^-55 af2
14
I2
2^-43 af1
16
I4
2^-31 af0
20
I2
2^-5 crs
22
I2
2^-43 deltaN
24
I4
2^-31 m0
28
I2
2^-29 cuc
30
I2
2^-29 cus
32
U4
2^-33 e
36
U4
2^-19 sqrtA
40
U2
2^4 toe
42
I2
2^-29 cic
44
I4
2^-31 omega0
48
I2
2^-29 cis
50
I2
2^-5 crc
52
I4
2^-31 i0
56
I4
2^-31 omega
60
I4
2^-43 omegaDot
Unit
Description
-
Message version (0x00 for this version)
-
QZSS Satellite identifier (see Satellite
Numbering), Range 1-5
-
Reserved
-
Fit interval flag
-
URA index
-
SV health
s
Group delay differential
-
IODC
s
Clock data reference time
-
Reserved
s/s Time polynomial coefficient 2
square
d
s/s Time polynomial coefficient 1
s
Time polynomial coefficient 0
m
Crs
semi- Mean motion difference from computed
circles value
/s
semi- Mean anomaly at reference time
circles
radian Amp of cosine harmonic corr term to arg
s
of lat
radian Amp of sine harmonic corr term to arg of
s
lat
-
eccentricity
m^0.5 Square root of the semi-major axis A
s
Reference time of ephemeris
radian Amp of cos harmonic corr term to angle of
s
inclination
semi- Long of asc node of orbit plane at weekly
circles epoch
radian Amp of sine harmonic corr term to angle
s
of inclination
m
Amp of cosine harmonic corr term to orbit
radius
semi- Inclination angle at reference time
circles
semi- Argument of perigee
circles
semi- Rate of right ascension
circles
/s
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Byte Offset Number Scaling
Format
64
I2
2^-43
Name
idot
66
U1[2] -
reserved3
Unit
Description
semi- Rate of inclination angle
circles
/s
-
Reserved
5.12.8.2 UBX-MGA-QZSS-ALM
Message
UBX-MGA-QZSS-ALM
Description Firmware Type Comment
Message Structure
QZSS Almanac Assistance
Supported on:
· u-blox 9 with protocol version 27.11
Input
This message allows the delivery of QZSS almanac assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x05 36
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
type version svId
3
U1
-
svHealth
4
U2
2^-21 e
6
U1
-
almWNa
7
U1
2^12 toa
8
I2
2^-19 deltaI
10
I2
2^-38 omegaDot
12
U4
2^-11 sqrtA
16
I4
2^-23 omega0
20
I4
2^-23 omega
24
I4
2^-23 m0
28
I2
2^-20 af0
30
I2
2^-38 af1
Unit
Description
-
Message type (0x02 for this type)
-
Message version (0x00 for this version)
-
QZSS Satellite identifier (see Satellite
Numbering), Range 1-5
-
Almanac SV health information
-
Almanac eccentricity
week Reference week number of almanac (the 8
bit WNa field)
s
Reference time of almanac
semi- Delta inclination angle at reference time
circles
semi- Almanac rate of right ascension
circles
/s
m^0.5 Almanac square root of the semi-major
axis A
semi- Almanac long of asc node of orbit plane at
circles weekly
semi- Almanac argument of perigee
circles
semi- Almanac mean anomaly at reference time
circles
s
Almanac time polynomial coefficient 0 (8
MSBs)
s/s Almanac time polynomial coefficient 1
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UBX-MGA-QZSS continued
Byte Offset Number Scaling
Format
32
U1[4] -
Name
reserved1
Unit
Description
-
Reserved
5.12.8.3 UBX-MGA-QZSS-HEALTH
Message
UBX-MGA-QZSS-HEALTH
Description Firmware Type Comment
Message Structure
QZSS Health Assistance
Supported on: · u-blox 9 with protocol version 27.11
Input
This message allows the delivery of QZSS health assistance to a receiver.
See the section AssistNow online in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x13 0x05 12
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
type
-
Message type (0x04 for this type)
1
U1
-
version
-
Message version (0x00 for this version)
2
U1[2] -
reserved1
-
Reserved
4
U1[5] -
healthCode -
Each byte represents a QZSS SV (1-5). The
6 LSBs of each byte contains the 6 bit
health code from subframes 4/5, data ID =
3, SV ID = 51
9
U1[3] -
reserved2
-
Reserved
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5.13 UBX-MON (0x0A)
Monitoring Messages: i.e. Communication Status, CPU Load, Stack Usage, Task Status. Messages in the MON class are used to report the receiver status, such as CPU load, stack usage, I/O subsystem statistics etc. 5.13.1 UBX-MON-COMMS (0x0A 0x36)
5.13.1.1 Comm port information
Message
UBX-MON-COMMS
Description Firmware Type Comment
Message Structure
Comm port information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Consolidated communications information for all ports. The size of the message is determined by the number of ports that are in use on the receiver. A port is
only included if communication, either send or receive, has been initiated on that
port.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0A 0x36 8 + 40*nPorts
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 3 4
Number Scaling
Format
U1
-
U1
-
X1
-
U1[1] -
U1[4] -
Name
version nPorts txErrors reserved1 protIds
Unit
Description
-
Message version (0x00 for this version)
-
Number of ports included
-
tx error bitmask (see graphic below)
-
Reserved
The identifiers of the protocols reported in
the msgs array. 0: UBX, 1: NMEA, 2:
RTCM2, 5: RTCM3, 256: No protocol
reported.
Start of repeated block (nPorts times)
8 + 40*N U2
-
10 + 40*N U2
-
12 + 40*N U4
-
16 + 40*N U1
-
17 + 40*N U1
-
18 + 40*N U2
-
20 + 40*N U4
-
24 + 40*N U1
-
25 + 40*N U1
-
26 + 40*N U2
-
portId
txPending
txBytes txUsage
txPeakUsage rxPending rxBytes rxUsage
rxPeakUsage overrunErrs
-
bytes
bytes %
% bytes bytes %
% -
Unique identifier for the port. See section Communications ports in Integration manual for details. Number of bytes pending in transmitter buffer Number of bytes ever sent Maximum usage transmitter buffer during the last sysmon period Maximum usage transmitter buffer Number of bytes in receiver buffer Number of bytes ever received Maximum usage receiver buffer during the last sysmon period Maximum usage receiver buffer Number of 100ms timeslots with overrun errors
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UBX-MON-COMMS continued Byte Offset Number Scaling
Format
28 + 40*N U2[4] -
Name
msgs
36 + 40*N U1[8] -
44 + 40*N U4
-
End of repeated block
reserved2 skipped
Bitfield txErrors
This graphic explains the bits of txErrors
Unit
Description
msg
bytes
Number of successfully parsed messages for each protocol. The reported protocols are identified through the protIds field. Reserved Number of skipped bytes
Name
mem alloc
Description Memory Allocation error Allocation error (TX buffer full)
5.13.2 UBX-MON-GNSS (0x0A 0x28)
5.13.2.1 Information message major GNSS selection
Message
UBX-MON-GNSS
Description Firmware Type Comment
Message Structure
Information message major GNSS selection
Supported on:
· u-blox 9 with protocol version 27.11
Polled
This message reports major GNSS selection. It does this by means of bit masks in U1 fields. Each bit in a bit mask corresponds to one major GNSS.
Augmentation systems are not reported.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0A 0x28 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
X1
-
Name
version supported
Unit
Description
-
Message version (0x01for this version)
-
A bit mask showing the major GNSS that
can be supported by this receiver (see
graphic below)
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UBX-MON-GNSS continued
Byte Offset Number Scaling Name
Unit
Format
2
X1
-
defaultGnss -
3
X1
-
enabled
-
4
U1
-
simultaneous -
5
U1[3] -
reserved1
-
Description
A bit mask showing the default major GNSS selection. If the default major GNSS selection is currently configured in the efuse for this receiver, it takes precedence over the default major GNSS selection configured in the executing firmware of this receiver. (see graphic below) A bit mask showing the current major GNSS selection enabled for this receiver (see graphic below) Maximum number of concurrent major GNSS that can be supported by this receiver Reserved
Bitfield supported
This graphic explains the bits of supported
Name
GPSSup GlonassSup BeidouSup GalileoSup
Description GPS is supported GLONASS is supported BeiDou is supported Galileo is supported
Bitfield defaultGnss
This graphic explains the bits of defaultGnss
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Name
GPSDef GlonassDef BeidouDef GalileoDef
Description GPS is default-enabled GLONASS is default-enabled BeiDou is default-enabled Galileo is default-enabled
Bitfield enabled
This graphic explains the bits of enabled
u-blox ZED-F9P Interface Description - Manual
Name
GPSEna GlonassEna BeidouEna GalileoEna
Description GPS is enabled GLONASS is enabled BeiDou is enabled Galileo is enabled
5.13.3 UBX-MON-HW2 (0x0A 0x0B)
5.13.3.1 Extended Hardware Status
Message
UBX-MON-HW2
Description Firmware
Type Comment
Extended Hardware Status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-HW3 and UBX-
MON-RF instead.
Status of different aspects of the hardware such as Imbalance, Low-Level
Configuration and POST Results.
The first four parameters of this message represent the complex signal from
the RF front end. The following rules of thumb apply:
· The smaller the absolute value of the variable ofsI and ofsQ, the better.
· Ideally, the magnitude of the I-part (magI) and the Q-part (magQ) of the
complex signal should be the same.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x0B 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
I1
-
Name
ofsI
Unit
Description
-
Imbalance of I-part of complex signal,
scaled (-128 = max. negative imbalance,
127 = max. positive imbalance)
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UBX-MON-HW2 continued
Byte Offset Number Scaling Name
Unit
Description
Format
1
U1
-
magI
-
Magnitude of I-part of complex signal,
scaled (0 = no signal, 255 = max.
magnitude)
2
I1
-
ofsQ
-
Imbalance of Q-part of complex signal,
scaled (-128 = max. negative imbalance,
127 = max. positive imbalance)
3
U1
-
magQ
-
Magnitude of Q-part of complex signal,
scaled (0 = no signal, 255 = max.
magnitude)
4
U1
-
cfgSource
-
Source of low-level configuration
(114 = ROM, 111 = OTP, 112 = config pins,
102 = flash image)
5
U1[3] -
reserved1
-
Reserved
8
U4
-
lowLevCfg
-
Low-level configuration (obsolete in
protocol versions greater than 15)
12
U1[8] -
reserved2
-
Reserved
20
U4
-
postStatus -
POST status word
24
U1[4] -
reserved3
-
Reserved
5.13.4 UBX-MON-HW3 (0x0A 0x37)
5.13.4.1 HW I/O pin information
Message
UBX-MON-HW3
Description Firmware
Type Comment
HW I/O pin information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message contains information specific to each HW I/O pin, for example
whether the pin is set as Input or Output.
For the antenna supervisor status and other RF status information, see the UBX-
MON-RF message.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x37 22 + 6*nPins
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2 3
Number Scaling
Format
U1
-
U1
-
X1
-
CH[10] -
Name
version nPins flags hwVersion
13
U1[9] -
reserved1
Unit
Description
-
Message version (0x00 for this version)
-
The number of I/O pins included
-
Flags (see graphic below)
-
Zero-terminated Hardware Version String
(same as that returned in the UBX-MON-
VER message)
-
Reserved
Start of repeated block (nPins times)
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UBX-MON-HW3 continued
Byte Offset Number Scaling
Format
22 + 6*N U2
-
Name
pinId
24 + 6*N X2
-
26 + 6*N U1
-
27 + 6*N U1
-
End of repeated block
pinMask VP reserved2
Bitfield flags
This graphic explains the bits of flags
Unit
Description
-
Identifier for the pin, including both
external and internal pins.
-
Pin mask (see graphic below)
-
Virtual pin mapping
-
Reserved
Name
rtcCalib safeBoot xtalAbsent
Description RTC is calibrated safeBoot mode (0 = inactive, 1 = active) RTC xtal has been determined to be absent
Bitfield pinMask
This graphic explains the bits of pinMask
Name
periphPIO pinBank direction value vpManager pioIrq pioPullHigh pioPullLow
Description Pin is set to peripheral or PIO? 0=Peripheral 1=PIO Bank the pin belongs to, where 0=A 1=B 2=C 3=D 4=E 5=F 6=G 7=H Pin direction? 0=Input 1=Output Pin value? 0=Low 1=High Used by Virtual Pin Manager? 0=No 1=Yes Interrupt enabled? 0=No 1=Yes Using Pull High Resistor? 0=No 1=Yes Using Pull Low Resistor 0=No 1=Yes
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5.13.5 UBX-MON-HW (0x0A 0x09)
5.13.5.1 Hardware Status
Message
UBX-MON-HW
Description Firmware
Type Comment
Hardware Status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-HW3 and UBX-
MON-RF instead.
Status of different aspect of the hardware, such as Antenna, PIO/Peripheral
Pins, Noise Level, Automatic Gain Control (AGC)
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x09 60
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
X4
-
pinSel
-
Mask of Pins Set as Peripheral/PIO
4
X4
-
pinBank
-
Mask of Pins Set as Bank A/B
8
X4
-
pinDir
-
Mask of Pins Set as Input/Output
12
X4
-
pinVal
-
Mask of Pins Value Low/High
16
U2
-
noisePerMS -
Noise Level as measured by the GPS Core
18
U2
-
agcCnt
-
AGC Monitor (counts SIGHI xor SIGLO,
range 0 to 8191)
20
U1
-
aStatus
-
Status of the Antenna Supervisor State
Machine (0=INIT, 1=DONTKNOW, 2=OK,
3=SHORT, 4=OPEN)
21
U1
-
aPower
-
Current PowerStatus of Antenna (0=OFF,
1=ON, 2=DONTKNOW)
22
X1
-
flags
-
Flags (see graphic below)
23
U1
-
reserved1
-
Reserved
24
X4
-
usedMask
-
Mask of Pins that are used by the Virtual
Pin Manager
28
U1[17] -
VP
-
Array of Pin Mappings for each of the 17
Physical Pins
45
U1
-
jamInd
-
CW Jamming indicator, scaled (0 = no CW
jamming, 255 = strong CW jamming)
46
U1[2] -
reserved2
-
Reserved
48
X4
-
pinIrq
-
Mask of Pins Value using the PIO Irq
52
X4
-
pullH
-
Mask of Pins Value using the PIO Pull High
Resistor
56
X4
-
pullL
-
Mask of Pins Value using the PIO Pull Low
Resistor
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
rtcCalib safeBoot jammingState
xtalAbsent
Description RTC is calibrated safeBoot mode (0 = inactive, 1 = active) output from Jamming/Interference Monitor (0 = unknown or feature disabled, 1 = ok - no significant jamming, 2 = warning - interference visible but fix OK, 3 = critical - interference visible and no fix) RTC xtal has been determined to be absent.
5.13.6 UBX-MON-IO (0x0A 0x02)
5.13.6.1 I/O Subsystem Status
Message
UBX-MON-IO
Description Firmware Type Comment
Message Structure
I/O Subsystem Status
Supported on: · u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-COMMS
instead. The size of the message is determined by the number of ports 'N' the receiver
supports, i.e. on u-blox 5 the number of ports is 6.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0A 0x02 0 + 20*N
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
Start of repeated block (N times)
N*20
U4
-
4 + 20*N U4
-
8 + 20*N U2
-
10 + 20*N U2
-
12 + 20*N U2
-
14 + 20*N U2
-
16 + 20*N U1[4] -
rxBytes txBytes parityErrs
framingErrs
overrunErrs
breakCond
reserved1
bytes bytes -
-
-
-
-
Number of bytes ever received Number of bytes ever sent Number of 100ms timeslots with parity errors Number of 100ms timeslots with framing errors Number of 100ms timeslots with overrun errors Number of 100ms timeslots with break conditions Reserved
End of repeated block
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5.13.7 UBX-MON-MSGPP (0x0A 0x06)
5.13.7.1 Message Parse and Process Status
Message
UBX-MON-MSGPP
Description Firmware
Type Comment
Message Parse and Process Status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-COMMS
instead.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x06 120
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling Format
U2[8] -
Name
msg1
16
U2[8] -
msg2
32
U2[8] -
msg3
48
U2[8] -
msg4
64
U2[8] -
msg5
80
U2[8] -
msg6
96
U4[6] -
skipped
Unit
Description
msgs msgs msgs msgs msgs msgs bytes
Number of successfully parsed messages for each protocol on port0 Number of successfully parsed messages for each protocol on port1 Number of successfully parsed messages for each protocol on port2 Number of successfully parsed messages for each protocol on port3 Number of successfully parsed messages for each protocol on port4 Number of successfully parsed messages for each protocol on port5 Number skipped bytes for each port
5.13.8 UBX-MON-PATCH (0x0A 0x27)
5.13.8.1 Output information about installed patches.
Message
UBX-MON-PATCH
Description Firmware
Type Comment
Output information about installed patches.
Supported on:
· u-blox 9 with protocol version 27.11
Polled
-
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x27 4 + 16*nEntries
see below CK_A CK_B
Payload Contents:
Byte Offset
0 2
Number Scaling
Format
U2
-
U2
-
Name
version nEntries
Unit
Description
-
Type of the message. 0x1 for this one.
-
The number of patches that is output.
Start of repeated block (nEntries times)
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Byte Offset Number Scaling Name
Unit
Format
4 + 16*N X4
-
patchInfo
-
8 + 16*N U4
-
12 + 16*N U4
-
16 + 16*N U4
-
End of repeated block
comparatorNum ber patchAddress -
patchData
-
Description
Additional information about the patch not stated in the patch header. (see graphic below) The number of the comparator.
The address that the targeted by the patch. The data that will be inserted at the patchAddress.
Bitfield patchInfo
This graphic explains the bits of patchInfo
Name
activated location
Description 1: the patch is active. 0: otherwise. Indicates where the patch is stored. 0: eFuse, 1: ROM, 2: BBR, 3: file system.
5.13.9 UBX-MON-RF (0x0A 0x38)
5.13.9.1 RF information
Message
UBX-MON-RF
Description Firmware
Type Comment
Message Structure
RF information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Information for each RF block.
Header
Class ID Length (Bytes)
0xB5 0x62 0x0A 0x38 4 + 24*nBlocks
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1[2] -
Name
version nBlocks reserved1
Unit
Description
-
Message version (0x00 for this version)
-
The number of RF blocks included
-
Reserved
Start of repeated block (nBlocks times)
4 + 24*N U1
-
blockId
5 + 24*N X1
-
flags
-
RF block id
-
Flags (see graphic below)
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UBX-MON-RF continued
Byte Offset Number Scaling Name
Unit
Description
Format
6 + 24*N U1
-
7 + 24*N U1
-
8 + 24*N U4
-
12 + 24*N U1[4] -
16 + 24*N U2
-
18 + 24*N U2
-
20 + 24*N U1
-
21 + 24*N I1
-
22 + 24*N U1
-
23 + 24*N I1
-
24 + 24*N U1
-
25 + 24*N U1[3] -
antStatus
-
antPower
-
postStatus -
reserved2
-
noisePerMS -
agcCnt
-
jamInd
-
ofsI
-
magI
-
ofsQ
-
magQ
-
reserved3
-
Status of the antenna supervisor state machine (0x00=INIT,0x01=DONTKNOW, 0x02=OK,0x03=SHORT,0x04=OPEN) Current power status of antenna (0x00=OFF,0x01=ON,0x02=DONTKNOW) POST status word Reserved Noise level as measured by the GPS core AGC Monitor (counts SIGHI xor SIGLO, range 0 to 8191) CW jamming indicator, scaled (0=no CW jamming, 255 = strong CW jamming) Imbalance of I-part of complex signal, scaled (-128 = max. negative imbalance, 127 = max. positive imbalance) Magnitude of I-part of complex signal, scaled (0= no signal, 255 = max. magnitude) Imbalance of Q-part of complex signal, scaled (-128 = max. negative imbalance, 127 = max. positive imbalance) Magnitude of Q-part of complex signal, scaled (0= no signal, 255 = max. magnitude) Reserved
End of repeated block
Bitfield flags
This graphic explains the bits of flags
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Name
jammingState
Description output from Jamming/Interference Monitor (0 = unknown or feature disabled, 1 = ok - no significant jamming, 2 = warning - interference visible but fix OK, 3 = critical - interference visible and no fix)
5.13.10 UBX-MON-RXBUF (0x0A 0x07)
5.13.10.1 Receiver Buffer Status
Message
UBX-MON-RXBUF
Description Firmware Type Comment
Message Structure
Receiver Buffer Status
Supported on: · u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-COMMS
instead.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0A 0x07 24
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling Format
U2[6] -
Name
pending
12
U1[6] -
usage
18
U1[6] -
peakUsage
Unit
Description
bytes % %
Number of bytes pending in receiver buffer for each target Maximum usage receiver buffer during the last sysmon period for each target Maximum usage receiver buffer for each target
5.13.11 UBX-MON-RXR (0x0A 0x21)
5.13.11.1 Receiver Status Information
Message
UBX-MON-RXR
Description
Receiver Status Information
Firmware
Type Comment
Supported on:
· u-blox 9 with protocol version 27.11
Output
The receiver ready message is sent when the receiver changes from or to backup
mode.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0A 0x21 1
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
X1
-
Name
flags
Unit
Description
-
Receiver status flags (see graphic below)
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
awake
Description not in Backup mode
5.13.12 UBX-MON-TXBUF (0x0A 0x08)
5.13.12.1 Transmitter Buffer Status
Message
UBX-MON-TXBUF
Description Firmware Type Comment
Message Structure
Transmitter Buffer Status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message is deprecated in this protocol version. Use UBX-MON-COMMS instead.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0A 0x08 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling Format
U2[6] -
Name
pending
12
U1[6] -
usage
18
U1[6] -
peakUsage
24
U1
-
tUsage
25
U1
-
tPeakusage
26
X1
-
errors
27
U1
-
reserved1
Unit
Description
bytes % % %
% -
Number of bytes pending in transmitter buffer for each target Maximum usage transmitter buffer during the last sysmon period for each target Maximum usage transmitter buffer for each target Maximum usage of transmitter buffer during the last sysmon period for all targets Maximum usage of transmitter buffer for all targets Error bitmask (see graphic below) Reserved
Bitfield errors
This graphic explains the bits of errors
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Name
limit mem alloc
Description Buffer limit of corresponding target reached Memory Allocation error Allocation error (TX buffer full)
5.13.13 UBX-MON-VER (0x0A 0x04)
5.13.13.1 Receiver/Software Version
Message
UBX-MON-VER
Description Firmware
Type Comment
Message Structure
Receiver/Software Version
Supported on:
· u-blox 9 with protocol version 27.11
Polled
-
Header
Class ID Length (Bytes)
0xB5 0x62 0x0A 0x04 40 + 30*N
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset
0 30
Number Scaling Format
CH[30 ] CH[10] -
Name
swVersion hwVersion
Unit
Description
-
Zero-terminated Software Version String.
-
Zero-terminated Hardware Version String
Start of repeated block (N times)
40 + 30*N CH[30 -
extension
-
]
Extended software information strings. A series of zero-terminated strings. Each extension field is 30 characters long and contains varying software information. Not all extension fields may appear. Example reported information can be: the software version string of the underlying ROM (when the receiver's firmware is running from flash), the firmware version, the supported protocol version, the module identifier, the Flash Information Structure (FIS) file information, the supported major GNSS, the supported augmentation systems.
End of repeated block
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5.14 UBX-NAV (0x01)
Navigation Results Messages: i.e. Position, Speed, Time, Acceleration, Heading, DOP, SVs used. Messages in the NAV class are used to output navigation data such as position, altitude and velocity in a number of formats. Additionally, status flags and accuracy figures are output. The messages are generated with the configured navigation/measurement rate. 5.14.1 UBX-NAV-CLOCK (0x01 0x22)
5.14.1.1 Clock Solution
Message
UBX-NAV-CLOCK
Description Firmware
Type Comment
Clock Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
-
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x22 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
I4
-
clkB
8
I4
-
clkD
12
U4
-
tAcc
16
U4
-
fAcc
Unit
Description
ms
ns ns/s ns ps/s
GPS time of week of the navigation epoch. See the section Navigation epochs in Integration manual for details. See the section iTOW timestamps in Integration manual for details. Clock bias Clock drift Time accuracy estimate Frequency accuracy estimate
5.14.2 UBX-NAV-DOP (0x01 0x04)
5.14.2.1 Dilution of precision
Message
UBX-NAV-DOP
Description Firmware
Type
Dilution of precision Supported on: · u-blox 9 with protocol version 27.11 Periodic/Polled
Comment
· DOP values are dimensionless.
· All DOP values are scaled by a factor of 100. If the unit transmits a value of e.g.
156, the DOP value is 1.56.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x04 18
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-NAV-DOP continued
Byte Offset Number Scaling
Format
0
U4
-
Name
iTOW
4
U2
0.01 gDOP
6
U2
0.01 pDOP
8
U2
0.01 tDOP
10
U2
0.01 vDOP
12
U2
0.01 hDOP
14
U2
0.01 nDOP
16
U2
0.01 eDOP
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
Geometric DOP
-
Position DOP
-
Time DOP
-
Vertical DOP
-
Horizontal DOP
-
Northing DOP
-
Easting DOP
5.14.3 UBX-NAV-EOE (0x01 0x61)
5.14.3.1 End Of Epoch
Message
UBX-NAV-EOE
Description Firmware
Type Comment
End Of Epoch
Supported on:
· u-blox 9 with protocol version 27.11
Periodic
This message is intended to be used as a marker to collect all navigation
messages of an epoch. It is output after all enabled NAV class messages (except
UBX-NAV-HNR) and after all enabled NMEA messages.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x61 4
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
Unit
Description
ms GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details.
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5.14.4 UBX-NAV-GEOFENCE (0x01 0x39)
5.14.4.1 Geofencing status
Message
UBX-NAV-GEOFENCE
Description Firmware Type Comment
Message Structure
Geofencing status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message outputs the evaluated states of all configured geofences for the current epoch's position.
See the section Geofencing in Integration manual for feature details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x39 8 + 2*numFences
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U1
-
version
5
U1
-
status
6
U1
-
numFences
7
U1
-
combState
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
Message version (0x00 for this version)
-
Geofencing status
0 - Geofencing not available or not reliable
1 - Geofencing active
-
Number of geofences
-
Combined (logical OR) state of all
geofences
0 - Unknown
1 - Inside
2 - Outside
Start of repeated block (numFences times)
8 + 2*N
U1
-
state
9 + 2*N
U1
-
id
-
Geofence state
0 - Unknown
1 - Inside
2 - Outside
-
Geofence ID (0 = not available)
End of repeated block
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5.14.5 UBX-NAV-HPPOSECEF (0x01 0x13)
5.14.5.1 High Precision Position Solution in ECEF
Message
UBX-NAV-HPPOSECEF
Description Firmware
Type Comment
High Precision Position Solution in ECEF
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x13 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U4
-
Name
version reserved1 iTOW
8
I4
-
ecefX
12
I4
-
ecefY
16
I4
-
ecefZ
20
I1
0.1
ecefXHp
21
I1
0.1
ecefYHp
22
I1
0.1
ecefZHp
23
X1
-
flags
24
U4
0.1
pAcc
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
cm ECEF X coordinate
cm ECEF Y coordinate
cm ECEF Z coordinate
mm High precision component of ECEF X
coordinate. Must be in the range of -99..
+99. Precise coordinate in cm = ecefX +
(ecefXHp * 1e-2).
mm High precision component of ECEF Y
coordinate. Must be in the range of -99..
+99. Precise coordinate in cm = ecefY +
(ecefYHp * 1e-2).
mm High precision component of ECEF Z
coordinate. Must be in the range of -99..
+99. Precise coordinate in cm = ecefZ +
(ecefZHp * 1e-2).
-
Additional flags (see graphic below)
mm Position Accuracy Estimate
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
invalidEcef
Description 1 = Invalid ecefX, ecefY, ecefZ, ecefXHp, ecefYHp and ecefZHp
5.14.6 UBX-NAV-HPPOSLLH (0x01 0x14)
5.14.6.1 High Precision Geodetic Position Solution
Message
UBX-NAV-HPPOSLLH
Description Firmware
Type Comment
High Precision Geodetic Position Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
This message outputs the Geodetic position in the currently selected ellipsoid.
The default is the WGS84 Ellipsoid, but can be changed with the message CFG-
NAVSPG-USE_USRDAT.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x14 36
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 3 4
Number Scaling
Format
U1
-
U1[2] -
X1
-
U4
-
Name
version reserved1 flags iTOW
8
I4
1e-7 lon
12
I4
1e-7 lat
16
I4
-
height
20
I4
-
hMSL
24
I1
1e-9 lonHp
25
I1
1e-9 latHp
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
-
Additional flags (see graphic below)
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
deg Longitude
deg Latitude
mm Height above ellipsoid.
mm Height above mean sea level
deg High precision component of longitude.
Must be in the range -99..+99. Precise
longitude in deg * 1e-7 = lon + (lonHp * 1e-
2).
deg High precision component of latitude.
Must be in the range -99..+99. Precise
latitude in deg * 1e-7 = lat + (latHp * 1e-2).
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UBX-NAV-HPPOSLLH continued
Byte Offset Number Scaling
Format
26
I1
0.1
Name
heightHp
27
I1
0.1
hMSLHp
28
U4
0.1
hAcc
32
U4
0.1
vAcc
Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Unit
Description
mm High precision component of height above ellipsoid. Must be in the range -9..+9. Precise height in mm = height + (heightHp * 0.1).
mm High precision component of height above mean sea level. Must be in range -9..+9. Precise height in mm = hMSL + (hMSLHp * 0.1)
mm Horizontal accuracy estimate mm Vertical accuracy estimate
Name
invalidLlh
Description 1 = Invalid lon, lat, height, hMSL, lonHp, latHp, heightHp and hMSLHp
5.14.7 UBX-NAV-ODO (0x01 0x09)
5.14.7.1 Odometer Solution
Message
UBX-NAV-ODO
Description Firmware Type Comment
Message Structure
Odometer Solution
Supported on: · u-blox 9 with protocol version 27.11
Periodic/Polled
This message outputs the traveled distance since last reset (see UBX-NAV-
RESETODO) together with an associated estimated accuracy and the total
cumulated ground distance (can only be reset by a cold start of the receiver).
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x09 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U4
-
Name
version reserved1 iTOW
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
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UBX-NAV-ODO continued
Byte Offset Number Scaling
Format
8
U4
-
12
U4
-
16
U4
-
Name
Unit
distance
m
totalDistance m
distanceStd m
Description
Ground distance since last reset Total cumulative ground distance Ground distance accuracy (1-sigma)
5.14.8 UBX-NAV-ORB (0x01 0x34)
5.14.8.1 GNSS Orbit Database Info
Message
UBX-NAV-ORB
Description Firmware
Type Comment
Message Structure
GNSS Orbit Database Info
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Status of the GNSS orbit database knowledge.
Header
Class ID Length (Bytes)
0xB5 0x62 0x01 0x34 8 + 6*numSv
Payload Checksum
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U1
-
version
5
U1
-
numSv
6
U1[2] -
reserved1
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
Message version (0x01 for this version)
-
Number of SVs in the database
-
Reserved
Start of repeated block (numSv times)
8 + 6*N
U1
-
9 + 6*N
U1
-
10 + 6*N X1
-
11 + 6*N X1
-
12 + 6*N X1
-
13 + 6*N X1
-
gnssId
-
GNSS ID
svId
-
Satellite ID
svFlag
-
Information Flags (see graphic below)
eph
-
Ephemeris data (see graphic below)
alm
-
Almanac data (see graphic below)
otherOrb
-
Other orbit data available (see graphic
below)
End of repeated block
Bitfield svFlag
This graphic explains the bits of svFlag
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Name
health
visibility
Description SV health: 0: unknown 1: healthy 2: not healty SV health: 0: unknown 1: below horizon 2: above horizon 3: above elevation mask
Bitfield eph
This graphic explains the bits of eph
u-blox ZED-F9P Interface Description - Manual
Name
ephUsability
ephSource
Description How long the receiver will be able to use the stored ephemeris data from now on: 31: The usability period is unknown 30: The usability period is more than 450 minutes 30 > n > 0: The usability period is between (n-1)*15 and n*15 minutes 0: Ephemeris can no longer be used 0: not available 1: GNSS transmission 2: external aiding 3-7: other
Bitfield alm
This graphic explains the bits of alm
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Name
almUsability
almSource
Description How long the receiver will be able to use the stored almanac data from now on: 31: The usability period is unknown 30: The usability period is more than 30 days 30 > n > 0: The usability period is between n-1 and n days 0: Almanac can no longer be used 0: not available 1: GNSS transmission 2: external aiding 3-7: other
Bitfield otherOrb
This graphic explains the bits of otherOrb
Name
Description
anoAopUsabili How long the receiver will be able to use the orbit data from now on:
ty
31: The usability period is unknown
30: The usability period is more than 30 days
30 > n > 0: The usability period is between n-1 and n days
0: Data can no longer be used
type
Type of orbit data:
0: No orbit data available
1: Assist now offline data
2: Assist now autonomous data
3-7: Other orbit data
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5.14.9 UBX-NAV-POSECEF (0x01 0x01)
5.14.9.1 Position Solution in ECEF
Message
UBX-NAV-POSECEF
Description Firmware
Type Comment
Position Solution in ECEF
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x01 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
I4
-
ecefX
8
I4
-
ecefY
12
I4
-
ecefZ
16
U4
-
pAcc
Unit
Description
ms GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details.
cm ECEF X coordinate cm ECEF Y coordinate cm ECEF Z coordinate cm Position Accuracy Estimate
5.14.10 UBX-NAV-POSLLH (0x01 0x02)
5.14.10.1 Geodetic Position Solution
Message
UBX-NAV-POSLLH
Description Firmware
Type Comment
Geodetic Position Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
This message outputs the Geodetic position in the currently selected ellipsoid.
The default is the WGS84 Ellipsoid, but can be changed with the message CFG-
NAVSPG-USE_USRDAT.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x02 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
I4
1e-7 lon
8
I4
1e-7 lat
12
I4
-
height
Unit
Description
ms GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details.
deg Longitude deg Latitude mm Height above ellipsoid
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UBX-NAV-POSLLH continued
Byte Offset Number Scaling
Format
16
I4
-
20
U4
-
24
U4
-
Name
hMSL hAcc vAcc
Unit
Description
mm Height above mean sea level mm Horizontal accuracy estimate mm Vertical accuracy estimate
5.14.11 UBX-NAV-PVT (0x01 0x07)
5.14.11.1 Navigation Position Velocity Time Solution
Message
UBX-NAV-PVT
Description Firmware
Type Comment
Navigation Position Velocity Time Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Note that during a leap second there may be more or less than 60 seconds in a
minute.
See the section Leap seconds in Integration manual for details.
This message combines position, velocity and time solution, including accuracy
figures
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x07 92
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U2
-
year
6
U1
-
month
7
U1
-
day
8
U1
-
hour
9
U1
-
min
10
U1
-
sec
11
X1
-
valid
12
U4
-
tAcc
16
I4
-
nano
20
U1
-
fixType
21
X1
-
flags
22
X1
-
flags2
23
U1
-
numSV
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
y
Year (UTC)
month Month, range 1..12 (UTC)
d
Day of month, range 1..31 (UTC)
h
Hour of day, range 0..23 (UTC)
min Minute of hour, range 0..59 (UTC)
s
Seconds of minute, range 0..60 (UTC)
-
Validity flags (see graphic below)
ns
Time accuracy estimate (UTC)
ns
Fraction of second, range -1e9 .. 1e9 (UTC)
-
GNSSfix Type:
0: no fix
1: dead reckoning only
2: 2D-fix
3: 3D-fix
4: GNSS + dead reckoning combined
5: time only fix
-
Fix status flags (see graphic below)
-
Additional flags (see graphic below)
-
Number of satellites used in Nav Solution
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UBX-NAV-PVT continued
Byte Offset Number Scaling
Format
24
I4
1e-7
28
I4
1e-7
32
I4
-
36
I4
-
40
U4
-
44
U4
-
48
I4
-
52
I4
-
56
I4
-
60
I4
-
64
I4
1e-5
68
U4
-
72
U4
1e-5
Name
lon lat height hMSL hAcc vAcc velN velE velD gSpeed headMot sAcc headAcc
76
U2
0.01 pDOP
78
X1
-
flags3
79
U1[5] -
reserved1
84
I4
1e-5 headVeh
88
I2
1e-2 magDec
90
U2
1e-2 magAcc
Bitfield valid
This graphic explains the bits of valid
Unit
Description
deg deg mm mm mm mm mm/s mm/s mm/s mm/s deg mm/s deg
deg deg deg
Longitude Latitude Height above ellipsoid Height above mean sea level Horizontal accuracy estimate Vertical accuracy estimate NED north velocity NED east velocity NED down velocity Ground Speed (2-D) Heading of motion (2-D) Speed accuracy estimate Heading accuracy estimate (both motion and vehicle) Position DOP Additional flags (see graphic below) Reserved Heading of vehicle (2-D) Magnetic declination Magnetic declination accuracy
Name
Description
validDate
1 = valid UTC Date (see section Time validity in Integration manual for details)
validTime
1 = valid UTC Time of Day (see section Time validity in Integration manual for details)
fullyResolved 1 = UTC Time of Day has been fully resolved (no seconds uncertainty). Cannot be used to check if
time is completely solved.
validMag
1 = valid Magnetic declination
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
gnssFixOK diffSoln psmState
headVehValid carrSoln
Description 1 = valid fix (i.e within DOP & accuracy masks) 1 = differential corrections were applied Power Save Mode state (see Power Management section in Integration manual for details. 0: PSM is not active 1: Enabled (an intermediate state before Acquisition state 2: Acquisition 3: Tracking 4: Power Optimized Tracking 5: Inactive 1 = heading of vehicle is valid Carrier phase range solution status: 0: no carrier phase range solution 1: carrier phase range solution with floating ambiguities 2: carrier phase range solution with fixed ambiguities
Bitfield flags2
This graphic explains the bits of flags2
Name
Description
confirmedAvai 1 = information about UTC Date and Time of Day validity confirmation is available (see section Time
validity in Integration manual for details)
This flag is only supported in Protocol Versions 19.00, 19.10, 20.10, 20.20, 20.30, 22.00, 23.00, 23.01,
27 and 28.
confirmedDate 1 = UTC Date validity could be confirmed (see section Time validity in Integration manual for details)
confirmedTime 1 = UTC Time of Day could be confirmed (see section Time validity in Integration manual for details)
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Bitfield flags3
This graphic explains the bits of flags3
u-blox ZED-F9P Interface Description - Manual
Name
invalidLlh
Description 1 = Invalid lon, lat, height and hMSL
5.14.12 UBX-NAV-RELPOSNED (0x01 0x3C)
5.14.12.1 Relative Positioning Information in NED frame
Message
UBX-NAV-RELPOSNED
Description Firmware Type Comment
Message Structure
Relative Positioning Information in NED frame
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Periodic/Polled
The NED frame is defined as the local topological system at the reference station. The relative position vector components in this message, along with their associated accuracies, are given in that local topological system
This message contains the relative position vector from the Reference Station to the Rover, including accuracy figures, in the local topological system defined
at the reference station
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x3C 64
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling Name
Unit
Format
U1
-
version
-
U1
-
reserved1
-
U2
-
refStationId -
4
U4
-
iTOW
ms
8
I4
-
relPosN
cm
12
I4
-
relPosE
cm
16
I4
-
relPosD
cm
20
I4
-
relPosLength cm
24
I4
1e-5 relPosHeading deg
28
U1[4] -
reserved2
-
Description
Message version (0x01 for this version) Reserved Reference Station ID. Must be in the range 0..4095 GPS time of week of the navigation epoch. See the description of iTOW for details. North component of relative position vector East component of relative position vector Down component of relative position vector Length of the relative position vector Heading of the relative position vector Reserved
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UBX-NAV-RELPOSNED continued
Byte Offset Number Scaling
Format
32
I1
0.1
Name
relPosHPN
Unit
mm
33
I1
0.1
relPosHPE
mm
34
I1
0.1
relPosHPD
mm
35
I1
0.1
relPosHPLengt mm
h
36
U4
0.1
accN
mm
40
U4
0.1
accE
mm
44
U4
0.1
accD
mm
48
U4
0.1
accLength
mm
52
U4
1e-5 accHeading
deg
56
U1[4] -
reserved3
-
60
X4
-
flags
-
Description
High-precision North component of relative position vector. Must be in the range -99 to +99. The full North component of the relative position vector, in units of cm, is given by relPosN + (relPosHPN * 1e-2) High-precision East component of relative position vector. Must be in the range -99 to +99. The full East component of the relative position vector, in units of cm, is given by relPosE + (relPosHPE * 1e-2) High-precision Down component of relative position vector. Must be in the range -99 to +99. The full Down component of the relative position vector, in units of cm, is given by relPosD + (relPosHPD * 1e-2) High-precision component of the length of the relative position vector. Must be in the range -99 to +99. The full length of the relative position vector, in units of cm, is given by relPosLength + (relPosHPLength * 1e-2) Accuracy of relative position North component Accuracy of relative position East component Accuracy of relative position Down component Accuracy of length of the relative position vector Accuracy of heading of the relative position vector Reserved Flags (see graphic below)
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
Description
gnssFixOK
A valid fix (i.e within DOP & accuracy masks)
diffSoln
1 if differential corrections were applied
relPosValid 1 if relative position components and accuracies are valid and, in moving base mode only, if baseline
is valid
carrSoln
Carrier phase range solution status:
0 = no carrier phase range solution
1 = carrier phase range solution with floating ambiguities
2 = carrier phase range solution with fixed ambiguities
isMoving
1 if the receiver is operating in moving base mode
refPosMiss
1 if extrapolated reference position was used to compute moving base solution this epoch
refObsMiss
1 if extrapolated reference observations were used to compute moving base solution this epoch
relPosHeading 1 if relPosHeading is valid
Valid
relPosNormali 1 if the components of the relative position vector (including the high-precision parts) are normalized
zed
5.14.13 UBX-NAV-RESETODO (0x01 0x10)
5.14.13.1 Reset odometer
Message
UBX-NAV-RESETODO
Description Firmware
Type Comment
Reset odometer
Supported on:
· u-blox 9 with protocol version 27.11
Command
This message resets the traveled distance computed by the odometer (see UBX-
NAV-ODO).
UBX-ACK-ACK or UBX-ACK-NAK are returned to indicate success or failure.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x10 0
see below CK_A CK_B
No payload
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5.14.14 UBX-NAV-SAT (0x01 0x35)
5.14.14.1 Satellite Information
Message
UBX-NAV-SAT
Description Firmware Type Comment
Message Structure
Satellite Information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message displays information about SVs which are either known to be visible or currently tracked by the receiver. All signal related information
corresponds to the subset of signals specified in Signal Identifiers.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x35 8 + 12*numSvs
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U1
-
version
5
U1
-
numSvs
6
U1[2] -
reserved1
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
Message version (0x01 for this version)
-
Number of satellites
-
Reserved
Start of repeated block (numSvs times)
8 + 12*N U1
-
9 + 12*N U1
-
10 + 12*N U1
-
11 + 12*N I1
-
12 + 12*N I2
-
14 + 12*N I2
0.1
16 + 12*N X4
-
gnssId
svId
cno elev
azim
prRes flags
-
-
dBHz deg
deg
m -
GNSS identifier (see Satellite Numbering) for assignment Satellite identifier (see Satellite Numbering) for assignment Carrier to noise ratio (signal strength) Elevation (range: +/-90), unknown if out of range Azimuth (range 0-360), unknown if elevation is out of range Pseudorange residual Bitmask (see graphic below)
End of repeated block
Bitfield flags
This graphic explains the bits of flags
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Name
qualityInd
svUsed health
diffCorr smoothed orbitSource
ephAvail almAvail anoAvail aopAvail sbasCorrUsed rtcmCorrUsed slasCorrUsed prCorrUsed crCorrUsed doCorrUsed
Description Signal quality indicator: 0: no signal 1: searching signal 2: signal acquired 3: signal detected but unusable 4: code locked and time synchronized 5, 6, 7: code and carrier locked and time synchronized 1 = Signal in the subset specified in Signal Identifiers is currently being used for navigation Signal health flag: 0: unknown 1: healthy 2: unhealthy 1 = differential correction data is available for this SV 1 = carrier smoothed pseudorange used Orbit source: 0: no orbit information is available for this SV 1: ephemeris is used 2: almanac is used 3: AssistNow Offline orbit is used 4: AssistNow Autonomous orbit is used 5, 6, 7: other orbit information is used 1 = ephemeris is available for this SV 1 = almanac is available for this SV 1 = AssistNow Offline data is available for this SV 1 = AssistNow Autonomous data is available for this SV 1 = SBAS corrections have been used for a signal in the subset specified in Signal Identifiers 1 = RTCM corrections have been used for a signal in the subset specified in Signal Identifiers 1 = QZSS SLAS corrections have been used for a signal in the subset specified in Signal Identifiers 1 = Pseudorange corrections have been used for a signal in the subset specified in Signal Identifiers 1 = Carrier range corrections have been used for a signal in the subset specified in Signal Identifiers 1 = Range rate (Doppler) corrections have been used for a signal in the subset specified in Signal Identifiers
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5.14.15 UBX-NAV-SIG (0x01 0x43)
5.14.15.1 Signal Information
Message
UBX-NAV-SIG
Description Firmware Type Comment
Message Structure
Signal Information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message displays information about signals currently tracked by the receiver.
On the F9 platform the maximum number of signals is 120.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x43 8 + 16*numSigs
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U1
-
version
5
U1
-
numSigs
6
U1[2] -
reserved1
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
Message version (0x00 for this version)
-
Number of signals
-
Reserved
Start of repeated block (numSigs times)
8 + 16*N U1
-
gnssId
-
GNSS identifier (see Satellite Numbering)
for assignment
9 + 16*N U1
-
svId
-
Satellite identifier (see Satellite
Numbering) for assignment
10 + 16*N U1
-
sigId
-
New style signal identifier (see Signal
Identifiers)
11 + 16*N U1
-
freqId
-
Only used for GLONASS: This is the
frequency slot + 7 (range from 0 to 13)
12 + 16*N I2
0.1
prRes
m
Pseudorange residual
14 + 16*N U1
-
cno
dBHz Carrier-to-noise density ratio (signal
strength)
15 + 16*N U1
-
qualityInd -
Signal quality indicator:
0: no signal
1: searching signal
2: signal acquired
3: signal detected but unusable
4: code locked and time synchronized
5, 6, 7: code and carrier locked and time
synchronized
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UBX-NAV-SIG continued
Byte Offset Number Scaling Name
Unit
Description
Format
16 + 16*N U1
-
17 + 16*N U1
-
18 + 16*N X2
-
20 + 16*N U1[4] -
corrSource -
ionoModel
-
sigFlags
-
reserved2
-
Correction source: 0: no corrections 1: SBAS corrections 2: BeiDou corrections 3: RTCM2 corrections 4: RTCM3 OSR corrections 5: RTCM3 SSR corrections 6: QZSS SLAS corrections Ionospheric model used: 0: no model 1: Klobuchar model transmitted by GPS 2: SBAS model 3: Klobuchar model transmitted by BeiDou 8: Iono delay derived from dual frequency observations Signal related flags (see graphic below) Reserved
End of repeated block
Bitfield sigFlags
This graphic explains the bits of sigFlags
Name
health
prSmoothed prUsed crUsed doUsed prCorrUsed crCorrUsed doCorrUsed
Description Signal health flag: 0: unknown 1: healthy 2: unhealthy 1 = Pseudorange has been smoothed 1 = Pseudorange has been used for this signal 1 = Carrier range has been used for this signal 1 = Range rate (Doppler) has been used for this signal 1 = Pseudorange corrections have been used for this signal 1 = Carrier range corrections have been used for this signal 1 = Range rate (Doppler) corrections have been used for this signal
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5.14.16 UBX-NAV-STATUS (0x01 0x03)
5.14.16.1 Receiver Navigation Status
Message
UBX-NAV-STATUS
Description Firmware
Type Comment
Receiver Navigation Status
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x03 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U1
-
gpsFix
5
X1
-
flags
6
X1
-
fixStat
7
X1
-
flags2
8
U4
-
ttff
12
U4
-
msss
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
-
GPSfix Type, this value does not qualify a
fix as valid and within the limits. See note
on flag gpsFixOk below.
0x00 = no fix
0x01 = dead reckoning only
0x02 = 2D-fix
0x03 = 3D-fix
0x04 = GPS + dead reckoning combined
0x05 = Time only fix
0x06..0xff = reserved
-
Navigation Status Flags (see graphic
below)
-
Fix Status Information (see graphic below)
-
further information about navigation
output (see graphic below)
ms Time to first fix (millisecond time tag)
ms Milliseconds since Startup / Reset
Bitfield flags
This graphic explains the bits of flags
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Name
gpsFixOk diffSoln wknSet towSet
Description 1 = position and velocity valid and within DOP and ACC Masks. 1 = differential corrections were applied 1 = Week Number valid (see section Time validity in Integration manual for details) 1 = Time of Week valid (see section Time validity in Integration manual for details)
Bitfield fixStat
This graphic explains the bits of fixStat
Name
diffCorr mapMatching
Description 1 = differential corrections available map matching status: 00: none 01: valid but not used, i.e. map matching data was received, but was too old 10: valid and used, map matching data was applied 11: valid and used, map matching data was applied. In case of sensor unavailability map matching data enables dead reckoning. This requires map matched latitude/longitude or heading data.
Bitfield flags2
This graphic explains the bits of flags2
Name
psmState
Description power save mode state 0: ACQUISITION [or when psm disabled] 1: TRACKING 2: POWER OPTIMIZED TRACKING 3: INACTIVE
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Bitfield flags2 Description continued
Name
Description
spoofDetState Spoofing detection state
0: Unknown or deactivated
1: No spoofing indicated
2: Spoofing indicated
3: Multiple spoofing indications
Note that the spoofing state value only reflects the dector state for the current navigation epoch. As
spoofing can be detected most easily at the transition from real signal to spoofing signal, this is also
where the detector is triggered the most. I.e. a value of 1 - No spoofing indicated does not mean that
the receiver is not spoofed, it simply states that the detector was not triggered in this epoch.
5.14.17 UBX-NAV-SVIN (0x01 0x3B)
5.14.17.1 Survey-in data
Message
UBX-NAV-SVIN
Description Firmware
Type Comment
Message Structure
Survey-in data
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Periodic/Polled
This message contains information about survey-in parameters.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x3B 40
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U4
-
Name
version reserved1 iTOW
8
U4
-
dur
12
I4
-
meanX
16
I4
-
meanY
20
I4
-
meanZ
24
I1
-
meanXHP
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
ms GPS time of week of the navigation epoch.
See the description of iTOW for details.
s
Passed survey-in observation time
cm Current survey-in mean position ECEF X
coordinate
cm Current survey-in mean position ECEF Y
coordinate
cm Current survey-in mean position ECEF Z
coordinate
0.1_ Current high-precision survey-in mean
mm position ECEF X coordinate. Must be in the
range -99..+99.
The current survey-in mean position ECEF
X coordinate, in units of cm, is given by
meanX + (0.01 * meanXHP)
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UBX-NAV-SVIN continued
Byte Offset Number Scaling
Format
25
I1
-
Name
meanYHP
26
I1
-
meanZHP
27
U1
-
reserved2
28
U4
-
meanAcc
32
U4
-
obs
36
U1
-
valid
37
U1
-
active
38
U1[2] -
reserved3
Unit
Description
0.1_ Current high-precision survey-in mean
mm position ECEF Y coordinate. Must be in
the range -99..+99.
The current survey-in mean position ECEF
Y coordinate, in units of cm, is given by
meanY + (0.01 * meanYHP)
0.1_ Current high-precision survey-in mean
mm position ECEF Z coordinate. Must be in
the range -99..+99.
The current survey-in mean position ECEF
Z coordinate, in units of cm, is given by
meanZ + (0.01 * meanZHP)
-
Reserved
0.1_ Current survey-in mean position accuracy
mm
-
Number of position observations used
during survey-in
-
Survey-in position validity flag, 1 = valid,
otherwise 0
-
Survey-in in progress flag, 1 = in-progress,
otherwise 0
-
Reserved
5.14.18 UBX-NAV-TIMEBDS (0x01 0x24)
5.14.18.1 BDS Time Solution
Message
UBX-NAV-TIMEBDS
Description
BDS Time Solution
Firmware
Type Comment
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message reports the precise BDS time of the most recent navigation
solution including validity flags and an accuracy estimate.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x24 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U4
-
SOW
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
s
BDS time of week (rounded to seconds)
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UBX-NAV-TIMEBDS continued
Byte Offset Number Scaling
Format
8
I4
-
Name
fSOW
12
I2
-
week
14
I1
-
leapS
15
X1
-
valid
16
U4
-
tAcc
Bitfield valid
This graphic explains the bits of valid
u-blox ZED-F9P Interface Description - Manual
Unit
Description
ns
Fractional part of SOW (range: +/-
500000000).
The precise BDS time of week in seconds
is:
SOW + fSOW * 1e-9
-
BDS week number of the navigation epoch
s
BDS leap seconds (BDS-UTC)
-
Validity Flags (see graphic below)
ns
Time Accuracy Estimate
Name
sowValid weekValid leapSValid
Description 1 = Valid SOW and fSOW (see section Time validity in Integration manual for details) 1 = Valid week (see section Time validity in Integration manual for details) 1 = Valid leapS
5.14.19 UBX-NAV-TIMEGAL (0x01 0x25)
5.14.19.1 Galileo Time Solution
Message
UBX-NAV-TIMEGAL
Description Firmware Type Comment
Message Structure
Galileo Time Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message reports the precise Galileo time of the most recent navigation
solution including validity flags and an accuracy estimate.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x25 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U4
-
galTow
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
s
Galileo time of week (rounded to seconds)
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UBX-NAV-TIMEGAL continued
Byte Offset Number Scaling
Format
8
I4
-
Name
fGalTow
12
I2
-
galWno
14
I1
-
leapS
15
X1
-
valid
16
U4
-
tAcc
Bitfield valid
This graphic explains the bits of valid
u-blox ZED-F9P Interface Description - Manual
Unit
Description
ns
Fractional part of the Galileo time of week
(range: +/-500000000).
The precise Galileo time of week in
seconds is:
galTow + fGalTow * 1e-9
-
Galileo week number
s
Galileo leap seconds (Galileo-UTC)
-
Validity Flags (see graphic below)
ns
Time Accuracy Estimate
Name
galTowValid galWnoValid leapSValid
Description 1 = Valid galTow and fGalTow (see Time Validity section for details) 1 = Valid galWno (see Time Validity section for details) 1 = Valid leapS
5.14.20 UBX-NAV-TIMEGLO (0x01 0x23)
5.14.20.1 GLO Time Solution
Message
UBX-NAV-TIMEGLO
Description Firmware Type Comment
Message Structure
GLO Time Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message reports the precise GLO time of the most recent navigation
solution including validity flags and an accuracy estimate.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x23 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
U4
-
TOD
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
s
GLONASS time of day (rounded to integer
seconds)
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UBX-NAV-TIMEGLO continued
Byte Offset Number Scaling
Format
8
I4
-
Name
fTOD
12
U2
-
Nt
14
U1
-
N4
15
X1
-
valid
16
U4
-
tAcc
Bitfield valid
This graphic explains the bits of valid
u-blox ZED-F9P Interface Description - Manual
Unit
Description
ns
days
ns
Fractional part of TOD (range: +/500000000). The precise GLONASS time of day in seconds is: TOD + fTOD * 1e-9
Current date (range: 1-1461), starting at 1 from the 1st Jan of the year indicated by N4 and ending at 1461 at the 31st Dec of the third year after that indicated by N4 Four-year interval number starting from 1996 (1=1996, 2=2000, 3=2004...) Validity flags (see graphic below) Time Accuracy Estimate
Name
todValid dateValid
Description 1 = Valid TOD and fTOD (see section Time validity in Integration manual for details) 1 = Valid N4 and Nt (see section Time validity in Integration manual for details)
5.14.21 UBX-NAV-TIMEGPS (0x01 0x20)
5.14.21.1 GPS Time Solution
Message
UBX-NAV-TIMEGPS
Description Firmware
Type Comment
GPS Time Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message reports the precise GPS time of the most recent navigation
solution including validity flags and an accuracy estimate.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x20 16
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-NAV-TIMEGPS continued
Byte Offset Number Scaling
Format
0
U4
-
Name
iTOW
4
I4
-
fTOW
8
I2
-
week
10
I1
-
leapS
11
X1
-
valid
12
U4
-
tAcc
Bitfield valid
This graphic explains the bits of valid
u-blox ZED-F9P Interface Description - Manual
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
ns
Fractional part of iTOW (range: +/-
500000).
The precise GPS time of week in seconds
is:
(iTOW * 1e-3) + (fTOW * 1e-9)
-
GPS week number of the navigation epoch
s
GPS leap seconds (GPS-UTC)
-
Validity Flags (see graphic below)
ns
Time Accuracy Estimate
Name
towValid
weekValid leapSValid
Description 1 = Valid GPS time of week (iTOW & fTOW, (see section Time validity in Integration manual for details) 1 = Valid GPS week number (see section Time validity in Integration manual for details) 1 = Valid GPS leap seconds
5.14.22 UBX-NAV-TIMELS (0x01 0x26)
5.14.22.1 Leap second event information
Message
UBX-NAV-TIMELS
Description Firmware
Type Comment
Leap second event information
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Information about the upcoming leap second event if one is scheduled.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x26 24
see below CK_A CK_B
Payload Contents:
Byte Offset
Number Scaling Format
Name
Unit
Description
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UBX-NAV-TIMELS continued
Byte Offset Number Scaling
Format
0
U4
-
Name
iTOW
Unit
ms
4
U1
-
version
-
5
U1[3] -
reserved1
-
8
U1
-
srcOfCurrLs -
9
I1
-
currLs
s
10
U1
-
srcOfLsChange -
11
I1
-
lsChange
s
12
I4
-
timeToLsEvent s
Description
GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details. Message version (0x00 for this version) Reserved Information source for the current number of leap seconds. 0: Default (hardcoded in the firmware, can be outdated) 1: Derived from time difference between GPS and GLONASS time 2: GPS 3: SBAS 4: BeiDou 5: Galileo 6: Aided data 7: Configured 255: Unknown Current number of leap seconds since start of GPS time (Jan 6, 1980). It reflects how much GPS time is ahead of UTC time. Galileo number of leap seconds is the same as GPS. BeiDou number of leap seconds is 14 less than GPS. GLONASS follows UTC time, so no leap seconds. Information source for the future leap second event. 0: No source 2: GPS 3: SBAS 4: BeiDou 5: Galileo 6: GLONASS Future leap second change if one is scheduled. +1 = positive leap second, -1 = negative leap second, 0 = no future leap second event scheduled or no information available. Number of seconds until the next leap second event, or from the last leap second event if no future event scheduled. If > 0 event is in the future, = 0 event is now, < 0 event is in the past. Valid only if validTimeToLsEvent = 1.
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UBX-NAV-TIMELS continued
Byte Offset Number Scaling
Format
16
U2
-
Name
Unit
dateOfLsGpsWn -
18
U2
-
dateOfLsGpsDn -
20
U1[3] -
reserved2
-
23
X1
-
valid
-
Description
GPS week number (WN) of the next leap second event or the last one if no future event scheduled. Valid only if validTimeToLsEvent = 1. GPS day of week number (DN) for the next leap second event or the last one if no future event scheduled. Valid only if validTimeToLsEvent = 1. (GPS and Galileo DN: from 1 = Sun to 7 = Sat. BeiDou DN: from 0 = Sun to 6 = Sat.) Reserved Validity flags (see graphic below)
Bitfield valid
This graphic explains the bits of valid
Name
Description
validCurrLs 1 = Valid current number of leap seconds value.
validTimeToLs 1 = Valid time to next leap second event or from the last leap second event if no future event
Event
scheduled.
5.14.23 UBX-NAV-TIMEUTC (0x01 0x21)
5.14.23.1 UTC Time Solution
Message
UBX-NAV-TIMEUTC
Description Firmware Type Comment
Message Structure
UTC Time Solution
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
Note that during a leap second there may be more or less than 60 seconds in a minute.
See the section Leap seconds in Integration manual for details.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x01 0x21 20
see below CK_A CK_B
Payload Contents:
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UBX-NAV-TIMEUTC continued
Byte Offset Number Scaling
Format
Byte Offset Number Scaling
Format
0
U4
-
Name Name
iTOW
4
U4
-
tAcc
8
I4
-
nano
12
U2
-
year
14
U1
-
month
15
U1
-
day
16
U1
-
hour
17
U1
-
min
18
U1
-
sec
19
X1
-
valid
Bitfield valid
This graphic explains the bits of valid
u-blox ZED-F9P Interface Description - Manual
Unit
Description
Unit
Description
ms GPS time of week of the navigation epoch.
See the section iTOW timestamps in
Integration manual for details.
ns
Time accuracy estimate (UTC)
ns
Fraction of second, range -1e9 .. 1e9 (UTC)
y
Year, range 1999..2099 (UTC)
month Month, range 1..12 (UTC)
d
Day of month, range 1..31 (UTC)
h
Hour of day, range 0..23 (UTC)
min Minute of hour, range 0..59 (UTC)
s
Seconds of minute, range 0..60 (UTC)
-
Validity Flags (see graphic below)
Name
validTOW validWKN validUTC utcStandard
Description 1 = Valid Time of Week (see section Time validity in Integration manual for details) 1 = Valid Week Number (see section Time validity in Integration manual for details) 1 = Valid UTC Time UTC standard identifier. 0: Information not available 1: Communications Research Labratory (CRL) 2: National Institute of Standards and Technology (NIST) 3: U.S. Naval Observatory (USNO) 4: International Bureau of Weights and Measures (BIPM) 5: European Laboratory (tbd) 6: Former Soviet Union (SU) 7: National Time Service Center, China (NTSC) 15: Unknown
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5.14.24 UBX-NAV-VELECEF (0x01 0x11)
5.14.24.1 Velocity Solution in ECEF
Message
UBX-NAV-VELECEF
Description Firmware
Type Comment
Velocity Solution in ECEF
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x11 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
I4
-
ecefVX
8
I4
-
ecefVY
12
I4
-
ecefVZ
16
U4
-
sAcc
Unit
Description
ms
cm/s cm/s cm/s cm/s
GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details. ECEF X velocity ECEF Y velocity ECEF Z velocity Speed accuracy estimate
5.14.25 UBX-NAV-VELNED (0x01 0x12)
5.14.25.1 Velocity Solution in NED
Message
UBX-NAV-VELNED
Description Firmware
Type Comment
Velocity Solution in NED
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
See important comments concerning validity of position given in section
Navigation output filters in Integration manual.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x01 0x12 36
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
iTOW
4
I4
-
velN
8
I4
-
velE
12
I4
-
velD
16
U4
-
speed
20
U4
-
gSpeed
24
I4
1e-5 heading
Unit
Description
ms
cm/s cm/s cm/s cm/s cm/s deg
GPS time of week of the navigation epoch. See the section iTOW timestamps in Integration manual for details. North velocity component East velocity component Down velocity component Speed (3-D) Ground speed (2-D) Heading of motion 2-D
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Byte Offset Number Scaling
Format
28
U4
-
32
U4
1e-5
Name
sAcc cAcc
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Unit
Description
cm/s Speed accuracy Estimate deg Course / Heading accuracy estimate
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5.15 UBX-RXM (0x02)
Receiver Manager Messages: i.e. Satellite Status, RTC Status. Messages in the RXM class are used to output status and result data from the Receiver Manager. 5.15.1 UBX-RXM-MEASX (0x02 0x14)
5.15.1.1 Satellite Measurements for RRLP
Message
UBX-RXM-MEASX
Description Firmware Type Comment
Message Structure
Satellite Measurements for RRLP
Supported on: · u-blox 9 with protocol version 27.11
Periodic/Polled
The message payload data is, where possible and appropriate, according to the
Radio Resource LCS (Location Services) Protocol (RRLP) [1]. One exception is the satellite and GNSS ids, which here are given according to the Satellite
Numbering scheme. The correct satellites have to be selected and their satellite
ID translated accordingly [1, tab. A.10.14] for use in a RRLP Measure Position Response Component. Similarly, the measurement reference time of week has
to be forwarded correctly (modulo 14400000 for the 24 LSB GPS measurements variant, modulo 3600000 for the 22 LSB Galileo and Additional Navigation
Satelllite Systems (GANSS) measurements variant) of the RRLP measure position response to the SMLC.
Reference: [1] ETSI TS 144 031 V11.0.0 (2012-10), Digital cellular telecommunications system (Phase 2+), Location Services (LCS), Mobile Station (MS) - Serving Mobile Location Centre (SMLC), Radio Resource LCS Protocol
(RRLP), (3GPP TS 44.031 version 11.0.0 Release 11).
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x02 0x14 44 + 24*numSV
see below CK_A CK_B
Payload Contents:
Byte Offset Number Scaling Name
Unit
Description
Format
0
U1
-
version
-
Message version, currently 0x01
1
U1[3] -
reserved1
-
Reserved
4
U4
-
gpsTOW
ms GPS measurement reference time
8
U4
-
gloTOW
ms GLONASS measurement reference time
12
U4
-
bdsTOW
ms BeiDou measurement reference time
16
U1[4] -
reserved2
-
Reserved
20
U4
-
qzssTOW
ms QZSS measurement reference time
24
U2
2^-4 gpsTOWacc
ms GPS measurement reference time
accuracy (0xffff = > 4s)
26
U2
2^-4 gloTOWacc
ms GLONASS measurement reference time
accuracy (0xffff = > 4s)
28
U2
2^-4 bdsTOWacc
ms BeiDou measurement reference time
accuracy (0xffff = > 4s)
30
U1[2] -
reserved3
-
Reserved
32
U2
2^-4 qzssTOWacc
ms QZSS measurement reference time
accuracy (0xffff = > 4s)
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UBX-RXM-MEASX continued
Byte Offset Number Scaling Name
Unit
Format
34
U1
-
numSV
-
35
U1
-
flags
-
36
U1[8] -
reserved4
-
Start of repeated block (numSV times)
44 + 24*N U1
-
45 + 24*N U1
-
46 + 24*N U1
-
47 + 24*N U1
-
gnssId
-
svId
-
cNo
-
mpathIndic -
48 + 24*N I4
0.04 dopplerMS
m/s
52 + 24*N I4
0.2
dopplerHz
Hz
56 + 24*N U2
-
wholeChips -
58 + 24*N U2
-
fracChips
-
60 + 24*N U4 64 + 24*N U1 65 + 24*N U1
66 + 24*N U1[2]
End of repeated block
2^-21 -
-
codePhase
ms
intCodePhase ms
pseuRangeRMSE -
rr
reserved5
-
Description
Number of satellites in repeated block Flags (see graphic below) Reserved
GNSS ID (see Satellite Numbering) Satellite ID (see Satellite Numbering) carrier noise ratio (0..63) multipath index (according to [1]) (0 = not measured, 1 = low, 2 = medium, 3 = high) Doppler measurement Doppler measurement whole value of the code phase measurement (0..1022 for GPS) fractional value of the code phase measurement (0..1023) Code phase Integer (part of the) code phase pseudorange RMS error index (according to [1]) (0..63) Reserved
Bitfield flags
This graphic explains the bits of flags
Name
towSet
Description TOW set (0 = no, 1 or 2 = yes)
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5.15.2 UBX-RXM-PMREQ (0x02 0x41)
5.15.2.1 Requests a Power Management task
Message
UBX-RXM-PMREQ
Description Firmware
Type Comment
Message Structure
Requests a Power Management task
Supported on:
· u-blox 9 with protocol version 27.11
Command
Request of a Power Management related task of the receiver.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x02 0x41 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
duration
4
X4
-
flags
Unit
Description
ms Duration of the requested task, set to zero
for infinite duration. The maximum
supported time is 12 days.
-
task flags (see graphic below)
Bitfield flags
This graphic explains the bits of flags
Name
backup
Description The receiver goes into backup mode for a time period defined by duration. Provided that it is not connected to USB
5.15.2.2 Requests a Power Management task
Message
UBX-RXM-PMREQ
Description Firmware
Type Comment
Requests a Power Management task
Supported on:
· u-blox 9 with protocol version 27.11
Command
Request of a Power Management related task of the receiver.
Header
Class ID Length (Bytes)
Payload
Checksum
Message Structure 0xB5 0x62 0x02 0x41 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1[3] -
Name
version reserved1
Unit
Description
-
Message version (0x00 for this version)
-
Reserved
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UBX-RXM-PMREQ continued
Byte Offset Number Scaling Name
Unit
Format
4
U4
-
duration
ms
8
X4
-
flags
-
12
X4
-
wakeupSources -
Description
Duration of the requested task, set to zero for infinite duration. The maximum supported time is 12 days. task flags (see graphic below) Configure pins to wakeup the receiver. The receiver wakes up if there is either a falling or a rising edge on one of the configured pins (see graphic below)
Bitfield flags
This graphic explains the bits of flags
Name
backup
force
Description The receiver goes into backup mode for a time period defined by duration. Provided that it is not connected to USB Force receiver backup while USB is connected. USB interface will be disabled.
Bitfield wakeupSources
This graphic explains the bits of wakeupSources
Name
uartrx extint0 extint1 spics
Description Wakeup the receiver if there is an edge on the UART RX pin. Wakeup the receiver if there is an edge on the EXTINT0 pin. Wakeup the receiver if there is an edge on the EXTINT1 pin. Wakeup the receiver if there is an edge on the SPI CS pin.
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5.15.3 UBX-RXM-RAWX (0x02 0x15)
5.15.3.1 Multi-GNSS Raw Measurement Data
Message
UBX-RXM-RAWX
Description Firmware
Type Comment
Multi-GNSS Raw Measurement Data
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Periodic/Polled
This message contains the information needed to be able to generate a RINEX 3
multi-GNSS observation file.
This message contains pseudorange, Doppler, carrier phase, phase lock and
signal quality information for GNSS satellites once signals have been
synchronized. This message supports all active GNSS.
The only difference between this version of the message and the previous
version (UBX-RXM-RAWX-DATA0) is the addition of the version field.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x02 0x15 16 + 32*numMeas
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
R8
-
Name
rcvTow
8
U2
-
week
10
I1
-
leapS
11
U1
-
numMeas
12
X1
-
recStat
13
U1
-
version
14
U1[2] -
reserved1
Unit
Description
s
weeks s
-
Measurement time of week in receiver local time approximately aligned to the GPS time system. The receiver local time of week, week number and leap second information can be used to translate the time to other time systems. More information about the difference in time systems can be found in RINEX 3 documentation. For a receiver operating in GLONASS only mode, UTC time can be determined by subtracting the leapS field from GPS time regardless of whether the GPS leap seconds are valid. GPS week number in receiver local time. GPS leap seconds (GPS-UTC). This field represents the receiver's best knowledge of the leap seconds offset. A flag is given in the recStat bitfield to indicate if the leap seconds are known. Number of measurements to follow Receiver tracking status bitfield (see graphic below) Message version (0x01 for this version) Reserved
Start of repeated block (numMeas times)
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UBX-RXM-RAWX continued
Byte Offset Number Scaling
Format
16 + 32*N R8
-
Name
prMes
24 + 32*N R8
-
cpMes
32 + 32*N R4 36 + 32*N U1 37 + 32*N U1 38 + 32*N U1 39 + 32*N U1 40 + 32*N U2 42 + 32*N U1 43 + 32*N X1 44 + 32*N X1
-
doMes
-
gnssId
-
svId
-
sigId
-
freqId
-
locktime
-
cno
0.
prStdev
01*2^n
0.004 cpStdev
45 + 32*N X1 46 + 32*N X1
0.
doStdev
002*2^
n
-
trkStat
47 + 32*N U1
-
End of repeated block
reserved2
Unit
Description
m
cycles
Hz ms dBHz m cycles
Hz
Pseudorange measurement [m]. GLONASS inter frequency channel delays are compensated with an internal calibration table. Carrier phase measurement [cycles]. The carrier phase initial ambiguity is initialized using an approximate value to make the magnitude of the phase close to the pseudorange measurement. Clock resets are applied to both phase and code measurements in accordance with the RINEX specification. Doppler measurement (positive sign for approaching satellites) [Hz] GNSS identifier (see Satellite Numbering for a list of identifiers) Satellite identifier (see Satellite Numbering) New style signal identifier (see Signal Identifiers). Only used for GLONASS: This is the frequency slot + 7 (range from 0 to 13) Carrier phase locktime counter (maximum 64500ms) Carrier-to-noise density ratio (signal strength) [dB-Hz] Estimated pseudorange measurement standard deviation (see graphic below) Estimated carrier phase measurement standard deviation (note a raw value of 0x0F indicates the value is invalid) (see graphic below) Estimated Doppler measurement standard deviation. (see graphic below)
-
Tracking status bitfield (see graphic below
)
-
Reserved
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Bitfield recStat
This graphic explains the bits of recStat
u-blox ZED-F9P Interface Description - Manual
Name
leapSec clkReset
Description Leap seconds have been determined Clock reset applied. Typically the receiver clock is changed in increments of integer milliseconds.
Bitfield prStdev
This graphic explains the bits of prStdev
Name
prStd
Description Estimated pseudorange standard deviation
Bitfield cpStdev
This graphic explains the bits of cpStdev
Name
cpStd
Description Estimated carrier phase standard deviation
Bitfield doStdev
This graphic explains the bits of doStdev
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Name
doStd
Description Estimated Doppler standard deviation
Bitfield trkStat
This graphic explains the bits of trkStat
Name
prValid cpValid halfCyc subHalfCyc
Description Pseudorange valid Carrier phase valid Half cycle valid Half cycle subtracted from phase
5.15.4 UBX-RXM-RLM (0x02 0x59)
5.15.4.1 Galileo SAR Short-RLM report
Message
UBX-RXM-RLM
Description Firmware Type Comment
Message Structure
Galileo SAR Short-RLM report
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message contains the contents of any Galileo Search and Rescue (SAR) Short Return Link Message detected by the receiver.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x02 0x59 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
version type svId
3
U1
-
reserved1
4
U1[8] -
beacon
12
U1
-
message
13
U1[2] -
params
15
U1
-
reserved2
Unit
Description
-
Message version (0x00 for this version)
-
Message type (0x01 for Short-RLM)
-
Identifier of transmitting satellite (see
Satellite Numbering)
-
Reserved
-
Beacon identifier (60 bits), with bytes
ordered by earliest transmitted (most
significant) first. Top four bits of first byte
are zero.
-
Message code (4 bits)
-
Parameters (16 bits), with bytes ordered
by earliest transmitted (most significant)
first.
-
Reserved
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5.15.4.2 Galileo SAR Long-RLM report
Message
UBX-RXM-RLM
Description Firmware Type Comment
Message Structure
Galileo SAR Long-RLM report
Supported on: · u-blox 9 with protocol version 27.11
Output
This message contains the contents of any Galileo Search and Rescue (SAR)
Long Return Link Message detected by the receiver.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x02 0x59 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 2
Number Scaling
Format
U1
-
U1
-
U1
-
Name
version type svId
3
U1
-
reserved1
4
U1[8] -
beacon
12
U1
-
message
13
U1[12] -
params
25
U1[3] -
reserved2
Unit
Description
-
Message version (0x00 for this version)
-
Message type (0x02 for Long-RLM)
-
Identifier of transmitting satellite (see
Satellite Numbering)
-
Reserved
-
Beacon identifier (60 bits), with bytes
ordered by earliest transmitted (most
significant) first. Top four bits of first byte
are zero.
-
Message code (4 bits)
-
Parameters (96 bits), with bytes ordered
by earliest transmitted (most significant)
first.
-
Reserved
5.15.5 UBX-RXM-RTCM (0x02 0x32)
5.15.5.1 RTCM input status
Message
UBX-RXM-RTCM
Description Firmware
Type Comment
RTCM input status
Supported on:
· u-blox 9 with protocol version 27.11 (only with High Precision GNSS products)
Output
This message shows info on a received RTCM input message. It is output upon
successful parsing of an RTCM input message, irrespective of whether the
RTCM message is supported or not by the receiver.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x02 0x32 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
version
Unit
Description
-
Message version (0x02 for this version)
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UBX-RXM-RTCM continued
Byte Offset Number Scaling Name
Unit
Description
Format
1
X1
-
flags
-
RTCM input status flags (see graphic
below)
2
U2
-
subType
-
Message subtype, only applies for RTCM
4072 message
4
U2
-
refStation -
Reference station ID
6
U2
-
msgType
-
Message type
Bitfield flags
This graphic explains the bits of flags
Name
crcFailed
Description 0 when RTCM message received and passed CRC check, 1 when failed in which case refStation and msgType might be corrupted and misleading
5.15.6 UBX-RXM-SFRBX (0x02 0x13)
5.15.6.1 Broadcast Navigation Data Subframe
Message
UBX-RXM-SFRBX
Description Firmware Type Comment
Message Structure
Broadcast Navigation Data Subframe
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message reports a complete subframe of broadcast navigation data decoded from a single signal. The number of data words reported in each
message depends on the nature of the signal.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x02 0x13 8 + 4*numWords
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1
-
Name
gnssId svId
2
U1
-
reserved1
3
U1
-
freqId
Unit
Description
-
GNSS identifier (see Satellite Numbering)
-
Satellite identifier (see Satellite
Numbering)
-
Reserved
-
Only used for GLONASS: This is the
frequency slot + 7 (range from 0 to 13)
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UBX-RXM-SFRBX continued
Byte Offset Number Scaling
Format
4
U1
-
Name
numWords
5
U1
-
chn
6
U1
-
version
7
U1
-
reserved2
Start of repeated block (numWords times)
8 + 4*N
U4
-
dwrd
End of repeated block
Unit
Description
-
The number of data words contained in
this message (up to 10, for currently
supported signals)
-
The tracking channel number the
message was received on
-
Message version, (0x02 for this version)
-
Reserved
-
The data words
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5.16 UBX-SEC (0x27)
Security Feature Messages Messages in the SEC class are used for security features of the receiver. 5.16.1 UBX-SEC-UNIQID (0x27 0x03)
5.16.1.1 Unique Chip ID
Message
UBX-SEC-UNIQID
Description Firmware
Type Comment
Unique Chip ID
Supported on:
· u-blox 9 with protocol version 27.11
Output
This message is used to retrieve a unique chip identifier (40 bits, 5 bytes).
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x27 0x03 9
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U1[5] -
Name
version reserved1 uniqueId
Unit
Description
-
Message version (0x01 for this version)
-
Reserved
-
Unique chip ID
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5.17 UBX-TIM (0x0D)
Timing Messages: i.e. Time Pulse Output, Time Mark Results. Messages in the TIM class are used to output timing information from the receiver, like Time Pulse and Time Mark measurements. 5.17.1 UBX-TIM-TM2 (0x0D 0x03)
5.17.1.1 Time mark data
Message
UBX-TIM-TM2
Description Firmware Type Comment
Message Structure
Time mark data
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message contains information for high precision time stamping / pulse counting.
The delay figures and timebase given in UBX-CFG-TP5 are also applied to the
time results output in this message.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0D 0x03 28
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U1
-
Name
ch
1
X1
-
flags
2
U2
-
count
4
U2
-
wnR
6
U2
-
wnF
8
U4
-
towMsR
12
U4
-
towSubMsR
16
U4
-
towMsF
20
U4
-
towSubMsF
24
U4
-
accEst
Unit
Description
-
Channel (i.e. EXTINT) upon which the
pulse was measured
-
Bitmask (see graphic below)
-
rising edge counter.
-
week number of last rising edge
-
week number of last falling edge
ms tow of rising edge
ns
millisecond fraction of tow of rising edge
in nanoseconds
ms tow of falling edge
ns
millisecond fraction of tow of falling edge
in nanoseconds
ns
Accuracy estimate
Bitfield flags
This graphic explains the bits of flags
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Name
Description
mode
0=single
1=running
run
0=armed
1=stopped
newFallingEdg new falling edge detected
e
timeBase
0=Time base is Receiver Time
1=Time base is GNSS Time (the system according to the configuration in UBX-CFG-TP5 for tpIdx=0)
2=Time base is UTC (the variant according to the configuration in UBX-CFG-NAV5)
utc
0=UTC not available
1=UTC available
time
0=Time is not valid
1=Time is valid (Valid GNSS fix)
newRisingEdge new rising edge detected
5.17.2 UBX-TIM-TP (0x0D 0x01)
5.17.2.1 Time Pulse Timedata
Message
UBX-TIM-TP
Description Firmware Type Comment
Message Structure
Time Pulse Timedata
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message contains information on the timing of the next pulse at the
TIMEPULSE0 output. The recommended configuration when using this message is to set both the measurement rate (UBX-CFG-RATE) and the
timepulse frequency (UBX-CFG-TP5) to 1Hz.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x0D 0x01 16
see below CK_A CK_B
Payload Contents:
Byte Offset
0
Number Scaling
Format
U4
-
Name
towMS
4
U4
2^-32 towSubMS
8
I4
-
qErr
12
U2
-
week
14
X1
-
flags
15
X1
-
refInfo
Unit
Description
ms
ms ps
weeks
-
Time pulse time of week according to time base Submillisecond part of TOWMS Quantization error of time pulse (not supported for the FTS product variant). Time pulse week number according to time base bitmask (see graphic below) Time reference information (see graphic below)
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Bitfield flags
This graphic explains the bits of flags
u-blox ZED-F9P Interface Description - Manual
Name
timeBase
utc
raim
Description 0=Time base is GNSS 1=Time base is UTC 0=UTC not available 1=UTC available (T)RAIM information 0=information not available 1=not active 2=active
Bitfield refInfo
This graphic explains the bits of refInfo
Name
timeRefGnss
utcStandard
Description GNSS reference information (only active if time base is GNSS -> timeBase=0) 0: GPS 1: GLONASS 2: BeiDou 15: Unknown UTC standard identifier (only active if time base is UTC -> timeBase=1) 0: Information not available 1: Communications Research Laboratory (CRL) 2: National Institute of Standards and Technology (NIST) 3: U.S. Naval Observatory (USNO) 4: International Bureau of Weights and Measures (BIPM) 5: European Laboratory (tbd) 6: Former Soviet Union (SU) 15: Unknown
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5.17.3 UBX-TIM-VRFY (0x0D 0x06)
5.17.3.1 Sourced Time Verification
Message
UBX-TIM-VRFY
Description Firmware
Type Comment
Sourced Time Verification
Supported on:
· u-blox 9 with protocol version 27.11
Periodic/Polled
This message contains verification information about previous time received via
AID-INI or from RTC
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x0D 0x06 20
see below CK_A CK_B
Payload Contents:
Byte Offset
0 4 8
Number Scaling
Format
I4
-
I4
-
I4
-
Name
itow frac deltaMs
12
I4
-
deltaNs
16
U2
-
wno
18
X1
-
flags
19
U1
-
reserved1
Unit
Description
ms ns ms
ns week -
integer millisecond tow received by source sub-millisecond part of tow integer milliseconds of delta time (current time minus sourced time) sub-millisecond part of delta time week number information flags (see graphic below) Reserved
Bitfield flags
This graphic explains the bits of flags
Name
src
Description aiding time source 0: no time aiding done 2: source was RTC 3: source was AID-INI
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5.18 UBX-UPD (0x09)
Firmware Update Messages: i.e. Memory/Flash erase/write, Reboot, Flash identification, etc.. Messages in the UPD class are used to update the firmware and identify any attached flash device. 5.18.1 UBX-UPD-SOS (0x09 0x14)
5.18.1.1 Poll Backup File Restore Status
Message
UBX-UPD-SOS
Description Firmware
Type Comment
Poll Backup File Restore Status
Supported on:
· u-blox 9 with protocol version 27.11
Poll Request
Sending this (empty / no-payload) message to the receiver results in the receiver
returning a System Restored from Backup message as defined below.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x09 0x14 0
see below CK_A CK_B
No payload
5.18.1.2 Create Backup File in Flash
Message
UBX-UPD-SOS
Description Firmware
Type Comment
Create Backup File in Flash
Supported on:
· u-blox 9 with protocol version 27.11
Command
The host can send this message in order to save part of the BBR memory in a file
in flash file system. The feature is designed in order to emulate the presence of
the backup battery even if it is not present; the host can issue the save on
shutdown command before switching off the device supply. It is recommended
to issue a GNSS stop command before, in order to keep the BBR memory
content consistent.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x09 0x14 4
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1[3] -
Name
cmd reserved1
Unit
Description
-
Command (must be 0)
-
Reserved
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5.18.1.3 Clear Backup in Flash
Message
UBX-UPD-SOS
Description Firmware Type Comment
Message Structure
Clear Backup in Flash
Supported on: · u-blox 9 with protocol version 27.11
Command
The host can send this message in order to erase the backup file present in
flash. It is recommended that the clear operation is issued after the host has received the notification that the memory has been restored after a reset.
Alternatively the host can parse the startup string 'Restored data saved on shutdown' or poll the UBX-UPD-SOS message for getting the status.
Header
Class ID Length (Bytes)
Payload Checksum
0xB5 0x62 0x09 0x14 4
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1
Number Scaling
Format
U1
-
U1[3] -
Name
cmd reserved1
Unit
Description
-
Command (must be 1)
-
Reserved
5.18.1.4 Backup File Creation Acknowledge
Message
UBX-UPD-SOS
Description Firmware
Type Comment
Backup File Creation Acknowledge
Supported on:
· u-blox 9 with protocol version 27.11
Output
The message is sent from the device as confirmation of creation of a backup file
in flash. The host can safely shut down the device after received this message.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x09 0x14 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U1
-
Name
cmd reserved1 response
5
U1[3] -
reserved2
Unit
Description
-
Command (must be 2)
-
Reserved
-
0: Not acknowledged
1: Acknowledged
-
Reserved
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5.18.1.5 System Restored from Backup
Message
UBX-UPD-SOS
Description Firmware
Type Comment
System Restored from Backup
Supported on:
· u-blox 9 with protocol version 27.11
Output
The message is sent from the device to notify the host the BBR has been
restored from a backup file in flash. The host should clear the backup file after
receiving this message. If the UBX-UPD-SOS message is polled, this message
will be resent.
Header
Class ID Length (Bytes)
Payload Checksum
Message Structure 0xB5 0x62 0x09 0x14 8
see below CK_A CK_B
Payload Contents:
Byte Offset
0 1 4
Number Scaling
Format
U1
-
U1[3] -
U1
-
Name
cmd reserved1 response
5
U1[3] -
reserved2
Unit
Description
-
Command (must be 3)
-
Reserved
-
0: Unknown
1: Failed restoring from backup file
2: Restored from backup file
3: Not restored (no backup)
-
Reserved
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6 Configuration Interface
This chapter describes the Receiver Configuration Database accessible through the Configuration Interface.
6.1 Configuration Database
The configuration database in the receiver's RAM holds the current configuration, which is used by the receiver at run-time. It is constructed on startup of the receiver from several sources of configuration. These sources are called Configuration Layers. The current configuration is called the RAM Layer. Any configuration in any layer is organized as Configuration Items, where each Configuration Item is referenced by a unique Configuration Key ID and hold a single Configuration Value.
6.2 Configuration Items
The following figure shows the structure of a Configuration Item, which consists of a (Configuration) Key ID and its (Configuration) Value:
A Configuration Key ID is a 32 bit integer value, which is split into three parts (Note that bits 31, 27. .24 and 15..8 are reserved for future use and are currently unused.): · bits 30..28: 3 bits that indicate the storage size of a Configuration Value (range 0x01-0x05, see
below) · bits 23..16: 8 bits that define a unique group ID (range 0x01-0xfe) · bits 7..0: 8 bits that define a unique item ID within a group (range 0x01-0xfe) The entire 32 bit value is the unique Key ID, which uniquely identifies a particular item. The numeric representation of the Key ID uses the lower-case hexadecimal format, such as 0x20c400a1. An easier, more readable text representation uses the form CFG-GROUP-ITEM. This is also referred to as the (Configuration) Key Name. Supported storage size identifiers (bits 30..28 of the Key ID) are: · 0x01: one bit (the actual storage used is one byte, but only the least significant bit is used) · 0x02: one byte · 0x03: two bytes · 0x04: four bytes · 0x05: eight bytes Each Configuration Item is of a certain type, which defines the interpretation of the raw binary data (see also number formats): · U1, U2, U4, U8: unsigned little-endian integers of 8-, 16-, 32- and 64-bit widths · I1, I2, I4, I8: signed little-endian, two's complement integers of 8-, 16-, 32- and 64-bit widths · R4, R8: IEEE754 single (32-bit) and double (64-bit) precision floats · E1, E2, E4: unsigned little-endian enumeration of 8-, 16-, and 32-bit widths (like U1, U2 and U4)
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· X1, X2, X4, X8: unsigned little-endian integers of 8-, 16-, 32- and 64-bit widths for bitfields and other binary data, such as strings
· L: single-bit boolean (true = 1, false = 0), stored as U1
6.3 Configuration Layers
Several Configuration Layers exist. They are separate sources of Configuration Items. Some of the layers are read-only and others are modifiable. Layers are organised in terms of priority. Values in a high priority layer will replace values stored in low priority layer. On startup of the receiver all configuration layers are read and the items within each layer are stacked up in order to create the Current Configuration, which is used by the receiver at run-time. The following configuration layers are available (in order of priority, highest priority first): · RAM: This layer contains items stored in volatile RAM. This is the Current Configuration. The
value of any item can be set by the user at run-time (see UBX Protocol Interface below) and it will become effective immediately. · BBR: This layer contains items stored in the battery-backed RAM. The contents in this layer are preserved as long as a battery backup supply is provided during off periods. The value of any item can be set by the user at run-time (see UBX Protocol Interface below) and it will become effective upon a restart of the receiver. · Flash: This layer contains items stored permanently in the external flash memory. This layer is only available if there is a usable external flash memory. The value of any item can be set by the user at run-time (see UBX Protocol Interface below) it will become effective upon a restart of the receiver. · Default: This layer contains all items known to the running receiver software and their hardcoded default values. Data in this layer is not writable. The stacking of the Configuration Items from the different layers (sources) in order to construct the Current Configuration in the RAM Layer is depicted in the following figure. For each defined item, i.e. for each item in the Default Layer, the receiver software goes through the layers above and stacks all the found items on top. Some items may not be present in every layer. The result is the RAM Layer filled with all Configuration Items given Configuration Values coming from the highest priority layer the corresponding item was present. In the example figure below bold text indicates the source of the value in the Current Configuration (the RAM Layer). Empty boxes indicate that the layer can hold the item but that it is not currently stored there. Boxes with text indicate that an item is currently stored in the layer.
In the example figure above several items (e.g. the first item) are only set in the Default Layer and hence the default value ends up in Current Configuration in the RAM Layer. The third item is present in the Default, Flash and BBR Layers. The value from the BBR Layer has the highest priority and therefore it ends up in the RAM Layer. On the other hand, the default value of the
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sixth item is changed by the value in the Flash Layer. The value of the last item is changed in the RAM Layer only, i.e. upon startup the value in the RAM Layer was the value from the Default Layer, but the user has changed the value in the RAM Layer at run-time.
6.4 Configuration Interface Access
The following sections describe the existing interfaces to access the Configuration Database.
6.4.1 UBX Protocol Interface The following UBX protocol messages are available to access the Configuration Database: · UBX-CFG-VALGET to read Configuration Items from the database · UBX-CFG-VALSET to set Configuration Items in the database · UBX-CFG-VALDEL to delete Configuration Items from the database
6.5 Configuration Data
Configuration data is the binary representation of a list of Key ID and Value pairs. It is formed by concatenating keys (U4 values) and values (variable type) without any padding. This format is used in the UBX-CFG-VALSET and UBX-CFG-VALGET messages. The figure below shows an example. The four Items (Key ID - Value pairs) on the left use the four fundamental storage sizes: one byte (L, U1, I1, E1 and X1 types), 2 bytes (U2, I2, E2 and X2 types), four bytes (U4, I4, E4, X4 and R4 types) and eight bytes (U8, I8, X8 and R8 types). When concatenated (right) the Key IDs and Values are not aligned and there is no padding.
Note that this is an arbitrary example and any number of items of any value storage size can be concatenated the same way.
6.6 Configuration Transactions
The configuration concept supports two mechanisms of configuration, a transactionless mechanism where sent configuration changes are applied immediately to the configuration layer(s) requested. The second mechanism is a configuration transaction. A transaction offers a way of queuing multiple configuration changes. It is particularly useful where different configuration keys depend on each other in such a way that sending one before the other can cause the configuration to be rejected. The queued configuration change requests are stored then checked collectively before being applied to the receiver. A transaction can have the following states described in the figure below.
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When starting a transaction, the user must specify the layer(s) the changes will be applied to. This list of configuration layer(s) must be observed throughout the transaction states, modifying the configuration layer(s) mid-transaction will cause the transaction to be aborted and no queued changes will be applied. In the start transaction state, the receiver will lock the configuration database so that changes from another entity or message cannot be applied. It is possible to send a configuration key-value pairs with the start transaction state, and that will be queued waiting to be applied. In the ongoing state, a configuration key and value must be sent, the receiver will abort the transaction and not apply any changes if this condition is violated, key-value pairs sent in the ongoing state will be queued waiting to be applied. In the apply state, the queued changes will be collectively checked and applied to the requested configuration layer(s). Note that any additional key-value pairs sent within the apply state will be ignored. Note that a transaction can only come from a single source, a UBX-CFG-VALSET message or a UBXCFG-VALDEL message. This means that in any given transaction it is not possible to mix a delete and a save request, starting a transaction from a different source will abort the current transaction and no queued changes would be applied. Please refer to UBX-CFG-VALSET and UBX-CFG-VALDEL messages for a detailed description of how to setup a configuration transaction, its limitations and conditions that would cause the transaction to be rejected.
6.7 Reset Behaviour
The RAM layer is always rebuilt from the layers below when the chip's processor comes out from reset. When using UBX-CFG-RST the processor goes through a reset cycle with these reset types ( resetMode field): · 0x00 hardware reset (watchdog) immediately · 0x01 controlled software reset
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· 0x04 hardware reset (watchdog) after shutdown
6.8 Configuration Reference
See Configuration Defaults for the default values.
6.8.1 CFG-GEOFENCE: Geofencing Configuration See the chapter Geofencing in Integration manual for feature details.
If the receiver is sent a valid new configuration, it will respond with a UBX-ACK-ACK message and immediately change to the new configuration. Otherwise the receiver will reject the request, by issuing a UBX-ACK-NAK and continuing operation with the previous configuration.
Note that the acknowledge message does not indicate whether the PIO configuration has been successfully applied (pin assigned), it only indicates the successful configuration of the feature. The configured PIO must be previously unoccupied for successful assignment.
CFG-GEOFENCE-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-GEOFENCE-CONFLVL 0x20240011 E1 -
- Required confidence level for
state evaluation
This value times the position's standard deviation (sigma) defines the confidence band.
See Constants for CFG-GEOFENCE-CONFLVL below for a list of possible constants for this item.
CFG-GEOFENCE-USE_PIO
0x10240012 L -
- Use PIO combined fence state
output
CFG-GEOFENCE-PINPOL
0x20240013 E1 -
- PIO pin polarity
See Constants for CFG-GEOFENCE-PINPOL below for a list of possible constants for this item.
CFG-GEOFENCE-PIN
0x20240014 U1 -
- PIO pin number
CFG-GEOFENCE-USE_FENCE1 0x10240020 L -
- Use first geofence
CFG-GEOFENCE-FENCE1_LAT 0x40240021 I4 1e-7 deg Latitude of the first geofence
circle center
CFG-GEOFENCE-FENCE1_LON 0x40240022 I4 1e-7 deg Longitude of the first geofence
circle center
CFG-GEOFENCE-FENCE1_RAD 0x40240023 U4 0.01 m Radius of the first geofence circle
CFG-GEOFENCE-USE_
0x10240030 L -
- Use second geofence
FENCE2
CFG-GEOFENCE-FENCE2_LAT 0x40240031 I4 1e-7 deg Latitude of the second geofence
circle center
CFG-GEOFENCE-FENCE2_
0x40240032 I4 1e-7 deg Longitude of the second
LON
geofence circle center
CFG-GEOFENCE-FENCE2_
0x40240033 U4 0.01 m Radius of the second geofence
RAD
circle
CFG-GEOFENCE-USE_
0x10240040 L -
- Use third geofence
FENCE3
CFG-GEOFENCE-FENCE3_LAT 0x40240041 I4 1e-7 deg Latitude of the third geofence
circle center
CFG-GEOFENCE-FENCE3_
0x40240042 I4 1e-7 deg Longitude of the third geofence
LON
circle center
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CFG-GEOFENCE-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-GEOFENCE-FENCE3_
0x40240043 U4
RAD
CFG-GEOFENCE-USE_
0x10240050 L
FENCE4
CFG-GEOFENCE-FENCE4_LAT 0x40240051 I4
Scale
0.01 -
1e-7
CFG-GEOFENCE-FENCE4_ LON CFG-GEOFENCE-FENCE4_ RAD
0x40240052 I4 1e-7 0x40240053 U4 0.01
Unit Description
m Radius of the third geofence circle
- Use fourth geofence
deg Latitude of the fourth geofence circle center
deg Longitude of the fourth geofence circle center
m Radius of the fourth geofence circle
Constants for CFG-GEOFENCE-CONFLVL
Constant
Value
Description
L000 L680 L950 L997 L9999 L999999
0
No confidence
1
68%
2
95%
3
99.7%
4
99.99%
5
99.9999%
Constants for CFG-GEOFENCE-PINPOL
Constant
LOW_IN LOW_OUT
Value
0 1
Description
PIO low means inside geofence PIO low means outside geofence
6.8.2 CFG-HW: Hardware Configuration Hardware configuration settings.
CFG-HW-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-HW-ANT_CFG_
0x10a3002e L -
- Active antenna voltage control
VOLTCTRL
flag
Enable active antenna voltage control flag.
CFG-HW-ANT_CFG_
0x10a3002f L -
- Short antenna detection flag
SHORTDET
Enable short antenna detection flag.
CFG-HW-ANT_CFG_
0x10a30030 L -
- Short antenna detection polarity
SHORTDET_POL
Set to true if polarity of the antenna short detection is active low.
CFG-HW-ANT_CFG_OPENDET 0x10a30031 L -
- Open antenna detection flag
Enable open antenna detection flag.
CFG-HW-ANT_CFG_
0x10a30032 L -
- Open antenna detection polarity
OPENDET_POL
Set to true if polarity of the antenna open detection is active low.
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CFG-HW-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-HW-ANT_CFG_
0x10a30033 L -
- Power down antenna flag
PWRDOWN
Enable power down antenna logic in the event of antenna short circuit. CFG-HW-ANT_CFG_
SHORTDET must be enabled to use this feature.
CFG-HW-ANT_CFG_
0x10a30034 L -
- Power down antenna logic
PWRDOWN_POL
polarity
Set to true if polarity of the antenna power down logic is active high.
CFG-HW-ANT_CFG_RECOVER 0x10a30035 L -
- Automatic recovery from short
state flag
Enable automatic recovery from short state.
CFG-HW-ANT_SUP_SWITCH_ 0x20a30036 U1 -
- ANT1 PIO number
PIN
Antenna Switch (ANT1) PIO number.
CFG-HW-ANT_SUP_SHORT_ 0x20a30037 U1 -
- ANT0 PIO number
PIN
Antenna Short (ANT0) PIO number.
CFG-HW-ANT_SUP_OPEN_PIN 0x20a30038 U1 -
- ANT2 PIO number
Antenna Switch (ANT2) PIO number.
6.8.3 CFG-I2C: Configuration of the I2C Interface Settings needed to configure the I2C communication interface.
CFG-I2C-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-I2C-ADDRESS
0x20510001 U1 -
-
CFG-I2C-EXTENDEDTIMEOUT 0x10510002 L -
-
CFG-I2C-ENABLED
0x10510003 L -
-
Description
I2C slave address of the receiver Flag to disable timeouting the interface after 1.5 s Flag to indicate if the I2C interface should be enabled
6.8.4 CFG-I2CINPROT: Input Protocol Configuration of the I2C Interface Input protocol enable flags of the I2C interface.
CFG-I2CINPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
CFG-I2CINPROT-UBX
e
0x10710001 L -
-
CFG-I2CINPROT-NMEA
0x10710002 L -
-
CFG-I2CINPROT-RTCM3X
0x10710004 L -
-
Description
Flag to indicate if UBX should be an input protocol on I2C Flag to indicate if NMEA should be an input protocol on I2C Flag to indicate if RTCM3X should be an input protocol on I2C
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6.8.5 CFG-I2COUTPROT: Output Protocol Configuration of the I2C Interface Output protocol enable flags of the I2C interface.
CFG-I2COUTPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-I2COUTPROT-UBX
0x10720001 L -
-
CFG-I2COUTPROT-NMEA
0x10720002 L -
-
CFG-I2COUTPROT-RTCM3X 0x10720004 L -
-
Description
Flag to indicate if UBX should be an output protocol on I2C Flag to indicate if NMEA should be an output protocol on I2C Flag to indicate if RTCM3X should be an output protocol on I2C
6.8.6 CFG-INFMSG: Inf Message Configuration Information message configuration for the NMEA and UBX protocols.
CFG-INFMSG-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-INFMSG-UBX_I2C
0x20920001 X1 -
- Information message enable
flags for the UBX protocol on the
I2C interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-UBX_UART1
0x20920002 X1 -
- Information message enable
flags for the UBX protocol on the
UART1 interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-UBX_UART2
0x20920003 X1 -
- Information message enable
flags for the UBX protocol on the
UART2 interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-UBX_USB
0x20920004 X1 -
- Information message enable
flags for the UBX protocol on the
USB interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-UBX_SPI
0x20920005 X1 -
- Information message enable
flags for the UBX protocol on the
SPI interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-NMEA_I2C
0x20920006 X1 -
- Information message enable
flags for the NMEA protocol on
the I2C interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-NMEA_UART1 0x20920007 X1 -
- Information message enable
flags for the NMEA protocol on
the UART1 interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
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CFG-INFMSG-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-INFMSG-NMEA_UART2 0x20920008 X1 -
- Information message enable
flags for the NMEA protocol on
the UART2 interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-NMEA_USB
0x20920009 X1 -
- Information message enable
flags for the NMEA protocol on
the USB interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
CFG-INFMSG-NMEA_SPI
0x2092000a X1 -
- Information message enable
flags for the NMEA protocol on
the SPI interface
See Constants for CFG-INFMSG-UBX_I2C below for a list of possible constants for this item.
Constants for CFG-INFMSG-UBX_I2C
Constant
Value
ERROR WARNING NOTICE TEST DEBUG
0x01 0x02 0x04 0x08 0x10
Description
Enable ERROR information messages Enable WARNING information messages Enable NOTICE information messages Enable TEST information messages Enable DEBUG information messages
6.8.7 CFG-ITFM: Jamming/Interference Monitor configuration Configuration of Jamming/Interference monitor.
CFG-ITFM-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-ITFM-BBTHRESHOLD
0x20410001 U1 -
- Broadband jamming detection
threshold
CFG-ITFM-CWTHRESHOLD 0x20410002 U1 -
- CW jamming detection threshold
CFG-ITFM-ENABLE
0x1041000d L -
- Enable interference detection
CFG-ITFM-ANTSETTING
0x20410010 E1 -
- Antenna setting
See Constants for CFG-ITFM-ANTSETTING below for a list of possible constants for this item.
CFG-ITFM-ENABLE_AUX
0x10410013 L -
- Set to true to scan auxiliary
bands
Supported on u-blox 8 / u-blox M8 only, otherwise ignored.
Constants for CFG-ITFM-ANTSETTING
Constant
Value
UNKNOWN
0
PASSIVE
1
ACTIVE
2
Description
Unknown Passive Active
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6.8.8 CFG-LOGFILTER: Data Logger Configuration This group can be used to configure the data logger, i.e. to enable/disable the log recording and to get/set the position entry filter settings.
Position entries can be filtered based on time difference, position difference or current speed thresholds. Position and speed filtering also have a minimum time interval. A position is logged if any of the thresholds are exceeded. If a threshold is set to zero it is ignored. The maximum rate of position logging is 1Hz.
The filter settings will be configured to the provided values only if the 'applyAllFilterSettings' flag is set. This allows the recording to be enabled/disabled independently of configuring the filter settings.
It is possible to configure the data logger in the absence of a logging file. By doing so, once the logging file is created, the data logger configuration will take effect immediately and logging recording and filtering will activate according to the configuration.
CFG-LOGFILTER-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-LOGFILTER-RECORD_ 0x10de0002 L -
- Recording enabled
ENA
Set to true when recording enabled.
CFG-LOGFILTER-ONCE_PER_ 0x10de0003 L -
- Once per wakeup
WAKE_UP_ENA
Set to true recording only one single position per PSM on/off mode wake-up period is enabled.
Note: the value set here does not take effect unless CFG-LOGFILTER-APPLY_ALL_FILTERS is
enabled.
CFG-LOGFILTER-APPLY_ALL_ 0x10de0004 L -
- Apply all filter settings
FILTERS
Set to true when all filter settings are to be applied, not just recording enabling/disabling.
CFG-LOGFILTER-MIN_
0x30de0005 U2 -
s Minimum time interval between
INTERVAL
logged positions
Minimum time interval between logged positions (0 = not set). This is only applied in combination
with the speed and/or position thresholds. If both MIN_INTERVAL and TIME_THRS are set, MIN_
INTERVAL must be less than or equal to TIME_THRS.
Note: the value set here does not take effect unless CFG-LOGFILTER-APPLY_ALL_FILTERS is
enabled.
CFG-LOGFILTER-TIME_THRS 0x30de0006 U2 -
s Time threshold
If the time difference is greater than the threshold then the position is logged (0 = not set).
Note: the value set here does not take effect unless CFG-LOGFILTER-APPLY_ALL_FILTERS is
enabled.
CFG-LOGFILTER-SPEED_
0x30de0007 U2 - m/s Speed threshold
THRS
If the current speed is greater than the threshold then the position is logged (0 = not set). MIN_
INTERVAL also applies.
Note: value set here does not take effect unless CFG-LOGFILTER-APPLY_ALL_FILTERS is
enabled.
CFG-LOGFILTER-POSITION_ 0x40de0008 U4 -
m Position threshold
THRS
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CFG-LOGFILTER-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
If the 3D position difference is greater than the threshold then the position is logged (0 = not set).
MIN_INTERVAL also applies.
Note: the value set here does not take effect unless CFG-LOGFILTER-APPLY_ALL_FILTERS is
enabled.
6.8.9 CFG-MOT: Motion Detector Configuration The items in this group specify the parameters used for the internal receiver motion detector. The platform motion is assessed by combining the detected motion of different detectors looking at specific data types (i.e. GNSS, gyroscopes, accelerometers, wheel-ticks). The decision thresholds of the internal detectors can be specified using the configuration items in this group.
CFG-MOT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-MOT-GNSSSPEED_THRS 0x20250038 U1 0.01 m/s GNSS speed threshold below
which platform is considered as
stationary (a.k.a. static hold
threshold)
Set this paramter to 0 for a firmware default value or bahaviour.
CFG-MOT-GNSSDIST_THRS 0x3025003b U2 -
- Distance above which GNSS-
based stationary motion is exit (a.
k.a. static hold distance
threshold)
Set this paramter to 0 for a firmware default value or bahaviour.
6.8.10 CFG-MSGOUT: Message Output Configuration For each message and port a separate output rate (per second, per epoch) can be configured.
CFG-MSGOUT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-NMEA_ID_
0x209100a6 U1 -
-
DTM_I2C
CFG-MSGOUT-NMEA_ID_
0x209100aa U1 -
-
DTM_SPI
CFG-MSGOUT-NMEA_ID_
0x209100a7 U1 -
-
DTM_UART1
CFG-MSGOUT-NMEA_ID_
0x209100a8 U1 -
-
DTM_UART2
CFG-MSGOUT-NMEA_ID_
0x209100a9 U1 -
-
DTM_USB
CFG-MSGOUT-NMEA_ID_GBS_ 0x209100dd U1 -
-
I2C
CFG-MSGOUT-NMEA_ID_GBS_ 0x209100e1 U1 -
-
SPI
Description
Output rate of the NMEA-GXDTM message on port I2C Output rate of the NMEA-GXDTM message on port SPI Output rate of the NMEA-GXDTM message on port UART1 Output rate of the NMEA-GXDTM message on port UART2 Output rate of the NMEA-GXDTM message on port USB Output rate of the NMEA-GXGBS message on port I2C Output rate of the NMEA-GXGBS message on port SPI
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-NMEA_ID_GBS_ 0x209100de U1
UART1
CFG-MSGOUT-NMEA_ID_GBS_ 0x209100df U1
UART2
CFG-MSGOUT-NMEA_ID_GBS_ 0x209100e0 U1
USB
CFG-MSGOUT-NMEA_ID_
0x209100ba U1
GGA_I2C
CFG-MSGOUT-NMEA_ID_
0x209100be U1
GGA_SPI
CFG-MSGOUT-NMEA_ID_
0x209100bb U1
GGA_UART1
CFG-MSGOUT-NMEA_ID_
0x209100bc U1
GGA_UART2
CFG-MSGOUT-NMEA_ID_
0x209100bd U1
GGA_USB
CFG-MSGOUT-NMEA_ID_GLL_ 0x209100c9 U1
I2C
CFG-MSGOUT-NMEA_ID_GLL_ 0x209100cd U1
SPI
CFG-MSGOUT-NMEA_ID_GLL_ 0x209100ca U1
UART1
CFG-MSGOUT-NMEA_ID_GLL_ 0x209100cb U1
UART2
CFG-MSGOUT-NMEA_ID_GLL_ 0x209100cc U1
USB
CFG-MSGOUT-NMEA_ID_
0x209100b5 U1
GNS_I2C
CFG-MSGOUT-NMEA_ID_
0x209100b9 U1
GNS_SPI
CFG-MSGOUT-NMEA_ID_
0x209100b6 U1
GNS_UART1
CFG-MSGOUT-NMEA_ID_
0x209100b7 U1
GNS_UART2
CFG-MSGOUT-NMEA_ID_
0x209100b8 U1
GNS_USB
CFG-MSGOUT-NMEA_ID_
0x209100ce U1
GRS_I2C
CFG-MSGOUT-NMEA_ID_
0x209100d2 U1
GRS_SPI
CFG-MSGOUT-NMEA_ID_
0x209100cf U1
GRS_UART1
CFG-MSGOUT-NMEA_ID_
0x209100d0 U1
GRS_UART2
Scale
-
Unit Description
- Output rate of the NMEA-GXGBS message on port UART1
- Output rate of the NMEA-GXGBS message on port UART2
- Output rate of the NMEA-GXGBS message on port USB
- Output rate of the NMEA-GXGGA message on port I2C
- Output rate of the NMEA-GXGGA message on port SPI
- Output rate of the NMEA-GXGGA message on port UART1
- Output rate of the NMEA-GXGGA message on port UART2
- Output rate of the NMEA-GXGGA message on port USB
- Output rate of the NMEA-GX-GLL message on port I2C
- Output rate of the NMEA-GX-GLL message on port SPI
- Output rate of the NMEA-GX-GLL message on port UART1
- Output rate of the NMEA-GX-GLL message on port UART2
- Output rate of the NMEA-GX-GLL message on port USB
- Output rate of the NMEA-GXGNS message on port I2C
- Output rate of the NMEA-GXGNS message on port SPI
- Output rate of the NMEA-GXGNS message on port UART1
- Output rate of the NMEA-GXGNS message on port UART2
- Output rate of the NMEA-GXGNS message on port USB
- Output rate of the NMEA-GXGRS message on port I2C
- Output rate of the NMEA-GXGRS message on port SPI
- Output rate of the NMEA-GXGRS message on port UART1
- Output rate of the NMEA-GXGRS message on port UART2
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-NMEA_ID_
0x209100d1 U1
GRS_USB
CFG-MSGOUT-NMEA_ID_
0x209100bf U1
GSA_I2C
CFG-MSGOUT-NMEA_ID_
0x209100c3 U1
GSA_SPI
CFG-MSGOUT-NMEA_ID_
0x209100c0 U1
GSA_UART1
CFG-MSGOUT-NMEA_ID_
0x209100c1 U1
GSA_UART2
CFG-MSGOUT-NMEA_ID_
0x209100c2 U1
GSA_USB
CFG-MSGOUT-NMEA_ID_GST_ 0x209100d3 U1
I2C
CFG-MSGOUT-NMEA_ID_GST_ 0x209100d7 U1
SPI
CFG-MSGOUT-NMEA_ID_GST_ 0x209100d4 U1
UART1
CFG-MSGOUT-NMEA_ID_GST_ 0x209100d5 U1
UART2
CFG-MSGOUT-NMEA_ID_GST_ 0x209100d6 U1
USB
CFG-MSGOUT-NMEA_ID_
0x209100c4 U1
GSV_I2C
CFG-MSGOUT-NMEA_ID_
0x209100c8 U1
GSV_SPI
CFG-MSGOUT-NMEA_ID_
0x209100c5 U1
GSV_UART1
CFG-MSGOUT-NMEA_ID_
0x209100c6 U1
GSV_UART2
CFG-MSGOUT-NMEA_ID_
0x209100c7 U1
GSV_USB
CFG-MSGOUT-NMEA_ID_
0x209100ab U1
RMC_I2C
CFG-MSGOUT-NMEA_ID_
0x209100af U1
RMC_SPI
CFG-MSGOUT-NMEA_ID_
0x209100ac U1
RMC_UART1
CFG-MSGOUT-NMEA_ID_
0x209100ad U1
RMC_UART2
CFG-MSGOUT-NMEA_ID_
0x209100ae U1
RMC_USB
CFG-MSGOUT-NMEA_ID_
0x209100e7 U1
VLW_I2C
Scale
-
Unit Description
- Output rate of the NMEA-GXGRS message on port USB
- Output rate of the NMEA-GXGSA message on port I2C
- Output rate of the NMEA-GXGSA message on port SPI
- Output rate of the NMEA-GXGSA message on port UART1
- Output rate of the NMEA-GXGSA message on port UART2
- Output rate of the NMEA-GXGSA message on port USB
- Output rate of the NMEA-GXGST message on port I2C
- Output rate of the NMEA-GXGST message on port SPI
- Output rate of the NMEA-GXGST message on port UART1
- Output rate of the NMEA-GXGST message on port UART2
- Output rate of the NMEA-GXGST message on port USB
- Output rate of the NMEA-GXGSV message on port I2C
- Output rate of the NMEA-GXGSV message on port SPI
- Output rate of the NMEA-GXGSV message on port UART1
- Output rate of the NMEA-GXGSV message on port UART2
- Output rate of the NMEA-GXGSV message on port USB
- Output rate of the NMEA-GXRMC message on port I2C
- Output rate of the NMEA-GXRMC message on port SPI
- Output rate of the NMEA-GXRMC message on port UART1
- Output rate of the NMEA-GXRMC message on port UART2
- Output rate of the NMEA-GXRMC message on port USB
- Output rate of the NMEA-GXVLW message on port I2C
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-NMEA_ID_
0x209100eb U1
VLW_SPI
CFG-MSGOUT-NMEA_ID_
0x209100e8 U1
VLW_UART1
CFG-MSGOUT-NMEA_ID_
0x209100e9 U1
VLW_UART2
CFG-MSGOUT-NMEA_ID_
0x209100ea U1
VLW_USB
CFG-MSGOUT-NMEA_ID_VTG_ 0x209100b0 U1
I2C
CFG-MSGOUT-NMEA_ID_VTG_ 0x209100b4 U1
SPI
CFG-MSGOUT-NMEA_ID_VTG_ 0x209100b1 U1
UART1
CFG-MSGOUT-NMEA_ID_VTG_ 0x209100b2 U1
UART2
CFG-MSGOUT-NMEA_ID_VTG_ 0x209100b3 U1
USB
CFG-MSGOUT-NMEA_ID_
0x209100d8 U1
ZDA_I2C
CFG-MSGOUT-NMEA_ID_
0x209100dc U1
ZDA_SPI
CFG-MSGOUT-NMEA_ID_
0x209100d9 U1
ZDA_UART1
CFG-MSGOUT-NMEA_ID_
0x209100da U1
ZDA_UART2
CFG-MSGOUT-NMEA_ID_
0x209100db U1
ZDA_USB
CFG-MSGOUT-PUBX_ID_
0x209100ec U1
POLYP_I2C
CFG-MSGOUT-PUBX_ID_
0x209100f0 U1
POLYP_SPI
CFG-MSGOUT-PUBX_ID_
0x209100ed U1
POLYP_UART1
CFG-MSGOUT-PUBX_ID_
0x209100ee U1
POLYP_UART2
CFG-MSGOUT-PUBX_ID_
0x209100ef U1
POLYP_USB
CFG-MSGOUT-PUBX_ID_
0x209100f1 U1
POLYS_I2C
CFG-MSGOUT-PUBX_ID_
0x209100f5 U1
POLYS_SPI
CFG-MSGOUT-PUBX_ID_
0x209100f2 U1
POLYS_UART1
Scale
-
Unit Description
- Output rate of the NMEA-GXVLW message on port SPI
- Output rate of the NMEA-GXVLW message on port UART1
- Output rate of the NMEA-GXVLW message on port UART2
- Output rate of the NMEA-GXVLW message on port USB
- Output rate of the NMEA-GXVTG message on port I2C
- Output rate of the NMEA-GXVTG message on port SPI
- Output rate of the NMEA-GXVTG message on port UART1
- Output rate of the NMEA-GXVTG message on port UART2
- Output rate of the NMEA-GXVTG message on port USB
- Output rate of the NMEA-GXZDA message on port I2C
- Output rate of the NMEA-GXZDA message on port SPI
- Output rate of the NMEA-GXZDA message on port UART1
- Output rate of the NMEA-GXZDA message on port UART2
- Output rate of the NMEA-GXZDA message on port USB
- Output rate of the NMEA-GXPUBX00 message on port I2C
- Output rate of the NMEA-GXPUBX00 message on port SPI
- Output rate of the NMEA-GXPUBX00 message on port UART1
- Output rate of the NMEA-GXPUBX00 message on port UART2
- Output rate of the NMEA-GXPUBX00 message on port USB
- Output rate of the NMEA-GXPUBX03 message on port I2C
- Output rate of the NMEA-GXPUBX03 message on port SPI
- Output rate of the NMEA-GXPUBX03 message on port UART1
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-PUBX_ID_
0x209100f3 U1
POLYS_UART2
CFG-MSGOUT-PUBX_ID_
0x209100f4 U1
POLYS_USB
CFG-MSGOUT-PUBX_ID_
0x209100f6 U1
POLYT_I2C
CFG-MSGOUT-PUBX_ID_
0x209100fa U1
POLYT_SPI
CFG-MSGOUT-PUBX_ID_
0x209100f7 U1
POLYT_UART1
CFG-MSGOUT-PUBX_ID_
0x209100f8 U1
POLYT_UART2
CFG-MSGOUT-PUBX_ID_
0x209100f9 U1
POLYT_USB
CFG-MSGOUT-RTCM_3X_
0x209102bd U1
TYPE1005_I2C
CFG-MSGOUT-RTCM_3X_
0x209102c1 U1
TYPE1005_SPI
CFG-MSGOUT-RTCM_3X_
0x209102be U1
TYPE1005_UART1
Scale
-
CFG-MSGOUT-RTCM_3X_ TYPE1005_UART2
0x209102bf U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1005_USB CFG-MSGOUT-RTCM_3X_ TYPE1074_I2C CFG-MSGOUT-RTCM_3X_ TYPE1074_SPI CFG-MSGOUT-RTCM_3X_ TYPE1074_UART1
0x209102c0 U1 0x2091035e U1 0x20910362 U1 0x2091035f U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1074_UART2
0x20910360 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1074_USB CFG-MSGOUT-RTCM_3X_ TYPE1077_I2C CFG-MSGOUT-RTCM_3X_ TYPE1077_SPI
0x20910361 U1 0x209102cc U1 0x209102d0 U1 -
Unit Description
- Output rate of the NMEA-GXPUBX03 message on port UART2
- Output rate of the NMEA-GXPUBX03 message on port USB
- Output rate of the NMEA-GXPUBX04 message on port I2C
- Output rate of the NMEA-GXPUBX04 message on port SPI
- Output rate of the NMEA-GXPUBX04 message on port UART1
- Output rate of the NMEA-GXPUBX04 message on port UART2
- Output rate of the NMEA-GXPUBX04 message on port USB
- Output rate of the RTCM-3XTYPE1005 message on port I2C
- Output rate of the RTCM-3XTYPE1005 message on port SPI
- Output rate of the RTCM-3XTYPE1005 message on port UART1
- Output rate of the RTCM-3XTYPE1005 message on port UART2
- Output rate of the RTCM-3XTYPE1005 message on port USB
- Output rate of the RTCM-3XTYPE1074 message on port I2C
- Output rate of the RTCM-3XTYPE1074 message on port SPI
- Output rate of the RTCM-3XTYPE1074 message on port UART1
- Output rate of the RTCM-3XTYPE1074 message on port UART2
- Output rate of the RTCM-3XTYPE1074 message on port USB
- Output rate of the RTCM-3XTYPE1077 message on port I2C
- Output rate of the RTCM-3XTYPE1077 message on port SPI
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-RTCM_3X_
0x209102cd U1
TYPE1077_UART1
Scale
-
CFG-MSGOUT-RTCM_3X_ TYPE1077_UART2
0x209102ce U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1077_USB CFG-MSGOUT-RTCM_3X_ TYPE1084_I2C CFG-MSGOUT-RTCM_3X_ TYPE1084_SPI CFG-MSGOUT-RTCM_3X_ TYPE1084_UART1
0x209102cf U1 0x20910363 U1 0x20910367 U1 0x20910364 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1084_UART2
0x20910365 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1084_USB CFG-MSGOUT-RTCM_3X_ TYPE1087_I2C CFG-MSGOUT-RTCM_3X_ TYPE1087_SPI CFG-MSGOUT-RTCM_3X_ TYPE1087_UART1
0x20910366 U1 0x209102d1 U1 0x209102d5 U1 0x209102d2 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1087_UART2
0x209102d3 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1087_USB CFG-MSGOUT-RTCM_3X_ TYPE1094_I2C CFG-MSGOUT-RTCM_3X_ TYPE1094_SPI CFG-MSGOUT-RTCM_3X_ TYPE1094_UART1
0x209102d4 U1 0x20910368 U1 0x2091036c U1 0x20910369 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1094_UART2
0x2091036a U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1094_USB
0x2091036b U1 -
Unit Description
- Output rate of the RTCM-3XTYPE1077 message on port UART1
- Output rate of the RTCM-3XTYPE1077 message on port UART2
- Output rate of the RTCM-3XTYPE1077 message on port USB
- Output rate of the RTCM-3XTYPE1084 message on port I2C
- Output rate of the RTCM-3XTYPE1084 message on port SPI
- Output rate of the RTCM-3XTYPE1084 message on port UART1
- Output rate of the RTCM-3XTYPE1084 message on port UART2
- Output rate of the RTCM-3XTYPE1084 message on port USB
- Output rate of the RTCM-3XTYPE1087 message on port I2C
- Output rate of the RTCM-3XTYPE1087 message on port SPI
- Output rate of the RTCM-3XTYPE1087 message on port UART1
- Output rate of the RTCM-3XTYPE1087 message on port UART2
- Output rate of the RTCM-3XTYPE1087 message on port USB
- Output rate of the RTCM-3XTYPE1094 message on port I2C
- Output rate of the RTCM-3XTYPE1094 message on port SPI
- Output rate of the RTCM-3XTYPE1094 message on port UART1
- Output rate of the RTCM-3XTYPE1094 message on port UART2
- Output rate of the RTCM-3XTYPE1094 message on port USB
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-RTCM_3X_
0x20910318 U1
TYPE1097_I2C
CFG-MSGOUT-RTCM_3X_
0x2091031c U1
TYPE1097_SPI
CFG-MSGOUT-RTCM_3X_
0x20910319 U1
TYPE1097_UART1
Scale
-
CFG-MSGOUT-RTCM_3X_ TYPE1097_UART2
0x2091031a U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1097_USB CFG-MSGOUT-RTCM_3X_ TYPE1124_I2C CFG-MSGOUT-RTCM_3X_ TYPE1124_SPI CFG-MSGOUT-RTCM_3X_ TYPE1124_UART1
0x2091031b U1 0x2091036d U1 0x20910371 U1 0x2091036e U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1124_UART2
0x2091036f U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1124_USB CFG-MSGOUT-RTCM_3X_ TYPE1127_I2C CFG-MSGOUT-RTCM_3X_ TYPE1127_SPI CFG-MSGOUT-RTCM_3X_ TYPE1127_UART1
0x20910370 U1 0x209102d6 U1 0x209102da U1 0x209102d7 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1127_UART2
0x209102d8 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE1127_USB CFG-MSGOUT-RTCM_3X_ TYPE1230_I2C CFG-MSGOUT-RTCM_3X_ TYPE1230_SPI CFG-MSGOUT-RTCM_3X_ TYPE1230_UART1
0x209102d9 U1 0x20910303 U1 0x20910307 U1 0x20910304 U1 -
Unit Description
- Output rate of the RTCM-3XTYPE1097 message on port I2C
- Output rate of the RTCM-3XTYPE1097 message on port SPI
- Output rate of the RTCM-3XTYPE1097 message on port UART1
- Output rate of the RTCM-3XTYPE1097 message on port UART2
- Output rate of the RTCM-3XTYPE1097 message on port USB
- Output rate of the RTCM-3XTYPE1124 message on port I2C
- Output rate of the RTCM-3XTYPE1124 message on port SPI
- Output rate of the RTCM-3XTYPE1124 message on port UART1
- Output rate of the RTCM-3XTYPE1124 message on port UART2
- Output rate of the RTCM-3XTYPE1124 message on port USB
- Output rate of the RTCM-3XTYPE1127 message on port I2C
- Output rate of the RTCM-3XTYPE1127 message on port SPI
- Output rate of the RTCM-3XTYPE1127 message on port UART1
- Output rate of the RTCM-3XTYPE1127 message on port UART2
- Output rate of the RTCM-3XTYPE1127 message on port USB
- Output rate of the RTCM-3XTYPE1230 message on port I2C
- Output rate of the RTCM-3XTYPE1230 message on port SPI
- Output rate of the RTCM-3XTYPE1230 message on port UART1
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-RTCM_3X_
0x20910305 U1
TYPE1230_UART2
Scale
-
CFG-MSGOUT-RTCM_3X_ TYPE1230_USB CFG-MSGOUT-RTCM_3X_ TYPE4072_0_I2C
0x20910306 U1 0x209102fe U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_0_SPI
0x20910302 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_0_UART1
0x209102ff U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_0_UART2
0x20910300 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_0_USB
0x20910301 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_1_I2C CFG-MSGOUT-RTCM_3X_ TYPE4072_1_SPI CFG-MSGOUT-RTCM_3X_ TYPE4072_1_UART1
0x20910381 U1 0x20910385 U1 0x20910382 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_1_UART2
0x20910383 U1 -
CFG-MSGOUT-RTCM_3X_ TYPE4072_1_USB
0x20910384 U1 -
CFG-MSGOUT-UBX_LOG_ INFO_I2C CFG-MSGOUT-UBX_LOG_ INFO_SPI CFG-MSGOUT-UBX_LOG_ INFO_UART1 CFG-MSGOUT-UBX_LOG_ INFO_UART2 CFG-MSGOUT-UBX_LOG_ INFO_USB
0x20910259 U1 0x2091025d U1 0x2091025a U1 0x2091025b U1 0x2091025c U1 -
Unit Description
- Output rate of the RTCM-3XTYPE1230 message on port UART2
- Output rate of the RTCM-3XTYPE1230 message on port USB
- Output rate of the RTCM-3XTYPE4072_0 message on port I2C
- Output rate of the RTCM-3XTYPE4072_0 message on port SPI
- Output rate of the RTCM-3XTYPE4072_0 message on port UART1
- Output rate of the RTCM-3XTYPE4072_0 message on port UART2
- Output rate of the RTCM-3XTYPE4072_0 message on port USB
- Output rate of the RTCM-3XTYPE4072_1 message on port I2C
- Output rate of the RTCM-3XTYPE4072_1 message on port SPI
- Output rate of the RTCM-3XTYPE4072_1 message on port UART1
- Output rate of the RTCM-3XTYPE4072_1 message on port UART2
- Output rate of the RTCM-3XTYPE4072_1 message on port USB
- Output rate of the UBX-LOGINFO message on port I2C
- Output rate of the UBX-LOGINFO message on port SPI
- Output rate of the UBX-LOGINFO message on port UART1
- Output rate of the UBX-LOGINFO message on port UART2
- Output rate of the UBX-LOGINFO message on port USB
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_MON_
0x2091034f U1
COMMS_I2C
CFG-MSGOUT-UBX_MON_
0x20910353 U1
COMMS_SPI
CFG-MSGOUT-UBX_MON_
0x20910350 U1
COMMS_UART1
CFG-MSGOUT-UBX_MON_
0x20910351 U1
COMMS_UART2
CFG-MSGOUT-UBX_MON_
0x20910352 U1
COMMS_USB
CFG-MSGOUT-UBX_MON_
0x209101b9 U1
HW2_I2C
CFG-MSGOUT-UBX_MON_
0x209101bd U1
HW2_SPI
CFG-MSGOUT-UBX_MON_
0x209101ba U1
HW2_UART1
CFG-MSGOUT-UBX_MON_
0x209101bb U1
HW2_UART2
CFG-MSGOUT-UBX_MON_
0x209101bc U1
HW2_USB
CFG-MSGOUT-UBX_MON_
0x20910354 U1
HW3_I2C
CFG-MSGOUT-UBX_MON_
0x20910358 U1
HW3_SPI
CFG-MSGOUT-UBX_MON_
0x20910355 U1
HW3_UART1
CFG-MSGOUT-UBX_MON_
0x20910356 U1
HW3_UART2
CFG-MSGOUT-UBX_MON_
0x20910357 U1
HW3_USB
CFG-MSGOUT-UBX_MON_
0x209101b4 U1
HW_I2C
CFG-MSGOUT-UBX_MON_
0x209101b8 U1
HW_SPI
CFG-MSGOUT-UBX_MON_
0x209101b5 U1
HW_UART1
CFG-MSGOUT-UBX_MON_
0x209101b6 U1
HW_UART2
CFG-MSGOUT-UBX_MON_
0x209101b7 U1
HW_USB
CFG-MSGOUT-UBX_MON_IO_ 0x209101a5 U1
I2C
CFG-MSGOUT-UBX_MON_IO_ 0x209101a9 U1
SPI
Scale
-
Unit Description
- Output rate of the UBX-MONCOMMS message on port I2C
- Output rate of the UBX-MONCOMMS message on port SPI
- Output rate of the UBX-MONCOMMS message on port UART1
- Output rate of the UBX-MONCOMMS message on port UART2
- Output rate of the UBX-MONCOMMS message on port USB
- Output rate of the UBX-MONHW2 message on port I2C
- Output rate of the UBX-MONHW2 message on port SPI
- Output rate of the UBX-MONHW2 message on port UART1
- Output rate of the UBX-MONHW2 message on port UART2
- Output rate of the UBX-MONHW2 message on port USB
- Output rate of the UBX-MONHW3 message on port I2C
- Output rate of the UBX-MONHW3 message on port SPI
- Output rate of the UBX-MONHW3 message on port UART1
- Output rate of the UBX-MONHW3 message on port UART2
- Output rate of the UBX-MONHW3 message on port USB
- Output rate of the UBX-MON-HW message on port I2C
- Output rate of the UBX-MON-HW message on port SPI
- Output rate of the UBX-MON-HW message on port UART1
- Output rate of the UBX-MON-HW message on port UART2
- Output rate of the UBX-MON-HW message on port USB
- Output rate of the UBX-MON-IO message on port I2C
- Output rate of the UBX-MON-IO message on port SPI
UBX-18010854 - R07
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_MON_IO_ 0x209101a6 U1
UART1
CFG-MSGOUT-UBX_MON_IO_ 0x209101a7 U1
UART2
CFG-MSGOUT-UBX_MON_IO_ 0x209101a8 U1
USB
CFG-MSGOUT-UBX_MON_
0x20910196 U1
MSGPP_I2C
CFG-MSGOUT-UBX_MON_
0x2091019a U1
MSGPP_SPI
CFG-MSGOUT-UBX_MON_
0x20910197 U1
MSGPP_UART1
CFG-MSGOUT-UBX_MON_
0x20910198 U1
MSGPP_UART2
CFG-MSGOUT-UBX_MON_
0x20910199 U1
MSGPP_USB
CFG-MSGOUT-UBX_MON_RF_ 0x20910359 U1
I2C
CFG-MSGOUT-UBX_MON_RF_ 0x2091035d U1
SPI
CFG-MSGOUT-UBX_MON_RF_ 0x2091035a U1
UART1
CFG-MSGOUT-UBX_MON_RF_ 0x2091035b U1
UART2
CFG-MSGOUT-UBX_MON_RF_ 0x2091035c U1
USB
CFG-MSGOUT-UBX_MON_
0x209101a0 U1
RXBUF_I2C
CFG-MSGOUT-UBX_MON_
0x209101a4 U1
RXBUF_SPI
CFG-MSGOUT-UBX_MON_
0x209101a1 U1
RXBUF_UART1
CFG-MSGOUT-UBX_MON_
0x209101a2 U1
RXBUF_UART2
CFG-MSGOUT-UBX_MON_
0x209101a3 U1
RXBUF_USB
CFG-MSGOUT-UBX_MON_
0x20910187 U1
RXR_I2C
CFG-MSGOUT-UBX_MON_
0x2091018b U1
RXR_SPI
CFG-MSGOUT-UBX_MON_
0x20910188 U1
RXR_UART1
CFG-MSGOUT-UBX_MON_
0x20910189 U1
RXR_UART2
Scale
-
Unit Description
- Output rate of the UBX-MON-IO message on port UART1
- Output rate of the UBX-MON-IO message on port UART2
- Output rate of the UBX-MON-IO message on port USB
- Output rate of the UBX-MONMSGPP message on port I2C
- Output rate of the UBX-MONMSGPP message on port SPI
- Output rate of the UBX-MONMSGPP message on port UART1
- Output rate of the UBX-MONMSGPP message on port UART2
- Output rate of the UBX-MONMSGPP message on port USB
- Output rate of the UBX-MON-RF message on port I2C
- Output rate of the UBX-MON-RF message on port SPI
- Output rate of the UBX-MON-RF message on port UART1
- Output rate of the UBX-MON-RF message on port UART2
- Output rate of the UBX-MON-RF message on port USB
- Output rate of the UBX-MONRXBUF message on port I2C
- Output rate of the UBX-MONRXBUF message on port SPI
- Output rate of the UBX-MONRXBUF message on port UART1
- Output rate of the UBX-MONRXBUF message on port UART2
- Output rate of the UBX-MONRXBUF message on port USB
- Output rate of the UBX-MONRXR message on port I2C
- Output rate of the UBX-MONRXR message on port SPI
- Output rate of the UBX-MONRXR message on port UART1
- Output rate of the UBX-MONRXR message on port UART2
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_MON_
0x2091018a U1
RXR_USB
CFG-MSGOUT-UBX_MON_
0x2091019b U1
TXBUF_I2C
CFG-MSGOUT-UBX_MON_
0x2091019f U1
TXBUF_SPI
CFG-MSGOUT-UBX_MON_
0x2091019c U1
TXBUF_UART1
CFG-MSGOUT-UBX_MON_
0x2091019d U1
TXBUF_UART2
CFG-MSGOUT-UBX_MON_
0x2091019e U1
TXBUF_USB
CFG-MSGOUT-UBX_NAV_
0x20910065 U1
CLOCK_I2C
CFG-MSGOUT-UBX_NAV_
0x20910069 U1
CLOCK_SPI
CFG-MSGOUT-UBX_NAV_
0x20910066 U1
CLOCK_UART1
CFG-MSGOUT-UBX_NAV_
0x20910067 U1
CLOCK_UART2
CFG-MSGOUT-UBX_NAV_
0x20910068 U1
CLOCK_USB
CFG-MSGOUT-UBX_NAV_
0x20910038 U1
DOP_I2C
CFG-MSGOUT-UBX_NAV_
0x2091003c U1
DOP_SPI
CFG-MSGOUT-UBX_NAV_
0x20910039 U1
DOP_UART1
CFG-MSGOUT-UBX_NAV_
0x2091003a U1
DOP_UART2
CFG-MSGOUT-UBX_NAV_
0x2091003b U1
DOP_USB
CFG-MSGOUT-UBX_NAV_
0x2091015f U1
EOE_I2C
CFG-MSGOUT-UBX_NAV_
0x20910163 U1
EOE_SPI
CFG-MSGOUT-UBX_NAV_
0x20910160 U1
EOE_UART1
CFG-MSGOUT-UBX_NAV_
0x20910161 U1
EOE_UART2
CFG-MSGOUT-UBX_NAV_
0x20910162 U1
EOE_USB
CFG-MSGOUT-UBX_NAV_
0x209100a1 U1
GEOFENCE_I2C
Scale
-
Unit Description
- Output rate of the UBX-MONRXR message on port USB
- Output rate of the UBX-MONTXBUF message on port I2C
- Output rate of the UBX-MONTXBUF message on port SPI
- Output rate of the UBX-MONTXBUF message on port UART1
- Output rate of the UBX-MONTXBUF message on port UART2
- Output rate of the UBX-MONTXBUF message on port USB
- Output rate of the UBX-NAVCLOCK message on port I2C
- Output rate of the UBX-NAVCLOCK message on port SPI
- Output rate of the UBX-NAVCLOCK message on port UART1
- Output rate of the UBX-NAVCLOCK message on port UART2
- Output rate of the UBX-NAVCLOCK message on port USB
- Output rate of the UBX-NAV-DOP message on port I2C
- Output rate of the UBX-NAV-DOP message on port SPI
- Output rate of the UBX-NAV-DOP message on port UART1
- Output rate of the UBX-NAV-DOP message on port UART2
- Output rate of the UBX-NAV-DOP message on port USB
- Output rate of the UBX-NAV-EOE message on port I2C
- Output rate of the UBX-NAV-EOE message on port SPI
- Output rate of the UBX-NAV-EOE message on port UART1
- Output rate of the UBX-NAV-EOE message on port UART2
- Output rate of the UBX-NAV-EOE message on port USB
- Output rate of the UBX-NAVGEOFENCE message on port I2C
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x209100a5 U1
GEOFENCE_SPI
CFG-MSGOUT-UBX_NAV_
0x209100a2 U1
GEOFENCE_UART1
Scale
-
CFG-MSGOUT-UBX_NAV_ GEOFENCE_UART2
0x209100a3 U1 -
CFG-MSGOUT-UBX_NAV_ GEOFENCE_USB CFG-MSGOUT-UBX_NAV_ HPPOSECEF_I2C
0x209100a4 U1 0x2091002e U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSECEF_SPI
0x20910032 U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSECEF_UART1
0x2091002f U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSECEF_UART2
0x20910030 U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSECEF_USB
0x20910031 U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSLLH_I2C CFG-MSGOUT-UBX_NAV_ HPPOSLLH_SPI CFG-MSGOUT-UBX_NAV_ HPPOSLLH_UART1
0x20910033 U1 0x20910037 U1 0x20910034 U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSLLH_UART2
0x20910035 U1 -
CFG-MSGOUT-UBX_NAV_ HPPOSLLH_USB CFG-MSGOUT-UBX_NAV_ ODO_I2C CFG-MSGOUT-UBX_NAV_ ODO_SPI CFG-MSGOUT-UBX_NAV_ ODO_UART1
0x20910036 U1 0x2091007e U1 0x20910082 U1 0x2091007f U1 -
Unit Description
- Output rate of the UBX-NAVGEOFENCE message on port SPI
- Output rate of the UBX-NAVGEOFENCE message on port UART1
- Output rate of the UBX-NAVGEOFENCE message on port UART2
- Output rate of the UBX-NAVGEOFENCE message on port USB
- Output rate of the UBX-NAVHPPOSECEF message on port I2C
- Output rate of the UBX-NAVHPPOSECEF message on port SPI
- Output rate of the UBX-NAVHPPOSECEF message on port UART1
- Output rate of the UBX-NAVHPPOSECEF message on port UART2
- Output rate of the UBX-NAVHPPOSECEF message on port USB
- Output rate of the UBX-NAVHPPOSLLH message on port I2C
- Output rate of the UBX-NAVHPPOSLLH message on port SPI
- Output rate of the UBX-NAVHPPOSLLH message on port UART1
- Output rate of the UBX-NAVHPPOSLLH message on port UART2
- Output rate of the UBX-NAVHPPOSLLH message on port USB
- Output rate of the UBX-NAV-ODO message on port I2C
- Output rate of the UBX-NAV-ODO message on port SPI
- Output rate of the UBX-NAV-ODO message on port UART1
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x20910080 U1
ODO_UART2
CFG-MSGOUT-UBX_NAV_
0x20910081 U1
ODO_USB
CFG-MSGOUT-UBX_NAV_
0x20910010 U1
ORB_I2C
CFG-MSGOUT-UBX_NAV_
0x20910014 U1
ORB_SPI
CFG-MSGOUT-UBX_NAV_
0x20910011 U1
ORB_UART1
CFG-MSGOUT-UBX_NAV_
0x20910012 U1
ORB_UART2
CFG-MSGOUT-UBX_NAV_
0x20910013 U1
ORB_USB
CFG-MSGOUT-UBX_NAV_
0x20910024 U1
POSECEF_I2C
CFG-MSGOUT-UBX_NAV_
0x20910028 U1
POSECEF_SPI
CFG-MSGOUT-UBX_NAV_
0x20910025 U1
POSECEF_UART1
Scale
-
CFG-MSGOUT-UBX_NAV_ POSECEF_UART2
0x20910026 U1 -
CFG-MSGOUT-UBX_NAV_ POSECEF_USB CFG-MSGOUT-UBX_NAV_ POSLLH_I2C CFG-MSGOUT-UBX_NAV_ POSLLH_SPI CFG-MSGOUT-UBX_NAV_ POSLLH_UART1 CFG-MSGOUT-UBX_NAV_ POSLLH_UART2 CFG-MSGOUT-UBX_NAV_ POSLLH_USB CFG-MSGOUT-UBX_NAV_ PVT_I2C CFG-MSGOUT-UBX_NAV_ PVT_SPI CFG-MSGOUT-UBX_NAV_ PVT_UART1 CFG-MSGOUT-UBX_NAV_ PVT_UART2
0x20910027 U1 0x20910029 U1 0x2091002d U1 0x2091002a U1 0x2091002b U1 0x2091002c U1 0x20910006 U1 0x2091000a U1 0x20910007 U1 0x20910008 U1 -
Unit Description
- Output rate of the UBX-NAV-ODO message on port UART2
- Output rate of the UBX-NAV-ODO message on port USB
- Output rate of the UBX-NAV-ORB message on port I2C
- Output rate of the UBX-NAV-ORB message on port SPI
- Output rate of the UBX-NAV-ORB message on port UART1
- Output rate of the UBX-NAV-ORB message on port UART2
- Output rate of the UBX-NAV-ORB message on port USB
- Output rate of the UBX-NAVPOSECEF message on port I2C
- Output rate of the UBX-NAVPOSECEF message on port SPI
- Output rate of the UBX-NAVPOSECEF message on port UART1
- Output rate of the UBX-NAVPOSECEF message on port UART2
- Output rate of the UBX-NAVPOSECEF message on port USB
- Output rate of the UBX-NAVPOSLLH message on port I2C
- Output rate of the UBX-NAVPOSLLH message on port SPI
- Output rate of the UBX-NAVPOSLLH message on port UART1
- Output rate of the UBX-NAVPOSLLH message on port UART2
- Output rate of the UBX-NAVPOSLLH message on port USB
- Output rate of the UBX-NAV-PVT message on port I2C
- Output rate of the UBX-NAV-PVT message on port SPI
- Output rate of the UBX-NAV-PVT message on port UART1
- Output rate of the UBX-NAV-PVT message on port UART2
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x20910009 U1
PVT_USB
CFG-MSGOUT-UBX_NAV_
0x2091008d U1
RELPOSNED_I2C
Scale
-
CFG-MSGOUT-UBX_NAV_ RELPOSNED_SPI
0x20910091 U1 -
CFG-MSGOUT-UBX_NAV_ RELPOSNED_UART1
0x2091008e U1 -
CFG-MSGOUT-UBX_NAV_ RELPOSNED_UART2
0x2091008f U1 -
CFG-MSGOUT-UBX_NAV_ RELPOSNED_USB
0x20910090 U1 -
CFG-MSGOUT-UBX_NAV_
0x20910015 U1 -
SAT_I2C
CFG-MSGOUT-UBX_NAV_
0x20910019 U1 -
SAT_SPI
CFG-MSGOUT-UBX_NAV_
0x20910016 U1 -
SAT_UART1
CFG-MSGOUT-UBX_NAV_
0x20910017 U1 -
SAT_UART2
CFG-MSGOUT-UBX_NAV_
0x20910018 U1 -
SAT_USB
CFG-MSGOUT-UBX_NAV_SIG_ 0x20910345 U1 -
I2C
CFG-MSGOUT-UBX_NAV_SIG_ 0x20910349 U1 -
SPI
CFG-MSGOUT-UBX_NAV_SIG_ 0x20910346 U1 -
UART1
CFG-MSGOUT-UBX_NAV_SIG_ 0x20910347 U1 -
UART2
CFG-MSGOUT-UBX_NAV_SIG_ 0x20910348 U1 -
USB
CFG-MSGOUT-UBX_NAV_
0x2091001a U1 -
STATUS_I2C
CFG-MSGOUT-UBX_NAV_
0x2091001e U1 -
STATUS_SPI
CFG-MSGOUT-UBX_NAV_
0x2091001b U1 -
STATUS_UART1
Unit Description
- Output rate of the UBX-NAV-PVT message on port USB
- Output rate of the UBX-NAVRELPOSNED message on port I2C
- Output rate of the UBX-NAVRELPOSNED message on port SPI
- Output rate of the UBX-NAVRELPOSNED message on port UART1
- Output rate of the UBX-NAVRELPOSNED message on port UART2
- Output rate of the UBX-NAVRELPOSNED message on port USB
- Output rate of the UBX-NAV-SAT message on port I2C
- Output rate of the UBX-NAV-SAT message on port SPI
- Output rate of the UBX-NAV-SAT message on port UART1
- Output rate of the UBX-NAV-SAT message on port UART2
- Output rate of the UBX-NAV-SAT message on port USB
- Output rate of the UBX-NAV-SIG message on port I2C
- Output rate of the UBX-NAV-SIG message on port SPI
- Output rate of the UBX-NAV-SIG message on port UART1
- Output rate of the UBX-NAV-SIG message on port UART2
- Output rate of the UBX-NAV-SIG message on port USB
- Output rate of the UBX-NAVSTATUS message on port I2C
- Output rate of the UBX-NAVSTATUS message on port SPI
- Output rate of the UBX-NAVSTATUS message on port UART1
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x2091001c U1
STATUS_UART2
CFG-MSGOUT-UBX_NAV_
0x2091001d U1
STATUS_USB
CFG-MSGOUT-UBX_NAV_
0x20910088 U1
SVIN_I2C
CFG-MSGOUT-UBX_NAV_
0x2091008c U1
SVIN_SPI
CFG-MSGOUT-UBX_NAV_
0x20910089 U1
SVIN_UART1
CFG-MSGOUT-UBX_NAV_
0x2091008a U1
SVIN_UART2
CFG-MSGOUT-UBX_NAV_
0x2091008b U1
SVIN_USB
CFG-MSGOUT-UBX_NAV_
0x20910051 U1
TIMEBDS_I2C
CFG-MSGOUT-UBX_NAV_
0x20910055 U1
TIMEBDS_SPI
CFG-MSGOUT-UBX_NAV_
0x20910052 U1
TIMEBDS_UART1
Scale
-
CFG-MSGOUT-UBX_NAV_ TIMEBDS_UART2
0x20910053 U1 -
CFG-MSGOUT-UBX_NAV_ TIMEBDS_USB CFG-MSGOUT-UBX_NAV_ TIMEGAL_I2C CFG-MSGOUT-UBX_NAV_ TIMEGAL_SPI CFG-MSGOUT-UBX_NAV_ TIMEGAL_UART1
0x20910054 U1 0x20910056 U1 0x2091005a U1 0x20910057 U1 -
CFG-MSGOUT-UBX_NAV_ TIMEGAL_UART2
0x20910058 U1 -
CFG-MSGOUT-UBX_NAV_ TIMEGAL_USB CFG-MSGOUT-UBX_NAV_ TIMEGLO_I2C CFG-MSGOUT-UBX_NAV_ TIMEGLO_SPI
0x20910059 U1 0x2091004c U1 0x20910050 U1 -
Unit Description
- Output rate of the UBX-NAVSTATUS message on port UART2
- Output rate of the UBX-NAVSTATUS message on port USB
- Output rate of the UBX-NAVSVIN message on port I2C
- Output rate of the UBX-NAVSVIN message on port SPI
- Output rate of the UBX-NAVSVIN message on port UART1
- Output rate of the UBX-NAVSVIN message on port UART2
- Output rate of the UBX-NAVSVIN message on port USB
- Output rate of the UBX-NAVTIMEBDS message on port I2C
- Output rate of the UBX-NAVTIMEBDS message on port SPI
- Output rate of the UBX-NAVTIMEBDS message on port UART1
- Output rate of the UBX-NAVTIMEBDS message on port UART2
- Output rate of the UBX-NAVTIMEBDS message on port USB
- Output rate of the UBX-NAVTIMEGAL message on port I2C
- Output rate of the UBX-NAVTIMEGAL message on port SPI
- Output rate of the UBX-NAVTIMEGAL message on port UART1
- Output rate of the UBX-NAVTIMEGAL message on port UART2
- Output rate of the UBX-NAVTIMEGAL message on port USB
- Output rate of the UBX-NAVTIMEGLO message on port I2C
- Output rate of the UBX-NAVTIMEGLO message on port SPI
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x2091004d U1
TIMEGLO_UART1
Scale
-
CFG-MSGOUT-UBX_NAV_ TIMEGLO_UART2
0x2091004e U1 -
CFG-MSGOUT-UBX_NAV_ TIMEGLO_USB CFG-MSGOUT-UBX_NAV_ TIMEGPS_I2C CFG-MSGOUT-UBX_NAV_ TIMEGPS_SPI CFG-MSGOUT-UBX_NAV_ TIMEGPS_UART1
0x2091004f U1 0x20910047 U1 0x2091004b U1 0x20910048 U1 -
CFG-MSGOUT-UBX_NAV_ TIMEGPS_UART2
0x20910049 U1 -
CFG-MSGOUT-UBX_NAV_ TIMEGPS_USB CFG-MSGOUT-UBX_NAV_ TIMELS_I2C CFG-MSGOUT-UBX_NAV_ TIMELS_SPI CFG-MSGOUT-UBX_NAV_ TIMELS_UART1 CFG-MSGOUT-UBX_NAV_ TIMELS_UART2 CFG-MSGOUT-UBX_NAV_ TIMELS_USB CFG-MSGOUT-UBX_NAV_ TIMEUTC_I2C CFG-MSGOUT-UBX_NAV_ TIMEUTC_SPI CFG-MSGOUT-UBX_NAV_ TIMEUTC_UART1
0x2091004a U1 0x20910060 U1 0x20910064 U1 0x20910061 U1 0x20910062 U1 0x20910063 U1 0x2091005b U1 0x2091005f U1 0x2091005c U1 -
CFG-MSGOUT-UBX_NAV_ TIMEUTC_UART2
0x2091005d U1 -
CFG-MSGOUT-UBX_NAV_ TIMEUTC_USB CFG-MSGOUT-UBX_NAV_ VELECEF_I2C
0x2091005e U1 0x2091003d U1 -
Unit Description
- Output rate of the UBX-NAVTIMEGLO message on port UART1
- Output rate of the UBX-NAVTIMEGLO message on port UART2
- Output rate of the UBX-NAVTIMEGLO message on port USB
- Output rate of the UBX-NAVTIMEGPS message on port I2C
- Output rate of the UBX-NAVTIMEGPS message on port SPI
- Output rate of the UBX-NAVTIMEGPS message on port UART1
- Output rate of the UBX-NAVTIMEGPS message on port UART2
- Output rate of the UBX-NAVTIMEGPS message on port USB
- Output rate of the UBX-NAVTIMELS message on port I2C
- Output rate of the UBX-NAVTIMELS message on port SPI
- Output rate of the UBX-NAVTIMELS message on port UART1
- Output rate of the UBX-NAVTIMELS message on port UART2
- Output rate of the UBX-NAVTIMELS message on port USB
- Output rate of the UBX-NAVTIMEUTC message on port I2C
- Output rate of the UBX-NAVTIMEUTC message on port SPI
- Output rate of the UBX-NAVTIMEUTC message on port UART1
- Output rate of the UBX-NAVTIMEUTC message on port UART2
- Output rate of the UBX-NAVTIMEUTC message on port USB
- Output rate of the UBX-NAVVELECEF message on port I2C
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Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_NAV_
0x20910041 U1
VELECEF_SPI
CFG-MSGOUT-UBX_NAV_
0x2091003e U1
VELECEF_UART1
Scale
-
CFG-MSGOUT-UBX_NAV_ VELECEF_UART2
0x2091003f U1 -
CFG-MSGOUT-UBX_NAV_ VELECEF_USB CFG-MSGOUT-UBX_NAV_ VELNED_I2C CFG-MSGOUT-UBX_NAV_ VELNED_SPI CFG-MSGOUT-UBX_NAV_ VELNED_UART1 CFG-MSGOUT-UBX_NAV_ VELNED_UART2 CFG-MSGOUT-UBX_NAV_ VELNED_USB CFG-MSGOUT-UBX_RXM_ MEASX_I2C CFG-MSGOUT-UBX_RXM_ MEASX_SPI CFG-MSGOUT-UBX_RXM_ MEASX_UART1 CFG-MSGOUT-UBX_RXM_ MEASX_UART2 CFG-MSGOUT-UBX_RXM_ MEASX_USB CFG-MSGOUT-UBX_RXM_ RAWX_I2C CFG-MSGOUT-UBX_RXM_ RAWX_SPI CFG-MSGOUT-UBX_RXM_ RAWX_UART1 CFG-MSGOUT-UBX_RXM_ RAWX_UART2 CFG-MSGOUT-UBX_RXM_ RAWX_USB CFG-MSGOUT-UBX_RXM_ RLM_I2C CFG-MSGOUT-UBX_RXM_ RLM_SPI
0x20910040 U1 0x20910042 U1 0x20910046 U1 0x20910043 U1 0x20910044 U1 0x20910045 U1 0x20910204 U1 0x20910208 U1 0x20910205 U1 0x20910206 U1 0x20910207 U1 0x209102a4 U1 0x209102a8 U1 0x209102a5 U1 0x209102a6 U1 0x209102a7 U1 0x2091025e U1 0x20910262 U1 -
Unit Description
- Output rate of the UBX-NAVVELECEF message on port SPI
- Output rate of the UBX-NAVVELECEF message on port UART1
- Output rate of the UBX-NAVVELECEF message on port UART2
- Output rate of the UBX-NAVVELECEF message on port USB
- Output rate of the UBX-NAVVELNED message on port I2C
- Output rate of the UBX-NAVVELNED message on port SPI
- Output rate of the UBX-NAVVELNED message on port UART1
- Output rate of the UBX-NAVVELNED message on port UART2
- Output rate of the UBX-NAVVELNED message on port USB
- Output rate of the UBX-RXMMEASX message on port I2C
- Output rate of the UBX-RXMMEASX message on port SPI
- Output rate of the UBX-RXMMEASX message on port UART1
- Output rate of the UBX-RXMMEASX message on port UART2
- Output rate of the UBX-RXMMEASX message on port USB
- Output rate of the UBX-RXMRAWX message on port I2C
- Output rate of the UBX-RXMRAWX message on port SPI
- Output rate of the UBX-RXMRAWX message on port UART1
- Output rate of the UBX-RXMRAWX message on port UART2
- Output rate of the UBX-RXMRAWX message on port USB
- Output rate of the UBX-RXMRLM message on port I2C
- Output rate of the UBX-RXMRLM message on port SPI
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CFG-MSGOUT-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_RXM_
0x2091025f U1
RLM_UART1
CFG-MSGOUT-UBX_RXM_
0x20910260 U1
RLM_UART2
CFG-MSGOUT-UBX_RXM_
0x20910261 U1
RLM_USB
CFG-MSGOUT-UBX_RXM_
0x20910268 U1
RTCM_I2C
CFG-MSGOUT-UBX_RXM_
0x2091026c U1
RTCM_SPI
CFG-MSGOUT-UBX_RXM_
0x20910269 U1
RTCM_UART1
CFG-MSGOUT-UBX_RXM_
0x2091026a U1
RTCM_UART2
CFG-MSGOUT-UBX_RXM_
0x2091026b U1
RTCM_USB
CFG-MSGOUT-UBX_RXM_
0x20910231 U1
SFRBX_I2C
CFG-MSGOUT-UBX_RXM_
0x20910235 U1
SFRBX_SPI
CFG-MSGOUT-UBX_RXM_
0x20910232 U1
SFRBX_UART1
CFG-MSGOUT-UBX_RXM_
0x20910233 U1
SFRBX_UART2
CFG-MSGOUT-UBX_RXM_
0x20910234 U1
SFRBX_USB
CFG-MSGOUT-UBX_TIM_TM2_ 0x20910178 U1
I2C
CFG-MSGOUT-UBX_TIM_TM2_ 0x2091017c U1
SPI
CFG-MSGOUT-UBX_TIM_TM2_ 0x20910179 U1
UART1
CFG-MSGOUT-UBX_TIM_TM2_ 0x2091017a U1
UART2
CFG-MSGOUT-UBX_TIM_TM2_ 0x2091017b U1
USB
CFG-MSGOUT-UBX_TIM_TP_ 0x2091017d U1
I2C
CFG-MSGOUT-UBX_TIM_TP_ 0x20910181 U1
SPI
CFG-MSGOUT-UBX_TIM_TP_ 0x2091017e U1
UART1
CFG-MSGOUT-UBX_TIM_TP_ 0x2091017f U1
UART2
Scale
-
Unit Description
- Output rate of the UBX-RXMRLM message on port UART1
- Output rate of the UBX-RXMRLM message on port UART2
- Output rate of the UBX-RXMRLM message on port USB
- Output rate of the UBX-RXMRTCM message on port I2C
- Output rate of the UBX-RXMRTCM message on port SPI
- Output rate of the UBX-RXMRTCM message on port UART1
- Output rate of the UBX-RXMRTCM message on port UART2
- Output rate of the UBX-RXMRTCM message on port USB
- Output rate of the UBX-RXMSFRBX message on port I2C
- Output rate of the UBX-RXMSFRBX message on port SPI
- Output rate of the UBX-RXMSFRBX message on port UART1
- Output rate of the UBX-RXMSFRBX message on port UART2
- Output rate of the UBX-RXMSFRBX message on port USB
- Output rate of the UBX-TIM-TM2 message on port I2C
- Output rate of the UBX-TIM-TM2 message on port SPI
- Output rate of the UBX-TIM-TM2 message on port UART1
- Output rate of the UBX-TIM-TM2 message on port UART2
- Output rate of the UBX-TIM-TM2 message on port USB
- Output rate of the UBX-TIM-TP message on port I2C
- Output rate of the UBX-TIM-TP message on port SPI
- Output rate of the UBX-TIM-TP message on port UART1
- Output rate of the UBX-TIM-TP message on port UART2
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Configuration Item
Key ID
Typ
e
CFG-MSGOUT-UBX_TIM_TP_ 0x20910180 U1
USB
CFG-MSGOUT-UBX_TIM_
0x20910092 U1
VRFY_I2C
CFG-MSGOUT-UBX_TIM_
0x20910096 U1
VRFY_SPI
CFG-MSGOUT-UBX_TIM_
0x20910093 U1
VRFY_UART1
CFG-MSGOUT-UBX_TIM_
0x20910094 U1
VRFY_UART2
CFG-MSGOUT-UBX_TIM_
0x20910095 U1
VRFY_USB
Scale
-
Unit Description
- Output rate of the UBX-TIM-TP message on port USB
- Output rate of the UBX-TIMVRFY message on port I2C
- Output rate of the UBX-TIMVRFY message on port SPI
- Output rate of the UBX-TIMVRFY message on port UART1
- Output rate of the UBX-TIMVRFY message on port UART2
- Output rate of the UBX-TIMVRFY message on port USB
6.8.11 CFG-NAVHPG: High Precision Navigation Configuration This group configures items related to the operation of the receiver in high precision, for example Differential correction and other related features.
CFG-NAVHPG-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NAVHPG-DGNSSMODE 0x20140011 E1 -
- Differential corrections mode
See Constants for CFG-NAVHPG-DGNSSMODE below for a list of possible constants for this item.
Constants for CFG-NAVHPG-DGNSSMODE
Constant
Value
RTK_FLOAT
2
RTK_FIXED
3
Description
No attempts made to fix ambiguities Ambiguities are fixed whenever possible
6.8.12 CFG-NAVSPG: Standard Precision Navigation Configuration This group contains configuration items related to the operation of the receiver at standard precision, including configuring postition fix mode, ionospheric model selection and other related items.
CFG-NAVSPG-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NAVSPG-FIXMODE
0x20110011 E1 -
- Position fix mode
See Constants for CFG-NAVSPG-FIXMODE below for a list of possible constants for this item.
CFG-NAVSPG-INIFIX3D
0x10110013 L -
- Initial fix must be a 3d fix
CFG-NAVSPG-
0x30110017 U2 -
- GPS week rollover number
WKNROLLOVER
GPS week numbers will be set correctly from this week up to 1024 weeks after this week.
Range is from 1 to 4096.
CFG-NAVSPG-USE_PPP
0x10110019 L -
- Use Precise Point Positioning
Only available with the PPP product variant.
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Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NAVSPG-UTCSTANDARD 0x2011001c E1 -
- UTC standard to be used
See also GNSS time bases.
See Constants for CFG-NAVSPG-UTCSTANDARD below for a list of possible constants for this
item.
CFG-NAVSPG-DYNMODEL
0x20110021 E1 -
- Dynamic platform model
See Constants for CFG-NAVSPG-DYNMODEL below for a list of possible constants for this item.
CFG-NAVSPG-ACKAIDING
0x10110025 L -
- Acknowledge assistance input
messages
CFG-NAVSPG-USE_USRDAT 0x10110061 L -
- Use user geodetic datum
parameters
This must be set together with all CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_MAJA 0x50110062 R8 -
m Geodetic datum semi-major axis
Accepted range is from 6,300,000.0 to 6,500,000.0 meters
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_FLAT 0x50110063 R8 -
- Geodetic datum 1.0 / flattening
Accepted range is 0.0 to 500.0.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_DX
0x40110064 R4 -
m Geodetic datum X axis shift at
the origin
Accepted range is +/- 5000.0 meters.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_DY 0x40110065 R4 -
m Geodetic datum Y axis shift at
the origin
Accepted range is +/- 5000.0 meters.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_DZ 0x40110066 R4 -
m Geodetic datum Z axis shift at
the origin
Accepted range is +/- 5000.0 meters.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_ROTX 0x40110067 R4 - arcse Geodetic datum rotation about
c the X axis
Accepted range is +/- 20.0 milli arc seconds.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_ROTY 0x40110068 R4 - arcse Geodetic datum rotation about
c the Y axis ()
Accepted range is +/- 20.0 milli-arc seconds.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
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Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NAVSPG-USRDAT_ROTZ 0x40110069 R4 - arcse Geodetic datum rotation about
c the Z axis
Accepted range is +/- 20.0 milli-arc seconds.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-USRDAT_
0x4011006a R4 - ppm Geodetic datum scale factor
SCALE
Accepted range is 0.0 to 50.0 parts per million.
This will only be used if CFG-NAVSPG-USE_USERDAT is set. It must be set together with all other
CFG-NAVSPG-USERDAT_* parameters.
CFG-NAVSPG-INFIL_MINSVS 0x201100a1 U1 -
- Minimum number of satellites for
navigation
CFG-NAVSPG-INFIL_MAXSVS 0x201100a2 U1 -
- Maximum number of satellites
for navigation
CFG-NAVSPG-INFIL_MINCNO 0x201100a3 U1 - dBHz Minimum satellite signal level for
navigation
CFG-NAVSPG-INFIL_MINELEV 0x201100a4 I1 - deg Minimum elevation for a GNSS
satellite to be used in navigation
CFG-NAVSPG-INFIL_
0x201100aa U1 -
- Number of satellites required to
NCNOTHRS
have C/N0 above CFG-NAVSPG-
INFIL_CNOTHRS for a fix to be
attempted
CFG-NAVSPG-INFIL_
0x201100ab U1 -
- C/N0 threshold for deciding
CNOTHRS
whether to attempt a fix
CFG-NAVSPG-OUTFIL_PDOP 0x301100b1 U2 0.1 - Output filter position DOP mask
(threshold)
CFG-NAVSPG-OUTFIL_TDOP 0x301100b2 U2 0.1 - Output filter time DOP mask
(threshold)
CFG-NAVSPG-OUTFIL_PACC 0x301100b3 U2 -
m Output filter position accuracy
mask (threshold)
CFG-NAVSPG-OUTFIL_TACC 0x301100b4 U2 -
m Output filter time accuracy mask
(threshold)
CFG-NAVSPG-OUTFIL_FACC 0x301100b5 U2 0.01 m/s Output filter frequency accuracy
mask (threshold)
CFG-NAVSPG-CONSTR_ALT 0x401100c1 I4 0.01 m Fixed altitude (mean sea level) for
2D fix mode
CFG-NAVSPG-CONSTR_
0x401100c2 U4 0. m^2 Fixed altitude variance for 2D
ALTVAR
0001
mode
CFG-NAVSPG-CONSTR_
0x201100c4 U1 -
s DGNSS timeout
DGNSSTO
Constants for CFG-NAVSPG-FIXMODE
Constant
Value
Description
2DONLY
1
2d only
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Constants for CFG-NAVSPG-FIXMODE continued
Constant
Value
3DONLY
2
AUTO
3
Description
3d only Auto 2d/3d
Constants for CFG-NAVSPG-UTCSTANDARD
Constant
AUTO USNO SU NTSC
Value
0 3 6 7
Description
Automatic; receiver selects based on GNSS configuration UTC as operated by the U.S. Naval Observatory (USNO); derived from GPS time UTC as operated by the former Soviet Union; derived from GLONASS time UTC as operated by the National Time Service Center, China; derived from BeiDou time
Constants for CFG-NAVSPG-DYNMODEL
Constant
Value
Description
PORT STAT PED AUTOMOT SEA AIR1 AIR2 AIR4 WRIST
0
Portable
2
Stationary
3
Pedestrian
4
Automotive
5
Sea
6
Airborne with <1g acceleration
7
Airborne with <2g acceleration
8
Airborne with <4g acceleration
9
Wrist worn watch (not available in all products)
6.8.13 CFG-NMEA: NMEA Protocol Configuration Configures the NMEA protocol. See section NMEA Protocol Configuration for a detailed description of the configuration effects on NMEA output.
CFG-NMEA-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NMEA-PROTVER
0x20930001 E1 -
- NMEA protocol version
See Constants for CFG-NMEA-PROTVER below for a list of possible constants for this item.
CFG-NMEA-MAXSVS
0x20930002 E1 -
- Maximum number of SVs to
report per Talker ID
See Constants for CFG-NMEA-MAXSVS below for a list of possible constants for this item.
CFG-NMEA-COMPAT
0x10930003 L -
- Enable compatibility mode
This might be needed for certain applications, e.g. for an NMEA parser that expects a fixed number
of digits in position coordinates.
CFG-NMEA-CONSIDER
0x10930004 L -
- Enable considering mode
This will affect NMEA output used satellite count. If set, also considered satellites (e.g. RAIMED)
are counted as used satellites as well.
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CFG-NMEA-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-NMEA-LIMIT82
0x10930005 L -
- Enable strict limit to 82
characters maximum NMEA
message length
CFG-NMEA-HIGHPREC
0x10930006 L -
- Enable high precision mode
This flag cannot be set in conjunction with either CFG-NMEA-COMPAT or CFG-NMEA-LIMIT82
Mode.
CFG-NMEA-SVNUMBERING 0x20930007 E1 -
- Display configuration for SVs
that do not have value defined in
NMEA
Configures the display of satellites that do not have an NMEA-defined value.
Note: this does not apply to satellites with an unknown ID.
See also Satellite Numbering.
See Constants for CFG-NMEA-SVNUMBERING below for a list of possible constants for this item.
CFG-NMEA-FILT_GPS
0x10930011 L -
- Disable reporting of GPS
satellites
CFG-NMEA-FILT_SBAS
0x10930012 L -
- Disable reporting of SBAS
satellites
CFG-NMEA-FILT_GAL
0x10930013 L -
- Disable reporting of Galileo
satellites
CFG-NMEA-FILT_QZSS
0x10930015 L -
- Disable reporting of QZSS
satellites
CFG-NMEA-FILT_GLO
0x10930016 L -
- Disable reporting of GLONASS
satellites
CFG-NMEA-FILT_BDS
0x10930017 L -
- Disable reporting of BeiDou
satellites
CFG-NMEA-OUT_INVFIX
0x10930021 L -
- Enable position output for failed
or invalid fixes
CFG-NMEA-OUT_MSKFIX
0x10930022 L -
- Enable position output for invalid
fixes
CFG-NMEA-OUT_INVTIME
0x10930023 L -
- Enable time output for invalid
times
CFG-NMEA-OUT_INVDATE
0x10930024 L -
- Enable date output for invalid
dates
CFG-NMEA-OUT_ONLYGPS 0x10930025 L -
- Restrict output to GPS satellites
only
CFG-NMEA-OUT_
0x10930026 L -
- Enable course over ground output
FROZENCOG
even if it is frozen
CFG-NMEA-MAINTALKERID 0x20930031 E1 -
- Main Talker ID
By default the main Talker ID (i.e. the Talker ID used for all messages other than GSV) is
determined by the GNSS assignment of the receiver's channels (see CFG-SIGNAL).
This field enables the main Talker ID to be overridden.
See Constants for CFG-NMEA-MAINTALKERID below for a list of possible constants for this item.
CFG-NMEA-GSVTALKERID
0x20930032 E1 -
- Talker ID for GSV NMEA
messages
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CFG-NMEA-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
By default the Talker ID for GSV messages is GNSS specific (as defined by NMEA).
This field enables the GSV Talker ID to be overridden.
See Constants for CFG-NMEA-GSVTALKERID below for a list of possible constants for this item.
CFG-NMEA-BDSTALKERID
0x30930033 U2 -
- BeiDou Talker ID
Sets the two ASCII characters that should be used for the BeiDou Talker ID.
If these are set to zero, the default BeiDou TalkerId will be used.
Constants for CFG-NMEA-PROTVER
Constant
V21 V23 V40 V41
Value
21 23 40 41
Description
NMEA protocol version 2.1 NMEA protocol version 2.3 NMEA protocol version 4.0 (not available in all products) NMEA protocol version 4.10 (not available in all products)
Constants for CFG-NMEA-MAXSVS
Constant
UNLIM 8SVS 12SVS 16SVS
Value
0 8 12 16
Description
Unlimited 8 SVs 12 SVs 16 SVs
Constants for CFG-NMEA-SVNUMBERING
Constant
Value
STRICT
0
EXTENDED
1
Description
Strict - satellites are not output Extended - use proprietary numbering
Constants for CFG-NMEA-MAINTALKERID
Constant
AUTO GP GL GN GA GB
Value
0 1 2 3 4 5
Description
Main Talker ID is not overridden Set main Talker ID to 'GP' Set main Talker ID to 'GL' Set main Talker ID to 'GN' Set main Talker ID to 'GA' (not available in all products) Set main Talker ID to 'GB' (not available in all products)
Constants for CFG-NMEA-GSVTALKERID
Constant
Value
Description
GNSS MAIN
0
Use GNSS specific Talker ID (as defined by NMEA)
1
Use the main Talker ID
6.8.14 CFG-ODO: Odometer and Low-Speed Course Over Ground Filter Configuration The items in this group allow the user to configure the Odometer feature and Low-Speed Course Over Ground Filter.
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CFG-ODO-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-ODO-USE_ODO
0x10220001 L -
- Use odometer
CFG-ODO-USE_COG
0x10220002 L -
- Use low-speed course over
ground filter
CFG-ODO-OUTLPVEL
0x10220003 L -
- Output low-pass filtered velocity
CFG-ODO-OUTLPCOG
0x10220004 L -
- Output low-pass filtered course
over ground (heading)
CFG-ODO-PROFILE
0x20220005 E1 -
- Odometer profile configuration
See Constants for CFG-ODO-PROFILE below for a list of possible constants for this item.
CFG-ODO-COGMAXSPEED
0x20220021 U1 - m/s Upper speed limit for low-speed
course over ground filter
CFG-ODO-COGMAXPOSACC 0x20220022 U1 -
- Maximum acceptable position
accuracy for computing low-
speed filtered course over ground
CFG-ODO-VELLPGAIN
0x20220031 U1 -
- Velocity low-pass filter level
Range is from 0 to 255.
CFG-ODO-COGLPGAIN
0x20220032 U1 -
- Course over ground low-pass
filter level (at speed < 8 m/s)
Range is from 0 to 255.
Constants for CFG-ODO-PROFILE
Constant
Value
RUN
0
CYCL
1
SWIM
2
CAR
3
CUSTOM
4
Description
Running Cycling Swimming Car Custom
6.8.15 CFG-RATE: Navigation and Measurement Rate Configuration The configuration items in this group allow the user to alter the rate at which navigation solutions (and the measurements that they depend on) are generated by the receiver. The calculation of the navigation solution will always be aligned to the top of a second zero (first second of the week) of the configured reference time system. The navigation period is an integer multiple of the measurement period.
CFG-RATE-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-RATE-MEAS
0x30210001 U2 0.001 s Nominal time between GNSS
measurements
E.g. 100ms results in 10Hz measurement rate, 1000ms = 1Hz measurement rate.
CFG-RATE-NAV
0x30210002 U2 -
- Ratio of number of
measurements to number of
navigation solutions
E.g. 5 means five measurements for every navigation solution. The maximum value is 127.
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CFG-RATE-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-RATE-TIMEREF
0x20210003 E1 -
- Time system to which
measurements are aligned
See Constants for CFG-RATE-TIMEREF below for a list of possible constants for this item.
Constants for CFG-RATE-TIMEREF
Constant
Value
UTC
0
GPS
1
GLO
2
BDS
3
GAL
4
Description
Align measurements to UTC time Align measurements to GPS time Align measurements to GLONASS time Align measurements to BeiDou time Align measurements to Galileo time
6.8.16 CFG-RINV: Remote Inventory The Remote Inventory enables storing user-defined data in the non-volatile memory of the receiver. The data can be either binary or a string of ASCII characters. In the latter case, it can optionally be output at startup after the boot screen.
CFG-RINV-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-RINV-DUMP
0x10c70001 L -
- Dump data at startup
When true, data will be dumped to the interface on startup, unless CFG-RINV-BINARY is set.
CFG-RINV-BINARY
0x10c70002 L -
- Data is binary
When true, the data is treated as binary data.
CFG-RINV-DATA_SIZE
0x20c70003 U1 -
- Size of data
Size of data to store/be stored in the Remote Inventory (maximum 30 bytes).
CFG-RINV-CHUNK0
0x50c70004 X8 -
- Data bytes 1-8 (LSB)
Data to store/be stored in Remote Inventory - max 8 bytes, left-most in LSB, e.g. string ABCD will
appear as 0x44434241.
CFG-RINV-CHUNK1
0x50c70005 X8 -
- Data bytes 9-16
Data to store/be stored in Remote Inventory - max 8 bytes, left-most in LSB, e.g. string ABCD will
appear as 0x44434241.
CFG-RINV-CHUNK2
0x50c70006 X8 -
- Data bytes 17-24
Data to store/be stored in Remote Inventory - max 8 bytes, left-most in LSB, e.g. string ABCD will
appear as 0x44434241.
CFG-RINV-CHUNK3
0x50c70007 X8 -
- Data bytes 25-30 (MSB)
Data to store/be stored in Remote Inventory - max 6 bytes, left-most in LSB, e.g. string ABCD will
appear as 0x44434241.
6.8.17 CFG-SIGNAL: Satellite Systems (GNSS) Signal Configuration It is necessary for at least one signal and constellation from a major GNSS to be enabled, after applying the new configuration to the current one.
The individual signals enable keys are governed by their corresponding constellation enable key. See GNSS Signal Configuration for more details.
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Configuration specific to a GNSS system can be done via other groups (e.g. CFG-SBAS-*).
Note that changes to any items within this group will trigger a reset to the GNSS subsystem.
CFG-SIGNAL-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-SIGNAL-GPS_ENA
0x1031001f L -
-
CFG-SIGNAL-GPS_L1CA_ENA 0x10310001 L -
-
CFG-SIGNAL-GPS_L2C_ENA 0x10310003 L -
-
CFG-SIGNAL-GAL_ENA
0x10310021 L -
-
CFG-SIGNAL-GAL_E1_ENA
0x10310007 L -
-
CFG-SIGNAL-GAL_E5B_ENA 0x1031000a L -
-
CFG-SIGNAL-BDS_ENA
0x10310022 L -
-
CFG-SIGNAL-BDS_B1_ENA
0x1031000d L -
-
CFG-SIGNAL-BDS_B2_ENA
0x1031000e L -
-
CFG-SIGNAL-QZSS_ENA
0x10310024 L -
-
CFG-SIGNAL-QZSS_L1CA_
0x10310012 L -
-
ENA
CFG-SIGNAL-QZSS_L2C_ENA 0x10310015 L -
-
CFG-SIGNAL-GLO_ENA
0x10310025 L -
-
CFG-SIGNAL-GLO_L1_ENA
0x10310018 L -
-
CFG-SIGNAL-GLO_L2_ENA
0x1031001a L -
-
Description
GPS enable GPS L1C/A GPS L2C (only on u-blox F9 platform products) Galileo enable Galileo E1 Galileo E5b (only on u-blox F9 platform products) BeiDou Enable BeiDou B1I BeiDou B2I (only on u-blox F9 platform products) QZSS enable QZSS L1C/A
QZSS L2C (only on u-blox F9 platform products) GLONASS enable GLONASS L1 GLONASS L2 (only on u-blox F9 platform products)
6.8.18 CFG-SPI: Configuration of the SPI Interface Settings needed to configure the SPI communication interface.
CFG-SPI-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-SPI-MAXFF
0x20640001 U1 -
-
CFG-SPI-CPOLARITY CFG-SPI-CPHASE
0x10640002 L -
-
0x10640003 L -
-
CFG-SPI-EXTENDEDTIMEOUT 0x10640005 L -
-
Description
Number of bytes containing 0xFF to receive before switching off reception. Range: 0(mechanism off)-63 Clock polarity select: 0: Active Hight Clock, SCLK idles low, 1: Active Low Clock, SCLK idles high Clock phase select: 0: Data captured on first edge of SCLK, 1: Data captured on second edge of SCLK Flag to disable timeouting the interface after 1.5s
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CFG-SPI-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-SPI-ENABLED
0x10640006 L
Scale
-
Unit Description
- Flag to indicate if the SPI interface should be enabled
6.8.19 CFG-SPIINPROT: Input Protocol Configuration of the SPI Interface Input protocol enable flags of the SPI interface.
CFG-SPIINPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
CFG-SPIINPROT-UBX
e
0x10790001 L -
-
CFG-SPIINPROT-NMEA
0x10790002 L -
-
CFG-SPIINPROT-RTCM3X
0x10790004 L -
-
Description
Flag to indicate if UBX should be an input protocol on SPI Flag to indicate if NMEA should be an input protocol on SPI Flag to indicate if RTCM3X should be an input protocol on SPI
6.8.20 CFG-SPIOUTPROT: Output Protocol Configuration of the SPI Interface Output protocol enable flags of the SPI interface.
CFG-SPIOUTPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
CFG-SPIOUTPROT-UBX
e
0x107a0001 L -
-
CFG-SPIOUTPROT-NMEA
0x107a0002 L -
-
CFG-SPIOUTPROT-RTCM3X 0x107a0004 L -
-
Description
Flag to indicate if UBX should be an output protocol on SPI Flag to indicate if NMEA should be an output protocol on SPI Flag to indicate if RTCM3X should be an output protocol on SPI
6.8.21 CFG-TMODE: Time Mode Configuration Configuration for operation of the receiver in Time Mode. The position referred to in the configuration items is that of the Antenna Reference Point (ARP).
CFG-TMODE-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-TMODE-MODE
0x20030001 E1 -
- Receiver mode
See Constants for CFG-TMODE-MODE below for a list of possible constants for this item.
CFG-TMODE-POS_TYPE
0x20030002 E1 -
- Determines whether the ARP
position is given in ECEF or
LAT/LON/HEIGHT?
See Constants for CFG-TMODE-POS_TYPE below for a list of possible constants for this item.
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CFG-TMODE-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-TMODE-ECEF_X
0x40030003 I4 - cm ECEF X coordinate of the ARP
position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-ECEF_Y
0x40030004 I4 - cm ECEF Y coordinate of the ARP
position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-ECEF_Z
0x40030005 I4 - cm ECEF Z coordinate of the ARP
position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-ECEF_X_HP
0x20030006 I1 0.1 mm High-precision ECEF X coordinate
of the ARP position.
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-ECEF_Y_HP
0x20030007 I1 0.1 mm High-precision ECEF Y coordinate
of the ARP position.
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-ECEF_Z_HP
0x20030008 I1 0.1 mm High-precision ECEF Z coordinate
of the ARP position.
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=ECEF.
CFG-TMODE-LAT
0x40030009 I4 1e-7 deg Latitude of the ARP position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-LON
0x4003000a I4 1e-7 deg Longitude of the ARP position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-HEIGHT
0x4003000b I4 - cm Height of the ARP position.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-LAT_HP
0x2003000c I1 1e-9 deg High-precision latitude of the
ARP position
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-LON_HP
0x2003000d I1 1e-9 deg High-precision longitude of the
ARP position.
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-HEIGHT_HP
0x2003000e I1 0.1 mm High-precision height of the ARP
position.
Accepted range is -99 to +99.
This will only be used if CFG-TMODE-MODE=FIXED and CFG-TMODE-POS_TYPE=LLH.
CFG-TMODE-FIXED_POS_ACC 0x4003000f U4 0.1 mm Fixed position 3D accuracy
CFG-TMODE-SVIN_MIN_DUR 0x40030010 U4 -
s Survey-in minimum duration
This will only be used if CFG-TMODE-MODE=SURVEY_IN.
CFG-TMODE-SVIN_ACC_LIMIT 0x40030011 U4 0.1 mm Survey-in position accuracy limit
This will only be used if CFG-TMODE-MODE=SURVEY_IN.
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Constants for CFG-TMODE-MODE
Constant
Value
DISABLED
0
SURVEY_IN
1
FIXED
2
Description
Disabled Survey In Fixed Mode (true ARP position information required)
Constants for CFG-TMODE-POS_TYPE
Constant
Value
Description
ECEF LLH
0
Position is ECEF
1
Position is Lat/Lon/Height
6.8.22 CFG-TP: Timepulse Configuration Use this group to configure the generation of timepulses.
CFG-TP-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-TP-PULSE_DEF
0x20050023 E1 -
- Determines whether the time
pulse is interpreted as frequency
or period?
See Constants for CFG-TP-PULSE_DEF below for a list of possible constants for this item.
CFG-TP-PULSE_LENGTH_DEF 0x20050030 E1 -
- Determines whether the time
pulse length is interpreted as
length[us] or pulse ratio[%]?
See Constants for CFG-TP-PULSE_LENGTH_DEF below for a list of possible constants for this
item.
CFG-TP-ANT_CABLEDELAY 0x30050001 I2 0.
s Antenna cable delay
0000
0000
1
CFG-TP-PERIOD_TP1
0x40050002 U4 0.
s Time pulse period (TP1)
0000
01
CFG-TP-PERIOD_LOCK_TP1 0x40050003 U4 0.
s Time pulse period when locked to
0000
GNSS time (TP1)
01
Only used if CFG-TP-USE_LOCKED_TP1 is set.
CFG-TP-FREQ_TP1
0x40050024 U4 - Hz Time pulse frequency (TP1)
This will only be used if CFG-TP-PULSE_DEF=FREQ.
CFG-TP-FREQ_LOCK_TP1
0x40050025 U4 - Hz Time pulse frequency when
locked to GNSS time (TP1)
Only used if CFG-TP-USE_LOCKED_TP1 is set.
CFG-TP-LEN_TP1
0x40050004 U4 0.
s Time pulse length (TP1)
0000
01
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CFG-TP-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-TP-LEN_LOCK_TP1
0x40050005 U4 0.
s Time pulse length when locked to
0000
GNSS time (TP1)
01
Only used if CFG-TP-USE_LOCKED_TP1 is set.
CFG-TP-DUTY_TP1
0x5005002a R8 -
% Time pulse duty cycle (TP1)
Only used if CFG-TP-PULSE_LENGTH_DEF=RATIO is set.
CFG-TP-DUTY_LOCK_TP1
0x5005002b R8 -
% Time pulse duty cycle when
locked to GNSS time (TP1)
Only used if CFG-TP-PULSE_LENGTH_DEF=RATIO and CFG-TP-USE_LOCKED_TP1 are set.
CFG-TP-USER_DELAY_TP1
0x40050006 I4 0.
s User configurable time pulse
0000
delay (TP1)
0000
1
CFG-TP-TP1_ENA
0x10050007 L -
- Enable the first timepulse
if pin associated with time pulse is assigned for another function, the other function takes
precedence.
Must be set for frequency-time products.
CFG-TP-SYNC_GNSS_TP1
0x10050008 L -
- Sync time pulse to GNSS time or
local clock (TP1)
If set, sync to GNSS if GNSS time is valid otherwise, if not set or not available, use local clock.
Ignored by time-frequency product varients, which will attempt to use the best available
time/frequency reference (not necessarily GNSS).
CFG-TP-USE_LOCKED_TP1
0x10050009 L -
- Use locked parameters when
possible (TP1)
If set, use CFG-TP-PERIOD_LOCK_TP1 and CFG-TP-LEN_LOCK_TP1 as soon as GNSS time is valid,
otherwise if not valid or not set, use CFG-TP-PERIOD_TP1 and CFG-TP-LEN_TP1.
CFG-TP-ALIGN_TO_TOW_TP1 0x1005000a L -
- Align time pulse to top of second
(TP1)
To use this feature, CFG-TP-USE_LOCKED_TP1 must be set.
Time pulse period must be an integer fraction of 1 second.
Ignored in time-frequency product varients,where it is assumed always enabled.
CFG-TP-POL_TP1
0x1005000b L -
- Set time pulse polarity (TP1)
false (0) : falling edge at top of second.
true (1) : rising edge at top of second.
CFG-TP-TIMEGRID_TP1
0x2005000c E1 -
- Time grid to use (TP1)
Only relevent if CFG-TP-USE_LOCKED_TP1 and ALIGN_TO_TOW_TP1 are set.
Note that configured GNSS time is estimated by the receiver if locked to any GNSS system. If the
receiver has a valid GNSS fix it will attempt to steer the TP to the specified time grid even if the
specified time is not based on information from the constellation's satellites. To ensure timing
based purely on a given GNSS, restrict the supported constellations in CFG-SIGNAL-*.
See Constants for CFG-TP-TIMEGRID_TP1 below for a list of possible constants for this item.
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Constants for CFG-TP-PULSE_DEF
Constant
PERIOD FREQ
Value
0 1
Description
Time pulse period [us] Time pulse frequency [Hz]
Constants for CFG-TP-PULSE_LENGTH_DEF
Constant
RATIO LENGTH
Value
0 1
Description
Time pulse ratio Time pulse length
Constants for CFG-TP-TIMEGRID_TP1
Constant
UTC GPS GLO BDS GAL
Value
0 1 2 3 4
Description
UTC time reference GPS time reference GLONASS time reference BeiDou time reference Galileo time reference
6.8.23 CFG-TXREADY: Tx-Ready Configuration Configuration of the tx ready pin.
CFG-TXREADY-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-TXREADY-ENABLED
0x10a20001 L -
- Flag to indicate if tx ready pin
mechanism should be enabled
CFG-TXREADY-POLARITY
0x10a20002 L -
- The polarity of the tx ready pin:
false:high-active, true:low-active
CFG-TXREADY-PIN
0x20a20003 U1 -
- Pin number to use for the tx
ready functionality
CFG-TXREADY-THRESHOLD 0x30a20004 U2 -
- Amount of data that should be
ready on the interface before
triggering the tx ready pin
CFG-TXREADY-INTERFACE 0x20a20005 E1 -
- Interface where the tx ready
feature should be linked to
See Constants for CFG-TXREADY-INTERFACE below for a list of possible constants for this item.
Constants for CFG-TXREADY-INTERFACE
Constant
Value
Description
I2C
0
I2C interface
SPI
1
SPI interface
6.8.24 CFG-UART1: Configuration of the UART1 Interface Settings needed to configure the UART1 communication interface.
CFG-UART1-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit e
Description
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CFG-UART1-* Configuration Items continued
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-UART1-BAUDRATE
0x40520001 U4 -
- The baud rate that should be
configured on the UART1
CFG-UART1-STOPBITS
0x20520002 E1 -
- Number of stopbits that should
be used on UART1
See Constants for CFG-UART1-STOPBITS below for a list of possible constants for this item.
CFG-UART1-DATABITS
0x20520003 E1 -
- Number of databits that should
be used on UART1
See Constants for CFG-UART1-DATABITS below for a list of possible constants for this item.
CFG-UART1-PARITY
0x20520004 E1 -
- Parity mode that should be used
on UART1
See Constants for CFG-UART1-PARITY below for a list of possible constants for this item.
CFG-UART1-ENABLED
0x10520005 L -
- Flag to indicate if the UART1
should be enabled
Constants for CFG-UART1-STOPBITS
Constant
HALF ONE ONEHALF TWO
Value
0 1 2 3
Description
0.5 stopbits 1.0 stopbits 1.5 stopbits 2.0 stopbits
Constants for CFG-UART1-DATABITS
Constant
EIGHT SEVEN
Value
0 1
Description
8 databits 7 databits
Constants for CFG-UART1-PARITY
Constant
Value
NONE
0
ODD
1
EVEN
2
Description
No parity bit Add an odd parity bit Add an even parity bit
6.8.25 CFG-UART1INPROT: Input Protocol Configuration of the UART1 Interface Input protocol enable flags of the UART1 interface.
CFG-UART1INPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-UART1INPROT-UBX
0x10730001 L -
-
CFG-UART1INPROT-NMEA
0x10730002 L -
-
CFG-UART1INPROT-RTCM3X 0x10730004 L -
-
Description
Flag to indicate if UBX should be an input protocol on UART1 Flag to indicate if NMEA should be an input protocol on UART1 Flag to indicate if RTCM3X should be an input protocol on UART1
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6.8.26 CFG-UART1OUTPROT: Output Protocol Configuration of the UART1 Interface Output protocol enable flags of the UART1 interface.
CFG-UART1OUTPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-UART1OUTPROT-UBX
0x10740001 L -
-
CFG-UART1OUTPROT-NMEA 0x10740002 L -
-
CFG-UART1OUTPROTRTCM3X
0x10740004 L -
-
Description
Flag to indicate if UBX should be an output protocol on UART1 Flag to indicate if NMEA should be an output protocol on UART1 Flag to indicate if RTCM3X should be an output protocol on UART1
6.8.27 CFG-UART2: Configuration of the UART2 Interface Settings needed to configure the UART2 communication interface.
CFG-UART2-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit Description
e
CFG-UART2-BAUDRATE
0x40530001 U4 -
- The baud rate that should be
configured on the UART2
CFG-UART2-STOPBITS
0x20530002 E1 -
- Number of stopbits that should
be used on UART2
See Constants for CFG-UART2-STOPBITS below for a list of possible constants for this item.
CFG-UART2-DATABITS
0x20530003 E1 -
- Number of databits that should
be used on UART2
See Constants for CFG-UART2-DATABITS below for a list of possible constants for this item.
CFG-UART2-PARITY
0x20530004 E1 -
- Parity mode that should be used
on UART2
See Constants for CFG-UART2-PARITY below for a list of possible constants for this item.
CFG-UART2-ENABLED
0x10530005 L -
- Flag to indicate if the UART2
should be enabled
CFG-UART2-REMAP
0x10530006 L -
- UART2 Remapping
Constants for CFG-UART2-STOPBITS
Constant
Value
HALF
0
ONE
1
ONEHALF
2
TWO
3
Description
0.5 stopbits 1.0 stopbits 1.5 stopbits 2.0 stopbits
Constants for CFG-UART2-DATABITS
Constant
Value
EIGHT
0
SEVEN
1
Description
8 databits 7 databits
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Constants for CFG-UART2-PARITY
Constant
NONE ODD EVEN
Value
0 1 2
Description
No parity bit Add an odd parity bit Add an even parity bit
6.8.28 CFG-UART2INPROT: Input Protocol Configuration of the UART2 Interface Input protocol enable flags of the UART2 interface.
CFG-UART2INPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-UART2INPROT-UBX
0x10750001 L -
-
CFG-UART2INPROT-NMEA
0x10750002 L -
-
CFG-UART2INPROT-RTCM3X 0x10750004 L -
-
Description
Flag to indicate if UBX should be an input protocol on UART2 Flag to indicate if NMEA should be an input protocol on UART2 Flag to indicate if RTCM3X should be an input protocol on UART2
6.8.29 CFG-UART2OUTPROT: Output Protocol Configuration of the UART2 Interface Output protocol enable flags of the UART2 interface.
CFG-UART2OUTPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-UART2OUTPROT-UBX 0x10760001 L -
-
CFG-UART2OUTPROT-NMEA 0x10760002 L -
-
CFG-UART2OUTPROTRTCM3X
0x10760004 L -
-
Description
Flag to indicate if UBX should be an output protocol on UART2 Flag to indicate if NMEA should be an output protocol on UART2 Flag to indicate if RTCM3X should be an output protocol on UART2
6.8.30 CFG-USB: Configuration of the USB Interface Settings needed to configure the USB communication interface.
CFG-USB-* Configuration Items
Configuration Item
Key ID
Typ Scale
CFG-USB-ENABLED
e
0x10650001 L -
CFG-USB-SELFPOW CFG-USB-VENDOR_ID CFG-USB-PRODUCT_ID CFG-USB-POWER CFG-USB-VENDOR_STR0 CFG-USB-VENDOR_STR1
0x10650002 L 0x3065000a U2 0x3065000b U2 0x3065000c U2 0x5065000d X8 0x5065000e X8 -
Unit Description
- Flag to indicate if the USB interface should be enabled
- Self-Powered device - Vendor ID - Vendor ID mA Power consumption - Vendor string characters 0-7 - Vendor string characters 8-15
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CFG-USB-* Configuration Items continued
Configuration Item
Key ID
Typ
e
CFG-USB-VENDOR_STR2
0x5065000f X8
CFG-USB-VENDOR_STR3
0x50650010 X8
CFG-USB-PRODUCT_STR0
0x50650011 X8
CFG-USB-PRODUCT_STR1
0x50650012 X8
CFG-USB-PRODUCT_STR2
0x50650013 X8
CFG-USB-PRODUCT_STR3
0x50650014 X8
CFG-USB-SERIAL_NO_STR0 0x50650015 X8
Scale
-
CFG-USB-SERIAL_NO_STR1 0x50650016 X8 -
CFG-USB-SERIAL_NO_STR2 0x50650017 X8 -
CFG-USB-SERIAL_NO_STR3 0x50650018 X8 -
Unit Description
- Vendor string characters 16-23 - Vendor string characters 24-31 - Product string characters 0-7 - Product string characters 8-15 - Product string characters 16-23 - Product string characters 24-31 - Serial number string characters
0-7 - Serial number string characters
8-15 - Serial number string characters
16-23 - Serial number string characters
24-31
6.8.31 CFG-USBINPROT: Input Protocol Configuration of the USB Interface Input protocol enable flags of the USB interface.
CFG-USBINPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-USBINPROT-UBX
0x10770001 L -
-
CFG-USBINPROT-NMEA
0x10770002 L -
-
CFG-USBINPROT-RTCM3X
0x10770004 L -
-
Description
Flag to indicate if UBX should be an input protocol on USB Flag to indicate if NMEA should be an input protocol on USB Flag to indicate if RTCM3X should be an input protocol on USB
6.8.32 CFG-USBOUTPROT: Output Protocol Configuration of the USB Interface Output protocol enable flags of the USB interface.
CFG-USBOUTPROT-* Configuration Items
Configuration Item
Key ID
Typ Scale Unit
e
CFG-USBOUTPROT-UBX
0x10780001 L -
-
CFG-USBOUTPROT-NMEA
0x10780002 L -
-
CFG-USBOUTPROT-RTCM3X 0x10780004 L -
-
Description
Flag to indicate if UBX should be an output protocol on USB Flag to indicate if NMEA should be an output protocol on USB Flag to indicate if RTCM3X should be an output protocol on USB
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6.9 Legacy UBX Message Fields Reference
The following table lists the legacy UBX message fields and the corresponding Configuration Item. Note that the mapping from UBX-CFG message fields to Configuration Items is not necessarily 1:1.
UBX Messages Fields and the Corresponding Configuration Items
UBX Message and Field Name
Configuration Item
UBX-CFG-ANT.ocd UBX-CFG-ANT.pdwnOnSCD UBX-CFG-ANT.pinOCD UBX-CFG-ANT.pinSCD UBX-CFG-ANT.pinSwitch UBX-CFG-ANT.recovery UBX-CFG-ANT.scd UBX-CFG-ANT.svcs UBX-CFG-DAT.dX UBX-CFG-DAT.dY UBX-CFG-DAT.dZ UBX-CFG-DAT.flat UBX-CFG-DAT.majA UBX-CFG-DAT.majA UBX-CFG-DAT.rotX UBX-CFG-DAT.rotY UBX-CFG-DAT.rotZ UBX-CFG-DAT.scale UBX-CFG-DGNSS.dgnssMode UBX-CFG-GEOFENCE.confLvl UBX-CFG-GEOFENCE.lat UBX-CFG-GEOFENCE.lat UBX-CFG-GEOFENCE.lat UBX-CFG-GEOFENCE.lat UBX-CFG-GEOFENCE.lon UBX-CFG-GEOFENCE.lon UBX-CFG-GEOFENCE.lon UBX-CFG-GEOFENCE.lon UBX-CFG-GEOFENCE.numFences UBX-CFG-GEOFENCE.numFences UBX-CFG-GEOFENCE.numFences UBX-CFG-GEOFENCE.numFences UBX-CFG-GEOFENCE.pin UBX-CFG-GEOFENCE.pinPolarity UBX-CFG-GEOFENCE.pioEnabled UBX-CFG-GEOFENCE.radius UBX-CFG-GEOFENCE.radius UBX-CFG-GEOFENCE.radius UBX-CFG-GEOFENCE.radius UBX-CFG-GNSS.gnssId UBX-CFG-GNSS.gnssId
CFG-HW-ANT_CFG_OPENDET CFG-HW-ANT_CFG_PWRDOWN CFG-HW-ANT_SUP_OPEN_PIN CFG-HW-ANT_SUP_SHORT_PIN CFG-HW-ANT_SUP_SWITCH_PIN CFG-HW-ANT_CFG_RECOVER CFG-HW-ANT_CFG_SHORTDET CFG-HW-ANT_CFG_VOLTCTRL CFG-NAVSPG-USRDAT_DX CFG-NAVSPG-USRDAT_DY CFG-NAVSPG-USRDAT_DZ CFG-NAVSPG-USRDAT_FLAT CFG-NAVSPG-USE_USRDAT CFG-NAVSPG-USRDAT_MAJA CFG-NAVSPG-USRDAT_ROTX CFG-NAVSPG-USRDAT_ROTY CFG-NAVSPG-USRDAT_ROTZ CFG-NAVSPG-USRDAT_SCALE CFG-NAVHPG-DGNSSMODE CFG-GEOFENCE-CONFLVL CFG-GEOFENCE-FENCE1_LAT CFG-GEOFENCE-FENCE2_LAT CFG-GEOFENCE-FENCE3_LAT CFG-GEOFENCE-FENCE4_LAT CFG-GEOFENCE-FENCE1_LON CFG-GEOFENCE-FENCE2_LON CFG-GEOFENCE-FENCE3_LON CFG-GEOFENCE-FENCE4_LON CFG-GEOFENCE-USE_FENCE1 CFG-GEOFENCE-USE_FENCE2 CFG-GEOFENCE-USE_FENCE3 CFG-GEOFENCE-USE_FENCE4 CFG-GEOFENCE-PIN CFG-GEOFENCE-PINPOL CFG-GEOFENCE-USE_PIO CFG-GEOFENCE-FENCE1_RAD CFG-GEOFENCE-FENCE2_RAD CFG-GEOFENCE-FENCE3_RAD CFG-GEOFENCE-FENCE4_RAD CFG-SIGNAL-BDS_ENA CFG-SIGNAL-GLO_ENA
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UBX Messages Fields and the Corresponding Configuration Items continued
UBX Message and Field Name
Configuration Item
UBX-CFG-GNSS.gnssId
CFG-SIGNAL-GPS_ENA
UBX-CFG-GNSS.gnssId
CFG-SIGNAL-QZSS_ENA
UBX-CFG-INF.infMsgMask
CFG-INFMSG-NMEA_I2C
UBX-CFG-INF.infMsgMask
CFG-INFMSG-NMEA_SPI
UBX-CFG-INF.infMsgMask
CFG-INFMSG-NMEA_UART1
UBX-CFG-INF.infMsgMask
CFG-INFMSG-NMEA_UART2
UBX-CFG-INF.infMsgMask
CFG-INFMSG-NMEA_USB
UBX-CFG-INF.infMsgMask
CFG-INFMSG-UBX_I2C
UBX-CFG-INF.infMsgMask
CFG-INFMSG-UBX_SPI
UBX-CFG-INF.infMsgMask
CFG-INFMSG-UBX_UART1
UBX-CFG-INF.infMsgMask
CFG-INFMSG-UBX_UART2
UBX-CFG-INF.infMsgMask
CFG-INFMSG-UBX_USB
UBX-CFG-INF.protocolID
CFG-INFMSG-NMEA_I2C
UBX-CFG-INF.protocolID
CFG-INFMSG-NMEA_SPI
UBX-CFG-INF.protocolID
CFG-INFMSG-NMEA_UART1
UBX-CFG-INF.protocolID
CFG-INFMSG-NMEA_UART2
UBX-CFG-INF.protocolID
CFG-INFMSG-NMEA_USB
UBX-CFG-INF.protocolID
CFG-INFMSG-UBX_SPI
UBX-CFG-INF.protocolID
CFG-INFMSG-UBX_UART1
UBX-CFG-INF.protocolID
CFG-INFMSG-UBX_UART2
UBX-CFG-INF.protocolID
CFG-INFMSG-UBX_USB
UBX-CFG-ITFM.antSetting
CFG-ITFM-ANTSETTING
UBX-CFG-ITFM.bbThreshold
CFG-ITFM-BBTHRESHOLD
UBX-CFG-ITFM.cwThreshold
CFG-ITFM-CWTHRESHOLD
UBX-CFG-ITFM.enable
CFG-ITFM-ENABLE
UBX-CFG-ITFM.enable2
CFG-ITFM-ENABLE_AUX
UBX-CFG-LOGFILTER.applyAllFilterSetting CFG-LOGFILTER-APPLY_ALL_FILTERS
s
UBX-CFG-LOGFILTER.minInterval
CFG-LOGFILTER-MIN_INTERVAL
UBX-CFG-LOGFILTER.positionThreshold
CFG-LOGFILTER-POSITION_THRS
UBX-CFG-LOGFILTER.psmOncePerWakupEnable CFG-LOGFILTER-ONCE_PER_WAKE_UP_ENA
d
UBX-CFG-LOGFILTER.recordEnabled
CFG-LOGFILTER-RECORD_ENA
UBX-CFG-LOGFILTER.speedThreshold
CFG-LOGFILTER-SPEED_THRS
UBX-CFG-LOGFILTER.timeThreshold
CFG-LOGFILTER-TIME_THRS
UBX-CFG-NAV5.cnoThresh
CFG-NAVSPG-INFIL_CNOTHRS
UBX-CFG-NAV5.cnoThreshNumSVs
CFG-NAVSPG-INFIL_NCNOTHRS
UBX-CFG-NAV5.dgnssTimeout
CFG-NAVSPG-CONSTR_DGNSSTO
UBX-CFG-NAV5.dynModel
CFG-NAVSPG-DYNMODEL
UBX-CFG-NAV5.fixMode
CFG-NAVSPG-FIXMODE
UBX-CFG-NAV5.fixedAlt
CFG-NAVSPG-CONSTR_ALT
UBX-CFG-NAV5.fixedAltVar
CFG-NAVSPG-CONSTR_ALTVAR
UBX-CFG-NAV5.minElev
CFG-NAVSPG-INFIL_MINELEV
UBX-CFG-NAV5.pAcc
CFG-NAVSPG-OUTFIL_PACC
UBX-CFG-NAV5.pDop
CFG-NAVSPG-OUTFIL_PDOP
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UBX Messages Fields and the Corresponding Configuration Items continued
UBX Message and Field Name
Configuration Item
UBX-CFG-NAV5.staticHoldMaxDist
CFG-MOT-GNSSDIST_THRS
UBX-CFG-NAV5.staticHoldThresh
CFG-MOT-GNSSSPEED_THRS
UBX-CFG-NAV5.tAcc
CFG-NAVSPG-OUTFIL_FACC
UBX-CFG-NAV5.tAcc
CFG-NAVSPG-OUTFIL_TACC
UBX-CFG-NAV5.tDop
CFG-NAVSPG-OUTFIL_TDOP
UBX-CFG-NAV5.utcStandard
CFG-NAVSPG-UTCSTANDARD
UBX-CFG-NAVX5.ackAiding
CFG-NAVSPG-ACKAIDING
UBX-CFG-NAVX5.iniFix3D
CFG-NAVSPG-INIFIX3D
UBX-CFG-NAVX5.maxSVs
CFG-NAVSPG-INFIL_MAXSVS
UBX-CFG-NAVX5.minCNO
CFG-NAVSPG-INFIL_MINCNO
UBX-CFG-NAVX5.minSVs
CFG-NAVSPG-INFIL_MINSVS
UBX-CFG-NAVX5.usePPP
CFG-NAVSPG-USE_PPP
UBX-CFG-NAVX5.wknRollover
CFG-NAVSPG-WKNROLLOVER
UBX-CFG-NMEA.bdsTalkerId
CFG-NMEA-BDSTALKERID
UBX-CFG-NMEA.beidou
CFG-NMEA-FILT_BDS
UBX-CFG-NMEA.compat
CFG-NMEA-COMPAT
UBX-CFG-NMEA.consider
CFG-NMEA-CONSIDER
UBX-CFG-NMEA.dateFilt
CFG-NMEA-OUT_INVDATE
UBX-CFG-NMEA.galileo
CFG-NMEA-FILT_GAL
UBX-CFG-NMEA.glonass
CFG-NMEA-FILT_GLO
UBX-CFG-NMEA.gps
CFG-NMEA-FILT_GPS
UBX-CFG-NMEA.gpsOnlyFilter
CFG-NMEA-OUT_ONLYGPS
UBX-CFG-NMEA.gsvTalkerId
CFG-NMEA-GSVTALKERID
UBX-CFG-NMEA.highPrec
CFG-NMEA-HIGHPREC
UBX-CFG-NMEA.limit82
CFG-NMEA-LIMIT82
UBX-CFG-NMEA.mainTalkerId
CFG-NMEA-MAINTALKERID
UBX-CFG-NMEA.mskPosFilt
CFG-NMEA-OUT_MSKFIX
UBX-CFG-NMEA.nmeaVersion
CFG-NMEA-PROTVER
UBX-CFG-NMEA.numSV
CFG-NMEA-MAXSVS
UBX-CFG-NMEA.posFilt
CFG-NMEA-OUT_INVFIX
UBX-CFG-NMEA.qzss
CFG-NMEA-FILT_QZSS
UBX-CFG-NMEA.sbas
CFG-NMEA-FILT_SBAS
UBX-CFG-NMEA.svNumbering
CFG-NMEA-SVNUMBERING
UBX-CFG-NMEA.timeFilt
CFG-NMEA-OUT_INVTIME
UBX-CFG-NMEA.trackFilt
CFG-NMEA-OUT_FROZENCOG
UBX-CFG-ODO.cogLpGain
CFG-ODO-COGLPGAIN
UBX-CFG-ODO.cogMaxPosAcc
CFG-ODO-COGMAXPOSACC
UBX-CFG-ODO.cogMaxSpeed
CFG-ODO-COGMAXSPEED
UBX-CFG-ODO.outLPCog
CFG-ODO-OUTLPCOG
UBX-CFG-ODO.outLPVel
CFG-ODO-OUTLPVEL
UBX-CFG-ODO.profile
CFG-ODO-PROFILE
UBX-CFG-ODO.useCOG
CFG-ODO-USE_COG
UBX-CFG-ODO.useODO
CFG-ODO-USE_ODO
UBX-CFG-ODO.velLpGain
CFG-ODO-VELLPGAIN
UBX-CFG-PRT.en
CFG-TXREADY-ENABLED
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UBX Messages Fields and the Corresponding Configuration Items continued
UBX Message and Field Name
Configuration Item
UBX-CFG-PRT.extendedTxTimeout
CFG-I2C-EXTENDEDTIMEOUT
UBX-CFG-PRT.inNmea
CFG-I2CINPROT-NMEA
UBX-CFG-PRT.inProtoMask
CFG-I2C-ENABLED
UBX-CFG-PRT.inRtcm3
CFG-I2CINPROT-RTCM3X
UBX-CFG-PRT.inUbx
CFG-I2CINPROT-UBX
UBX-CFG-PRT.outNmea
CFG-I2COUTPROT-NMEA
UBX-CFG-PRT.outProtoMask
CFG-I2C-ENABLED
UBX-CFG-PRT.outRtcm3
CFG-I2COUTPROT-RTCM3X
UBX-CFG-PRT.outUbx
CFG-I2COUTPROT-UBX
UBX-CFG-PRT.pin
CFG-TXREADY-PIN
UBX-CFG-PRT.pol
CFG-TXREADY-POLARITY
UBX-CFG-PRT.slaveAddr
CFG-I2C-ADDRESS
UBX-CFG-PRT.thres
CFG-TXREADY-THRESHOLD
UBX-CFG-PRT.en
CFG-TXREADY-ENABLED
UBX-CFG-PRT.extendedTxTimeout
CFG-SPI-EXTENDEDTIMEOUT
UBX-CFG-PRT.ffCnt
CFG-SPI-MAXFF
UBX-CFG-PRT.inNmea
CFG-SPIINPROT-NMEA
UBX-CFG-PRT.inProtoMask
CFG-SPI-ENABLED
UBX-CFG-PRT.inRtcm3
CFG-SPIINPROT-RTCM3X
UBX-CFG-PRT.inUbx
CFG-SPIINPROT-UBX
UBX-CFG-PRT.outNmea
CFG-SPIOUTPROT-NMEA
UBX-CFG-PRT.outProtoMask
CFG-SPI-ENABLED
UBX-CFG-PRT.outRtcm3
CFG-SPIOUTPROT-RTCM3X
UBX-CFG-PRT.outUbx
CFG-SPIOUTPROT-UBX
UBX-CFG-PRT.pin
CFG-TXREADY-PIN
UBX-CFG-PRT.pol
CFG-TXREADY-POLARITY
UBX-CFG-PRT.spiMode
CFG-SPI-CPHASE
UBX-CFG-PRT.spiMode
CFG-SPI-CPOLARITY
UBX-CFG-PRT.thres
CFG-TXREADY-THRESHOLD
UBX-CFG-PRT.baudRate
CFG-UART1-BAUDRATE
UBX-CFG-PRT.baudRate
CFG-UART2-BAUDRATE
UBX-CFG-PRT.charLen
CFG-UART1-DATABITS
UBX-CFG-PRT.charLen
CFG-UART2-DATABITS
UBX-CFG-PRT.inNmea
CFG-UART1INPROT-NMEA
UBX-CFG-PRT.inNmea
CFG-UART2INPROT-NMEA
UBX-CFG-PRT.inProtoMask
CFG-UART1-ENABLED
UBX-CFG-PRT.inProtoMask
CFG-UART2-ENABLED
UBX-CFG-PRT.inRtcm3
CFG-UART1INPROT-RTCM3X
UBX-CFG-PRT.inRtcm3
CFG-UART2INPROT-RTCM3X
UBX-CFG-PRT.inUbx
CFG-UART1INPROT-UBX
UBX-CFG-PRT.inUbx
CFG-UART2INPROT-UBX
UBX-CFG-PRT.nStopBits
CFG-UART1-STOPBITS
UBX-CFG-PRT.nStopBits
CFG-UART2-STOPBITS
UBX-CFG-PRT.outNmea
CFG-UART1OUTPROT-NMEA
UBX-CFG-PRT.outNmea
CFG-UART2OUTPROT-NMEA
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UBX Messages Fields and the Corresponding Configuration Items continued
UBX Message and Field Name
Configuration Item
UBX-CFG-PRT.outProtoMask
CFG-UART1-ENABLED
UBX-CFG-PRT.outProtoMask
CFG-UART2-ENABLED
UBX-CFG-PRT.outRtcm3
CFG-UART1OUTPROT-RTCM3X
UBX-CFG-PRT.outRtcm3
CFG-UART2OUTPROT-RTCM3X
UBX-CFG-PRT.outUbx
CFG-UART1OUTPROT-UBX
UBX-CFG-PRT.outUbx
CFG-UART2OUTPROT-UBX
UBX-CFG-PRT.parity
CFG-UART1-PARITY
UBX-CFG-PRT.parity
CFG-UART2-PARITY
UBX-CFG-PRT.inNmea
CFG-USBINPROT-NMEA
UBX-CFG-PRT.inProtoMask
CFG-USB-ENABLED
UBX-CFG-PRT.inRtcm3
CFG-USBINPROT-RTCM3X
UBX-CFG-PRT.inUbx
CFG-USBINPROT-UBX
UBX-CFG-PRT.outNmea
CFG-USBOUTPROT-NMEA
UBX-CFG-PRT.outProtoMask
CFG-USB-ENABLED
UBX-CFG-PRT.outRtcm3
CFG-USBOUTPROT-RTCM3X
UBX-CFG-PRT.outUbx
CFG-USBOUTPROT-UBX
UBX-CFG-RATE.measRate
CFG-RATE-MEAS
UBX-CFG-RATE.navRate
CFG-RATE-NAV
UBX-CFG-RATE.timeRef
CFG-RATE-TIMEREF
UBX-CFG-RINV.data
CFG-RINV-CHUNK0
UBX-CFG-RINV.data
CFG-RINV-CHUNK1
UBX-CFG-RINV.data
CFG-RINV-CHUNK2
UBX-CFG-RINV.data
CFG-RINV-CHUNK3
UBX-CFG-RINV.data
CFG-RINV-DATA_SIZE
UBX-CFG-RINV.flags
CFG-RINV-BINARY
UBX-CFG-RINV.flags
CFG-RINV-DUMP
UBX-CFG-TMODE3.ecefXOrLat
CFG-TMODE-ECEF_X
UBX-CFG-TMODE3.ecefXOrLat
CFG-TMODE-LAT
UBX-CFG-TMODE3.ecefXOrLatHP
CFG-TMODE-ECEF_X_HP
UBX-CFG-TMODE3.ecefXOrLatHP
CFG-TMODE-LAT_HP
UBX-CFG-TMODE3.ecefYOrLon
CFG-TMODE-ECEF_Y
UBX-CFG-TMODE3.ecefYOrLon
CFG-TMODE-LON
UBX-CFG-TMODE3.ecefYOrLonHP
CFG-TMODE-ECEF_Y_HP
UBX-CFG-TMODE3.ecefYOrLonHP
CFG-TMODE-LON_HP
UBX-CFG-TMODE3.ecefZOrAlt
CFG-TMODE-ECEF_Z
UBX-CFG-TMODE3.ecefZOrAlt
CFG-TMODE-HEIGHT
UBX-CFG-TMODE3.ecefZOrAltHP
CFG-TMODE-ECEF_Z_HP
UBX-CFG-TMODE3.ecefZOrAltHP
CFG-TMODE-HEIGHT_HP
UBX-CFG-TMODE3.fixedPosAcc
CFG-TMODE-FIXED_POS_ACC
UBX-CFG-TMODE3.flags
CFG-TMODE-MODE
UBX-CFG-TMODE3.flags
CFG-TMODE-POS_TYPE
UBX-CFG-TMODE3.svinAccLimit
CFG-TMODE-SVIN_ACC_LIMIT
UBX-CFG-TMODE3.svinMinDur
CFG-TMODE-SVIN_MIN_DUR
UBX-CFG-TP5.active
CFG-TP-TP1_ENA
UBX-CFG-TP5.alignToTow
CFG-TP-ALIGN_TO_TOW_TP1
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UBX Messages Fields and the Corresponding Configuration Items continued
UBX Message and Field Name
Configuration Item
UBX-CFG-TP5.antCableDelay
CFG-TP-ANT_CABLEDELAY
UBX-CFG-TP5.freqPeriod
CFG-TP-FREQ_TP1
UBX-CFG-TP5.freqPeriod
CFG-TP-PERIOD_TP1
UBX-CFG-TP5.freqPeriodLock
CFG-TP-FREQ_LOCK_TP1
UBX-CFG-TP5.freqPeriodLock
CFG-TP-PERIOD_LOCK_TP1
UBX-CFG-TP5.gridUtcGnss
CFG-TP-TIMEGRID_TP1
UBX-CFG-TP5.isFreq
CFG-TP-PULSE_DEF
UBX-CFG-TP5.isLength
CFG-TP-PULSE_LENGTH_DEF
UBX-CFG-TP5.lockGnssFreq
CFG-TP-SYNC_GNSS_TP1
UBX-CFG-TP5.lockedOtherSet
CFG-TP-USE_LOCKED_TP1
UBX-CFG-TP5.polarity
CFG-TP-POL_TP1
UBX-CFG-TP5.pulseLenRatio
CFG-TP-DUTY_TP1
UBX-CFG-TP5.pulseLenRatio
CFG-TP-LEN_TP1
UBX-CFG-TP5.pulseLenRatioLock
CFG-TP-DUTY_LOCK_TP1
UBX-CFG-TP5.pulseLenRatioLock
CFG-TP-LEN_LOCK_TP1
UBX-CFG-TP5.userConfigDelay
CFG-TP-USER_DELAY_TP1
UBX-CFG-USB.powerConsumption
CFG-USB-POWER
UBX-CFG-USB.powerMode
CFG-USB-SELFPOW
UBX-CFG-USB.productID
CFG-USB-PRODUCT_ID
UBX-CFG-USB.productString
CFG-USB-PRODUCT_STR0
UBX-CFG-USB.productString
CFG-USB-PRODUCT_STR1
UBX-CFG-USB.productString
CFG-USB-PRODUCT_STR2
UBX-CFG-USB.productString
CFG-USB-PRODUCT_STR3
UBX-CFG-USB.serialNumber
CFG-USB-SERIAL_NO_STR0
UBX-CFG-USB.serialNumber
CFG-USB-SERIAL_NO_STR1
UBX-CFG-USB.serialNumber
CFG-USB-SERIAL_NO_STR2
UBX-CFG-USB.serialNumber
CFG-USB-SERIAL_NO_STR3
UBX-CFG-USB.vendorID
CFG-USB-VENDOR_ID
UBX-CFG-USB.vendorString
CFG-USB-VENDOR_STR0
UBX-CFG-USB.vendorString
CFG-USB-VENDOR_STR1
UBX-CFG-USB.vendorString
CFG-USB-VENDOR_STR2
UBX-CFG-USB.vendorString
CFG-USB-VENDOR_STR3
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7 RTCM Protocol
7.1 RTCM version 3
7.1.1 Supported Messages The following RTCM 3.3 input messages are supported:
Supported RTCM 3.3 Input Messages
Message Type Description
1001
L1-only GPS RTK observations
1002
Extended L1-only GPS RTK observations
1003
L1/L2 GPS RTK observations
1004
Extended L1/L2 GPS RTK observations
1005
Stationary RTK reference station ARP
1006
Stationary RTK reference station ARP with antenna height
1007
Antenna descriptor
1009
L1-only GLONASS RTK observations
1010
Extended L1-only GLONASS RTK observations
1011
L1/L2 GLONASS RTK observations
1012
Extended L1/L2 GLONASS RTK observations
1033
Receiver and antenna descriptors
1074
GPS MSM4
1075
GPS MSM5
1077
GPS MSM7
1084
GLONASS MSM4
1085
GLONASS MSM5
1087
GLONASS MSM7
1094
Galileo MSM4
1095
Galileo MSM5
1097
Galileo MSM7
1124
BeiDou MSM4
1125
BeiDou MSM5
1127
BeiDou MSM7
1230
GLONASS code-phase biases
4072, sub-type Reference station PVT (u-blox proprietary RTCM Message)
0
4072, sub-type 1 Additional reference station information (u-blox proprietary RTCM Message)
The following RTCM 3.3 output messages are supported:
RTCM output messages are configured using the configuration items CFG-MSGOUT-RTCM*.
Supported RTCM 3.3 Output Messages
Message Type
Cls/ID
Description
1005 1074 1077 1084 1087
0xF5 0x05 0xF5 0x4A 0xF5 0x4D 0xF5 0x54 0xF5 0x57
Stationary RTK reference station ARP GPS MSM4 GPS MSM7 GLONASS MSM4 GLONASS MSM7
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Supported RTCM 3.3 Output Messages continued
Message Type
Cls/ID
Description
1094
0xF5 0x5E Galileo MSM4
1097
0xF5 0x61 Galileo MSM7
1124
0xF5 0x7C BeiDou MSM4
1127
0xF5 0x7F BeiDou MSM7
1230
0xF5 0xE6 GLONASS code-phase biases
4072, sub-type 0xF5 0xFE Reference station PVT (u-blox proprietary RTCM Message)
0
4072, sub-type 1 0xF5 0xFD Additional reference station information (u-blox proprietary
RTCM Message)
7.1.2 u-blox Proprietary RTCM Messages The RTCM message type 4072 is the u-blox proprietary RTCM message. It is supported by the RTCM standard version 3.2 and above.
7.1.2.1 Sub-Types There are different available sub-types of the RTCM message type 4072. The table below shows the available RTCM 4072 sub-types.
RTCM 4072 Sub-Types
Sub-
Message Type
Type
Number
0
0xFE8
1
0xFE8
Sub-Type Number
0x000 0x001
Description
Message Data (Payload) Length (bits)
Reference station PVT Additional reference station information
1008+48 112+48*(2*N) (N = the number of enabled GNSS constellations)
7.1.3 Configuration The configuration of the RTK rover and reference station is explained in the Integration Manual. The RTCM3 protocol can be disabled/enabled on communication interfaces by means of the configuration items, for example CFG-UART1OUTPROT-RTCM3X.
7.1.4 Reference The RTCM3 support is implemented according to RTCM STANDARD 10403.3 DIFFERENTIAL GNSS (GLOBAL NAVIGATION SATELLITE SYSTEMS) SERVICES - VERSION 3.
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Appendix
A Satellite Numbering
A summary of all the SV numbering schemes is provided in the following table.
Satellite numbering
GNSS Type SV range UBX gnssId:
svId
GPS SBAS
Galileo BeiDou
G1-G32 S120S158 E1-E36 B1-B37
0:1-32 1:120-158
2:1-36 3:1-37
QZSS Q1-Q10
GLONAS R1-R32,
S
R?
5:1-10 6:1-32, 6: 255
UBX svId
1-32 120-158
211-246 159-163,3364 193-202 65-96, 255
NMEA 2.X4.0 (strict)
1-32 33-64
-
NMEA 2.X-4.0
(extended)
1-32 33-64,152158 301-336 401-437
65-96, null
193-202 65-96, null
NMEA 4.10+ NMEA 4.10+
(strict)
(extended)
1-32
1-32
33-64 33-64,152-
158
1-36
1-36
1-37
1-37
65-96, null
193-202 65-96, null
B UBX and NMEA Signal Identifiers
UBX and NMEA protocols use signal identifiers (commonly abbreviated to "sigId") to distinguish between different signals from GNSS.
Signal identifiers are only valid when combined with a GNSS identifier (see above). The table below shows the range of identifiers currently supported in the firmware.
The following table shows the mapping of GNSS signals to UBX / NMEA signal identifier.
Signal Identifiers
Signal name
GPS L1C/A* GPS L2 CL GPS L2 CM Galileo E1 C* Galileo E1 B* Galileo E5 bI Galileo E5 bQ BeiDou B1I D1* BeiDou B1I D2* BeiDou B2I D1 BeiDou B2I D2 QZSS L1C/A* QZSS L2 CM QZSS L2 CL GLONASS L1 OF* GLONASS L2 OF
UBX gnssId
0 0 0 2 2 2 2 3 3 3 3 5 5 5 6 6
UBX sigId
0 3 4 0 1 5 6 0 1 2 3 0 4 5 0 2
NMEA 4.10+ gnssId
1 1 1 3 3 3 3 4** 4** 4** 4**
NMEA 4.10+ sigId
1 6 5 7 7 2 2 1** 1** 3** 3**
2
1
2
3
UBX messages, that don't have an explicit sigId field, contain information about the subset of signals marked with (*).
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BeiDou gnssId and sigId are not defined in the NMEA protocol version 4.10, values shown in the table are valid for u-blox products only (**).
C Configuration Defaults
The configuration defaults given in this section apply to the receiver firmwares given below.
C.1 u-blox 9 ZED-F9P (version 1.00 HPG 1.12)
This section lists the configuration defaults for the u-blox 9 ZED-F9P (version 1.00 HPG 1.12), protocol version 27.11.
Geofencing Configuration (CFG-GEOFENCE-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-GEOFENCE-CONFLVL CFG-GEOFENCE-USE_PIO CFG-GEOFENCE-PINPOL CFG-GEOFENCE-PIN CFG-GEOFENCE-USE_FENCE1 CFG-GEOFENCE-FENCE1_LAT CFG-GEOFENCE-FENCE1_LON CFG-GEOFENCE-FENCE1_RAD CFG-GEOFENCE-USE_FENCE2 CFG-GEOFENCE-FENCE2_LAT CFG-GEOFENCE-FENCE2_LON CFG-GEOFENCE-FENCE2_RAD CFG-GEOFENCE-USE_FENCE3 CFG-GEOFENCE-FENCE3_LAT CFG-GEOFENCE-FENCE3_LON CFG-GEOFENCE-FENCE3_RAD CFG-GEOFENCE-USE_FENCE4 CFG-GEOFENCE-FENCE4_LAT CFG-GEOFENCE-FENCE4_LON CFG-GEOFENCE-FENCE4_RAD
0x20240011 E1 -
-
0x10240012 L -
-
0x20240013 E1 -
-
0x20240014 U1 -
-
0x10240020 L -
-
0x40240021 I4 1e-7 deg
0x40240022 I4 1e-7 deg
0x40240023 U4 0.01 m
0x10240030 L -
-
0x40240031 I4 1e-7 deg
0x40240032 I4 1e-7 deg
0x40240033 U4 0.01 m
0x10240040 L -
-
0x40240041 I4 1e-7 deg
0x40240042 I4 1e-7 deg
0x40240043 U4 0.01 m
0x10240050 L -
-
0x40240051 I4 1e-7 deg
0x40240052 I4 1e-7 deg
0x40240053 U4 0.01 m
Default Value
0 (L000) 0 (false) 0 (LOW_IN)
3 0 (false)
0 0 0 0 (false) 0 0 0 0 (false) 0 0 0 0 (false) 0 0 0
Hardware Configuration (CFG-HW-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
CFG-HW-ANT_CFG_VOLTCTRL CFG-HW-ANT_CFG_SHORTDET CFG-HW-ANT_CFG_SHORTDET_POL CFG-HW-ANT_CFG_OPENDET CFG-HW-ANT_CFG_OPENDET_POL CFG-HW-ANT_CFG_PWRDOWN CFG-HW-ANT_CFG_PWRDOWN_POL CFG-HW-ANT_CFG_RECOVER CFG-HW-ANT_SUP_SWITCH_PIN CFG-HW-ANT_SUP_SHORT_PIN
e
0x10a3002e L -
-
0x10a3002f L -
-
0x10a30030 L -
-
0x10a30031 L -
-
0x10a30032 L -
-
0x10a30033 L -
-
0x10a30034 L -
-
0x10a30035 L -
-
0x20a30036 U1 -
-
0x20a30037 U1 -
-
Default Value
0 (false) 0 (false) 1 (true) 0 (false) 1 (true) 0 (false) 1 (true) 0 (false)
16 15
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Hardware Configuration (CFG-HW-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-HW-ANT_SUP_OPEN_PIN
0x20a30038 U1 -
-
Default Value
8
Configuration of the I2C Interface (CFG-I2C-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-I2C-ADDRESS CFG-I2C-EXTENDEDTIMEOUT CFG-I2C-ENABLED
0x20510001 U1 -
-
0x10510002 L -
-
0x10510003 L -
-
Default Value
132 0 (false) 1 (true)
Input Protocol Configuration of the I2C Interface (CFG-I2CINPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-I2CINPROT-UBX CFG-I2CINPROT-NMEA CFG-I2CINPROT-RTCM3X
0x10710001 L -
-
0x10710002 L -
-
0x10710004 L -
-
1 (true) 1 (true) 1 (true)
Output Protocol Configuration of the I2C Interface (CFG-I2COUTPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-I2COUTPROT-UBX CFG-I2COUTPROT-NMEA CFG-I2COUTPROT-RTCM3X
0x10720001 L -
-
0x10720002 L -
-
0x10720004 L -
-
1 (true) 1 (true) 1 (true)
Inf Message Configuration (CFG-INFMSG-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-INFMSG-UBX_I2C CFG-INFMSG-UBX_UART1 CFG-INFMSG-UBX_UART2 CFG-INFMSG-UBX_USB CFG-INFMSG-UBX_SPI CFG-INFMSG-NMEA_I2C
0x20920001 X1 -
-
0x20920002 X1 -
-
0x20920003 X1 -
-
0x20920004 X1 -
-
0x20920005 X1 -
-
0x20920006 X1 -
-
CFG-INFMSG-NMEA_UART1
0x20920007 X1 -
-
CFG-INFMSG-NMEA_UART2
0x20920008 X1 -
-
CFG-INFMSG-NMEA_USB
0x20920009 X1 -
-
CFG-INFMSG-NMEA_SPI
0x2092000a X1 -
-
Default Value
0x00 0x00 0x00 0x00 0x00 0x07 (ERROR | WARNING | NOTICE) 0x07 (ERROR | WARNING | NOTICE) 0x07 (ERROR | WARNING | NOTICE) 0x07 (ERROR | WARNING | NOTICE) 0x07 (ERROR | WARNING | NOTICE)
Jamming/Interference Monitor configuration (CFG-ITFM-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
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Jamming/Interference Monitor configuration (CFG-ITFM-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-ITFM-BBTHRESHOLD
0x20410001 U1 -
-
CFG-ITFM-CWTHRESHOLD
0x20410002 U1 -
-
CFG-ITFM-ENABLE
0x1041000d L -
-
CFG-ITFM-ANTSETTING
0x20410010 E1 -
-
CFG-ITFM-ENABLE_AUX
0x10410013 L -
-
Default Value
3 15 0 (false) 0 (UNKNOWN) 0 (false)
Data Logger Configuration (CFG-LOGFILTER-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-LOGFILTER-RECORD_ENA
0x10de0002 L -
-
CFG-LOGFILTER-ONCE_PER_WAKE_UP_ 0x10de0003 L -
-
0 (false) 0 (false)
ENA
CFG-LOGFILTER-APPLY_ALL_FILTERS 0x10de0004 L -
-
CFG-LOGFILTER-MIN_INTERVAL
0x30de0005 U2 -
s
CFG-LOGFILTER-TIME_THRS
0x30de0006 U2 -
s
CFG-LOGFILTER-SPEED_THRS
0x30de0007 U2 - m/s
CFG-LOGFILTER-POSITION_THRS
0x40de0008 U4 -
m
0 (false) 0 0 0 0
Motion Detector Configuration (CFG-MOT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MOT-GNSSSPEED_THRS CFG-MOT-GNSSDIST_THRS
0x20250038 U1 0.01 m/s
0x3025003b U2 -
-
Default Value
0 0
Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-MSGOUT-NMEA_ID_DTM_I2C
0x209100a6 U1 -
-
0
CFG-MSGOUT-NMEA_ID_DTM_SPI
0x209100aa U1 -
-
0
CFG-MSGOUT-NMEA_ID_DTM_UART1
0x209100a7 U1 -
-
0
CFG-MSGOUT-NMEA_ID_DTM_UART2
0x209100a8 U1 -
-
0
CFG-MSGOUT-NMEA_ID_DTM_USB
0x209100a9 U1 -
-
0
CFG-MSGOUT-NMEA_ID_GBS_I2C
0x209100dd U1 -
-
0
CFG-MSGOUT-NMEA_ID_GBS_SPI
0x209100e1 U1 -
-
0
CFG-MSGOUT-NMEA_ID_GBS_UART1
0x209100de U1 -
-
0
CFG-MSGOUT-NMEA_ID_GBS_UART2
0x209100df U1 -
-
0
CFG-MSGOUT-NMEA_ID_GBS_USB
0x209100e0 U1 -
-
0
CFG-MSGOUT-NMEA_ID_GGA_I2C
0x209100ba U1 -
-
1
CFG-MSGOUT-NMEA_ID_GGA_SPI
0x209100be U1 -
-
1
CFG-MSGOUT-NMEA_ID_GGA_UART1
0x209100bb U1 -
-
1
CFG-MSGOUT-NMEA_ID_GGA_UART2
0x209100bc U1 -
-
1
CFG-MSGOUT-NMEA_ID_GGA_USB
0x209100bd U1 -
-
1
CFG-MSGOUT-NMEA_ID_GLL_I2C
0x209100c9 U1 -
-
1
CFG-MSGOUT-NMEA_ID_GLL_SPI
0x209100cd U1 -
-
1
CFG-MSGOUT-NMEA_ID_GLL_UART1
0x209100ca U1 -
-
1
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-NMEA_ID_GLL_UART2
0x209100cb U1 -
-
CFG-MSGOUT-NMEA_ID_GLL_USB
0x209100cc U1 -
-
CFG-MSGOUT-NMEA_ID_GNS_I2C
0x209100b5 U1 -
-
CFG-MSGOUT-NMEA_ID_GNS_SPI
0x209100b9 U1 -
-
CFG-MSGOUT-NMEA_ID_GNS_UART1
0x209100b6 U1 -
-
CFG-MSGOUT-NMEA_ID_GNS_UART2
0x209100b7 U1 -
-
CFG-MSGOUT-NMEA_ID_GNS_USB
0x209100b8 U1 -
-
CFG-MSGOUT-NMEA_ID_GRS_I2C
0x209100ce U1 -
-
CFG-MSGOUT-NMEA_ID_GRS_SPI
0x209100d2 U1 -
-
CFG-MSGOUT-NMEA_ID_GRS_UART1
0x209100cf U1 -
-
CFG-MSGOUT-NMEA_ID_GRS_UART2
0x209100d0 U1 -
-
CFG-MSGOUT-NMEA_ID_GRS_USB
0x209100d1 U1 -
-
CFG-MSGOUT-NMEA_ID_GSA_I2C
0x209100bf U1 -
-
CFG-MSGOUT-NMEA_ID_GSA_SPI
0x209100c3 U1 -
-
CFG-MSGOUT-NMEA_ID_GSA_UART1
0x209100c0 U1 -
-
CFG-MSGOUT-NMEA_ID_GSA_UART2
0x209100c1 U1 -
-
CFG-MSGOUT-NMEA_ID_GSA_USB
0x209100c2 U1 -
-
CFG-MSGOUT-NMEA_ID_GST_I2C
0x209100d3 U1 -
-
CFG-MSGOUT-NMEA_ID_GST_SPI
0x209100d7 U1 -
-
CFG-MSGOUT-NMEA_ID_GST_UART1
0x209100d4 U1 -
-
CFG-MSGOUT-NMEA_ID_GST_UART2
0x209100d5 U1 -
-
CFG-MSGOUT-NMEA_ID_GST_USB
0x209100d6 U1 -
-
CFG-MSGOUT-NMEA_ID_GSV_I2C
0x209100c4 U1 -
-
CFG-MSGOUT-NMEA_ID_GSV_SPI
0x209100c8 U1 -
-
CFG-MSGOUT-NMEA_ID_GSV_UART1
0x209100c5 U1 -
-
CFG-MSGOUT-NMEA_ID_GSV_UART2
0x209100c6 U1 -
-
CFG-MSGOUT-NMEA_ID_GSV_USB
0x209100c7 U1 -
-
CFG-MSGOUT-NMEA_ID_RMC_I2C
0x209100ab U1 -
-
CFG-MSGOUT-NMEA_ID_RMC_SPI
0x209100af U1 -
-
CFG-MSGOUT-NMEA_ID_RMC_UART1
0x209100ac U1 -
-
CFG-MSGOUT-NMEA_ID_RMC_UART2
0x209100ad U1 -
-
CFG-MSGOUT-NMEA_ID_RMC_USB
0x209100ae U1 -
-
CFG-MSGOUT-NMEA_ID_VLW_I2C
0x209100e7 U1 -
-
CFG-MSGOUT-NMEA_ID_VLW_SPI
0x209100eb U1 -
-
CFG-MSGOUT-NMEA_ID_VLW_UART1
0x209100e8 U1 -
-
CFG-MSGOUT-NMEA_ID_VLW_UART2
0x209100e9 U1 -
-
CFG-MSGOUT-NMEA_ID_VLW_USB
0x209100ea U1 -
-
CFG-MSGOUT-NMEA_ID_VTG_I2C
0x209100b0 U1 -
-
CFG-MSGOUT-NMEA_ID_VTG_SPI
0x209100b4 U1 -
-
CFG-MSGOUT-NMEA_ID_VTG_UART1
0x209100b1 U1 -
-
CFG-MSGOUT-NMEA_ID_VTG_UART2
0x209100b2 U1 -
-
CFG-MSGOUT-NMEA_ID_VTG_USB
0x209100b3 U1 -
-
CFG-MSGOUT-NMEA_ID_ZDA_I2C
0x209100d8 U1 -
-
CFG-MSGOUT-NMEA_ID_ZDA_SPI
0x209100dc U1 -
-
Default Value
1 1 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 1 1 1 1 1 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-NMEA_ID_ZDA_UART1
0x209100d9 U1 -
-
CFG-MSGOUT-NMEA_ID_ZDA_UART2
0x209100da U1 -
-
CFG-MSGOUT-NMEA_ID_ZDA_USB
0x209100db U1 -
-
CFG-MSGOUT-PUBX_ID_POLYP_I2C
0x209100ec U1 -
-
CFG-MSGOUT-PUBX_ID_POLYP_SPI
0x209100f0 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYP_UART1 0x209100ed U1 -
-
CFG-MSGOUT-PUBX_ID_POLYP_UART2 0x209100ee U1 -
-
CFG-MSGOUT-PUBX_ID_POLYP_USB
0x209100ef U1 -
-
CFG-MSGOUT-PUBX_ID_POLYS_I2C
0x209100f1 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYS_SPI
0x209100f5 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYS_UART1 0x209100f2 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYS_UART2 0x209100f3 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYS_USB
0x209100f4 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYT_I2C
0x209100f6 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYT_SPI
0x209100fa U1 -
-
CFG-MSGOUT-PUBX_ID_POLYT_UART1 0x209100f7 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYT_UART2 0x209100f8 U1 -
-
CFG-MSGOUT-PUBX_ID_POLYT_USB
0x209100f9 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1005_I2C 0x209102bd U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1005_SPI 0x209102c1 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1005_
0x209102be U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1005_
0x209102bf U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1005_USB 0x209102c0 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1074_I2C 0x2091035e U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1074_SPI 0x20910362 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1074_
0x2091035f U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1074_
0x20910360 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1074_USB 0x20910361 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1077_I2C 0x209102cc U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1077_SPI 0x209102d0 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1077_
0x209102cd U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1077_
0x209102ce U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1077_USB 0x209102cf U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1084_I2C 0x20910363 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1084_SPI 0x20910367 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1084_
0x20910364 U1 -
-
UART1
Default Value
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-RTCM_3X_TYPE1084_
0x20910365 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1084_USB 0x20910366 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1087_I2C 0x209102d1 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1087_SPI 0x209102d5 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1087_
0x209102d2 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1087_
0x209102d3 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1087_USB 0x209102d4 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1094_I2C 0x20910368 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1094_SPI 0x2091036c U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1094_
0x20910369 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1094_
0x2091036a U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1094_USB 0x2091036b U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1097_I2C 0x20910318 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1097_SPI 0x2091031c U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1097_
0x20910319 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1097_
0x2091031a U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1097_USB 0x2091031b U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1124_I2C 0x2091036d U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1124_SPI 0x20910371 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1124_
0x2091036e U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1124_
0x2091036f U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1124_USB 0x20910370 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1127_I2C 0x209102d6 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1127_SPI 0x209102da U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1127_
0x209102d7 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1127_
0x209102d8 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE1127_USB 0x209102d9 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1230_I2C 0x20910303 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1230_SPI 0x20910307 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE1230_
0x20910304 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE1230_
0x20910305 U1 -
-
UART2
Default Value
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-RTCM_3X_TYPE1230_USB 0x20910306 U1 -
-
CFG-MSGOUT-RTCM_3X_TYPE4072_0_ 0x209102fe U1 -
-
I2C
CFG-MSGOUT-RTCM_3X_TYPE4072_0_ 0x20910302 U1 -
-
SPI
CFG-MSGOUT-RTCM_3X_TYPE4072_0_ 0x209102ff U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE4072_0_ 0x20910300 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE4072_0_ 0x20910301 U1 -
-
USB
CFG-MSGOUT-RTCM_3X_TYPE4072_1_ 0x20910381 U1 -
-
I2C
CFG-MSGOUT-RTCM_3X_TYPE4072_1_ 0x20910385 U1 -
-
SPI
CFG-MSGOUT-RTCM_3X_TYPE4072_1_ 0x20910382 U1 -
-
UART1
CFG-MSGOUT-RTCM_3X_TYPE4072_1_ 0x20910383 U1 -
-
UART2
CFG-MSGOUT-RTCM_3X_TYPE4072_1_ 0x20910384 U1 -
-
USB
CFG-MSGOUT-UBX_LOG_INFO_I2C
0x20910259 U1 -
-
CFG-MSGOUT-UBX_LOG_INFO_SPI
0x2091025d U1 -
-
CFG-MSGOUT-UBX_LOG_INFO_UART1 0x2091025a U1 -
-
CFG-MSGOUT-UBX_LOG_INFO_UART2 0x2091025b U1 -
-
CFG-MSGOUT-UBX_LOG_INFO_USB
0x2091025c U1 -
-
CFG-MSGOUT-UBX_MON_COMMS_I2C
0x2091034f U1 -
-
CFG-MSGOUT-UBX_MON_COMMS_SPI
0x20910353 U1 -
-
CFG-MSGOUT-UBX_MON_COMMS_UART1 0x20910350 U1 -
-
CFG-MSGOUT-UBX_MON_COMMS_UART2 0x20910351 U1 -
-
CFG-MSGOUT-UBX_MON_COMMS_USB
0x20910352 U1 -
-
CFG-MSGOUT-UBX_MON_HW2_I2C
0x209101b9 U1 -
-
CFG-MSGOUT-UBX_MON_HW2_SPI
0x209101bd U1 -
-
CFG-MSGOUT-UBX_MON_HW2_UART1
0x209101ba U1 -
-
CFG-MSGOUT-UBX_MON_HW2_UART2
0x209101bb U1 -
-
CFG-MSGOUT-UBX_MON_HW2_USB
0x209101bc U1 -
-
CFG-MSGOUT-UBX_MON_HW3_I2C
0x20910354 U1 -
-
CFG-MSGOUT-UBX_MON_HW3_SPI
0x20910358 U1 -
-
CFG-MSGOUT-UBX_MON_HW3_UART1
0x20910355 U1 -
-
CFG-MSGOUT-UBX_MON_HW3_UART2
0x20910356 U1 -
-
CFG-MSGOUT-UBX_MON_HW3_USB
0x20910357 U1 -
-
CFG-MSGOUT-UBX_MON_HW_I2C
0x209101b4 U1 -
-
CFG-MSGOUT-UBX_MON_HW_SPI
0x209101b8 U1 -
-
CFG-MSGOUT-UBX_MON_HW_UART1
0x209101b5 U1 -
-
Default Value
0 0
0
0
0
0
0
0
0
0
0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-UBX_MON_HW_UART2
0x209101b6 U1 -
-
CFG-MSGOUT-UBX_MON_HW_USB
0x209101b7 U1 -
-
CFG-MSGOUT-UBX_MON_IO_I2C
0x209101a5 U1 -
-
CFG-MSGOUT-UBX_MON_IO_SPI
0x209101a9 U1 -
-
CFG-MSGOUT-UBX_MON_IO_UART1
0x209101a6 U1 -
-
CFG-MSGOUT-UBX_MON_IO_UART2
0x209101a7 U1 -
-
CFG-MSGOUT-UBX_MON_IO_USB
0x209101a8 U1 -
-
CFG-MSGOUT-UBX_MON_MSGPP_I2C
0x20910196 U1 -
-
CFG-MSGOUT-UBX_MON_MSGPP_SPI
0x2091019a U1 -
-
CFG-MSGOUT-UBX_MON_MSGPP_UART1 0x20910197 U1 -
-
CFG-MSGOUT-UBX_MON_MSGPP_UART2 0x20910198 U1 -
-
CFG-MSGOUT-UBX_MON_MSGPP_USB
0x20910199 U1 -
-
CFG-MSGOUT-UBX_MON_RF_I2C
0x20910359 U1 -
-
CFG-MSGOUT-UBX_MON_RF_SPI
0x2091035d U1 -
-
CFG-MSGOUT-UBX_MON_RF_UART1
0x2091035a U1 -
-
CFG-MSGOUT-UBX_MON_RF_UART2
0x2091035b U1 -
-
CFG-MSGOUT-UBX_MON_RF_USB
0x2091035c U1 -
-
CFG-MSGOUT-UBX_MON_RXBUF_I2C
0x209101a0 U1 -
-
CFG-MSGOUT-UBX_MON_RXBUF_SPI
0x209101a4 U1 -
-
CFG-MSGOUT-UBX_MON_RXBUF_UART1 0x209101a1 U1 -
-
CFG-MSGOUT-UBX_MON_RXBUF_UART2 0x209101a2 U1 -
-
CFG-MSGOUT-UBX_MON_RXBUF_USB
0x209101a3 U1 -
-
CFG-MSGOUT-UBX_MON_RXR_I2C
0x20910187 U1 -
-
CFG-MSGOUT-UBX_MON_RXR_SPI
0x2091018b U1 -
-
CFG-MSGOUT-UBX_MON_RXR_UART1
0x20910188 U1 -
-
CFG-MSGOUT-UBX_MON_RXR_UART2
0x20910189 U1 -
-
CFG-MSGOUT-UBX_MON_RXR_USB
0x2091018a U1 -
-
CFG-MSGOUT-UBX_MON_TXBUF_I2C
0x2091019b U1 -
-
CFG-MSGOUT-UBX_MON_TXBUF_SPI
0x2091019f U1 -
-
CFG-MSGOUT-UBX_MON_TXBUF_UART1 0x2091019c U1 -
-
CFG-MSGOUT-UBX_MON_TXBUF_UART2 0x2091019d U1 -
-
CFG-MSGOUT-UBX_MON_TXBUF_USB
0x2091019e U1 -
-
CFG-MSGOUT-UBX_NAV_CLOCK_I2C
0x20910065 U1 -
-
CFG-MSGOUT-UBX_NAV_CLOCK_SPI
0x20910069 U1 -
-
CFG-MSGOUT-UBX_NAV_CLOCK_UART1 0x20910066 U1 -
-
CFG-MSGOUT-UBX_NAV_CLOCK_UART2 0x20910067 U1 -
-
CFG-MSGOUT-UBX_NAV_CLOCK_USB
0x20910068 U1 -
-
CFG-MSGOUT-UBX_NAV_DOP_I2C
0x20910038 U1 -
-
CFG-MSGOUT-UBX_NAV_DOP_SPI
0x2091003c U1 -
-
CFG-MSGOUT-UBX_NAV_DOP_UART1
0x20910039 U1 -
-
CFG-MSGOUT-UBX_NAV_DOP_UART2
0x2091003a U1 -
-
CFG-MSGOUT-UBX_NAV_DOP_USB
0x2091003b U1 -
-
CFG-MSGOUT-UBX_NAV_EOE_I2C
0x2091015f U1 -
-
CFG-MSGOUT-UBX_NAV_EOE_SPI
0x20910163 U1 -
-
Default Value
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-UBX_NAV_EOE_UART1
0x20910160 U1 -
-
CFG-MSGOUT-UBX_NAV_EOE_UART2
0x20910161 U1 -
-
CFG-MSGOUT-UBX_NAV_EOE_USB
0x20910162 U1 -
-
CFG-MSGOUT-UBX_NAV_GEOFENCE_I2C 0x209100a1 U1 -
-
CFG-MSGOUT-UBX_NAV_GEOFENCE_SPI 0x209100a5 U1 -
-
CFG-MSGOUT-UBX_NAV_GEOFENCE_
0x209100a2 U1 -
-
UART1
CFG-MSGOUT-UBX_NAV_GEOFENCE_
0x209100a3 U1 -
-
UART2
CFG-MSGOUT-UBX_NAV_GEOFENCE_USB 0x209100a4 U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSECEF_I2C 0x2091002e U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSECEF_SPI 0x20910032 U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSECEF_ 0x2091002f U1 -
-
UART1
CFG-MSGOUT-UBX_NAV_HPPOSECEF_ 0x20910030 U1 -
-
UART2
CFG-MSGOUT-UBX_NAV_HPPOSECEF_USB 0x20910031 U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSLLH_I2C 0x20910033 U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSLLH_SPI 0x20910037 U1 -
-
CFG-MSGOUT-UBX_NAV_HPPOSLLH_
0x20910034 U1 -
-
UART1
CFG-MSGOUT-UBX_NAV_HPPOSLLH_
0x20910035 U1 -
-
UART2
CFG-MSGOUT-UBX_NAV_HPPOSLLH_USB 0x20910036 U1 -
-
CFG-MSGOUT-UBX_NAV_ODO_I2C
0x2091007e U1 -
-
CFG-MSGOUT-UBX_NAV_ODO_SPI
0x20910082 U1 -
-
CFG-MSGOUT-UBX_NAV_ODO_UART1
0x2091007f U1 -
-
CFG-MSGOUT-UBX_NAV_ODO_UART2
0x20910080 U1 -
-
CFG-MSGOUT-UBX_NAV_ODO_USB
0x20910081 U1 -
-
CFG-MSGOUT-UBX_NAV_ORB_I2C
0x20910010 U1 -
-
CFG-MSGOUT-UBX_NAV_ORB_SPI
0x20910014 U1 -
-
CFG-MSGOUT-UBX_NAV_ORB_UART1
0x20910011 U1 -
-
CFG-MSGOUT-UBX_NAV_ORB_UART2
0x20910012 U1 -
-
CFG-MSGOUT-UBX_NAV_ORB_USB
0x20910013 U1 -
-
CFG-MSGOUT-UBX_NAV_POSECEF_I2C 0x20910024 U1 -
-
CFG-MSGOUT-UBX_NAV_POSECEF_SPI 0x20910028 U1 -
-
CFG-MSGOUT-UBX_NAV_POSECEF_UART1 0x20910025 U1 -
-
CFG-MSGOUT-UBX_NAV_POSECEF_UART2 0x20910026 U1 -
-
CFG-MSGOUT-UBX_NAV_POSECEF_USB 0x20910027 U1 -
-
CFG-MSGOUT-UBX_NAV_POSLLH_I2C 0x20910029 U1 -
-
CFG-MSGOUT-UBX_NAV_POSLLH_SPI 0x2091002d U1 -
-
CFG-MSGOUT-UBX_NAV_POSLLH_UART1 0x2091002a U1 -
-
CFG-MSGOUT-UBX_NAV_POSLLH_UART2 0x2091002b U1 -
-
CFG-MSGOUT-UBX_NAV_POSLLH_USB 0x2091002c U1 -
-
Default Value
0 0 0 0 0 0
0
0 0 0 0
0
0 0 0 0
0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-UBX_NAV_PVT_I2C
0x20910006 U1 -
-
CFG-MSGOUT-UBX_NAV_PVT_SPI
0x2091000a U1 -
-
CFG-MSGOUT-UBX_NAV_PVT_UART1
0x20910007 U1 -
-
CFG-MSGOUT-UBX_NAV_PVT_UART2
0x20910008 U1 -
-
CFG-MSGOUT-UBX_NAV_PVT_USB
0x20910009 U1 -
-
CFG-MSGOUT-UBX_NAV_RELPOSNED_I2C 0x2091008d U1 -
-
CFG-MSGOUT-UBX_NAV_RELPOSNED_SPI 0x20910091 U1 -
-
CFG-MSGOUT-UBX_NAV_RELPOSNED_ 0x2091008e U1 -
-
UART1
CFG-MSGOUT-UBX_NAV_RELPOSNED_ 0x2091008f U1 -
-
UART2
CFG-MSGOUT-UBX_NAV_RELPOSNED_USB 0x20910090 U1 -
-
CFG-MSGOUT-UBX_NAV_SAT_I2C
0x20910015 U1 -
-
CFG-MSGOUT-UBX_NAV_SAT_SPI
0x20910019 U1 -
-
CFG-MSGOUT-UBX_NAV_SAT_UART1
0x20910016 U1 -
-
CFG-MSGOUT-UBX_NAV_SAT_UART2
0x20910017 U1 -
-
CFG-MSGOUT-UBX_NAV_SAT_USB
0x20910018 U1 -
-
CFG-MSGOUT-UBX_NAV_SIG_I2C
0x20910345 U1 -
-
CFG-MSGOUT-UBX_NAV_SIG_SPI
0x20910349 U1 -
-
CFG-MSGOUT-UBX_NAV_SIG_UART1
0x20910346 U1 -
-
CFG-MSGOUT-UBX_NAV_SIG_UART2
0x20910347 U1 -
-
CFG-MSGOUT-UBX_NAV_SIG_USB
0x20910348 U1 -
-
CFG-MSGOUT-UBX_NAV_STATUS_I2C 0x2091001a U1 -
-
CFG-MSGOUT-UBX_NAV_STATUS_SPI 0x2091001e U1 -
-
CFG-MSGOUT-UBX_NAV_STATUS_UART1 0x2091001b U1 -
-
CFG-MSGOUT-UBX_NAV_STATUS_UART2 0x2091001c U1 -
-
CFG-MSGOUT-UBX_NAV_STATUS_USB 0x2091001d U1 -
-
CFG-MSGOUT-UBX_NAV_SVIN_I2C
0x20910088 U1 -
-
CFG-MSGOUT-UBX_NAV_SVIN_SPI
0x2091008c U1 -
-
CFG-MSGOUT-UBX_NAV_SVIN_UART1 0x20910089 U1 -
-
CFG-MSGOUT-UBX_NAV_SVIN_UART2 0x2091008a U1 -
-
CFG-MSGOUT-UBX_NAV_SVIN_USB
0x2091008b U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEBDS_I2C 0x20910051 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEBDS_SPI 0x20910055 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEBDS_UART1 0x20910052 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEBDS_UART2 0x20910053 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEBDS_USB 0x20910054 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGAL_I2C 0x20910056 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGAL_SPI 0x2091005a U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGAL_UART1 0x20910057 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGAL_UART2 0x20910058 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGAL_USB 0x20910059 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGLO_I2C 0x2091004c U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGLO_SPI 0x20910050 U1 -
-
Default Value
0 0 0 0 0 0 0 0
0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-UBX_NAV_TIMEGLO_UART1 0x2091004d U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGLO_UART2 0x2091004e U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGLO_USB 0x2091004f U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGPS_I2C 0x20910047 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGPS_SPI 0x2091004b U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGPS_UART1 0x20910048 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGPS_UART2 0x20910049 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEGPS_USB 0x2091004a U1 -
-
CFG-MSGOUT-UBX_NAV_TIMELS_I2C 0x20910060 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMELS_SPI 0x20910064 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMELS_UART1 0x20910061 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMELS_UART2 0x20910062 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMELS_USB 0x20910063 U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEUTC_I2C 0x2091005b U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEUTC_SPI 0x2091005f U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEUTC_UART1 0x2091005c U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEUTC_UART2 0x2091005d U1 -
-
CFG-MSGOUT-UBX_NAV_TIMEUTC_USB 0x2091005e U1 -
-
CFG-MSGOUT-UBX_NAV_VELECEF_I2C 0x2091003d U1 -
-
CFG-MSGOUT-UBX_NAV_VELECEF_SPI 0x20910041 U1 -
-
CFG-MSGOUT-UBX_NAV_VELECEF_UART1 0x2091003e U1 -
-
CFG-MSGOUT-UBX_NAV_VELECEF_UART2 0x2091003f U1 -
-
CFG-MSGOUT-UBX_NAV_VELECEF_USB 0x20910040 U1 -
-
CFG-MSGOUT-UBX_NAV_VELNED_I2C 0x20910042 U1 -
-
CFG-MSGOUT-UBX_NAV_VELNED_SPI 0x20910046 U1 -
-
CFG-MSGOUT-UBX_NAV_VELNED_UART1 0x20910043 U1 -
-
CFG-MSGOUT-UBX_NAV_VELNED_UART2 0x20910044 U1 -
-
CFG-MSGOUT-UBX_NAV_VELNED_USB 0x20910045 U1 -
-
CFG-MSGOUT-UBX_RXM_MEASX_I2C
0x20910204 U1 -
-
CFG-MSGOUT-UBX_RXM_MEASX_SPI
0x20910208 U1 -
-
CFG-MSGOUT-UBX_RXM_MEASX_UART1 0x20910205 U1 -
-
CFG-MSGOUT-UBX_RXM_MEASX_UART2 0x20910206 U1 -
-
CFG-MSGOUT-UBX_RXM_MEASX_USB
0x20910207 U1 -
-
CFG-MSGOUT-UBX_RXM_RAWX_I2C
0x209102a4 U1 -
-
CFG-MSGOUT-UBX_RXM_RAWX_SPI
0x209102a8 U1 -
-
CFG-MSGOUT-UBX_RXM_RAWX_UART1 0x209102a5 U1 -
-
CFG-MSGOUT-UBX_RXM_RAWX_UART2 0x209102a6 U1 -
-
CFG-MSGOUT-UBX_RXM_RAWX_USB
0x209102a7 U1 -
-
CFG-MSGOUT-UBX_RXM_RLM_I2C
0x2091025e U1 -
-
CFG-MSGOUT-UBX_RXM_RLM_SPI
0x20910262 U1 -
-
CFG-MSGOUT-UBX_RXM_RLM_UART1
0x2091025f U1 -
-
CFG-MSGOUT-UBX_RXM_RLM_UART2
0x20910260 U1 -
-
CFG-MSGOUT-UBX_RXM_RLM_USB
0x20910261 U1 -
-
CFG-MSGOUT-UBX_RXM_RTCM_I2C
0x20910268 U1 -
-
Default Value
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-MSGOUT-UBX_RXM_RTCM_SPI
0x2091026c U1 -
-
CFG-MSGOUT-UBX_RXM_RTCM_UART1 0x20910269 U1 -
-
CFG-MSGOUT-UBX_RXM_RTCM_UART2 0x2091026a U1 -
-
CFG-MSGOUT-UBX_RXM_RTCM_USB
0x2091026b U1 -
-
CFG-MSGOUT-UBX_RXM_SFRBX_I2C
0x20910231 U1 -
-
CFG-MSGOUT-UBX_RXM_SFRBX_SPI
0x20910235 U1 -
-
CFG-MSGOUT-UBX_RXM_SFRBX_UART1 0x20910232 U1 -
-
CFG-MSGOUT-UBX_RXM_SFRBX_UART2 0x20910233 U1 -
-
CFG-MSGOUT-UBX_RXM_SFRBX_USB
0x20910234 U1 -
-
CFG-MSGOUT-UBX_TIM_TM2_I2C
0x20910178 U1 -
-
CFG-MSGOUT-UBX_TIM_TM2_SPI
0x2091017c U1 -
-
CFG-MSGOUT-UBX_TIM_TM2_UART1
0x20910179 U1 -
-
CFG-MSGOUT-UBX_TIM_TM2_UART2
0x2091017a U1 -
-
CFG-MSGOUT-UBX_TIM_TM2_USB
0x2091017b U1 -
-
CFG-MSGOUT-UBX_TIM_TP_I2C
0x2091017d U1 -
-
CFG-MSGOUT-UBX_TIM_TP_SPI
0x20910181 U1 -
-
CFG-MSGOUT-UBX_TIM_TP_UART1
0x2091017e U1 -
-
CFG-MSGOUT-UBX_TIM_TP_UART2
0x2091017f U1 -
-
CFG-MSGOUT-UBX_TIM_TP_USB
0x20910180 U1 -
-
CFG-MSGOUT-UBX_TIM_VRFY_I2C
0x20910092 U1 -
-
CFG-MSGOUT-UBX_TIM_VRFY_SPI
0x20910096 U1 -
-
CFG-MSGOUT-UBX_TIM_VRFY_UART1 0x20910093 U1 -
-
CFG-MSGOUT-UBX_TIM_VRFY_UART2 0x20910094 U1 -
-
CFG-MSGOUT-UBX_TIM_VRFY_USB
0x20910095 U1 -
-
Default Value
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
High Precision Navigation Configuration (CFG-NAVHPG-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-NAVHPG-DGNSSMODE
0x20140011 E1 -
-
3 (RTK_FIXED)
Standard Precision Navigation Configuration (CFG-NAVSPG-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-NAVSPG-FIXMODE CFG-NAVSPG-INIFIX3D CFG-NAVSPG-WKNROLLOVER CFG-NAVSPG-USE_PPP CFG-NAVSPG-UTCSTANDARD CFG-NAVSPG-DYNMODEL CFG-NAVSPG-ACKAIDING CFG-NAVSPG-USE_USRDAT CFG-NAVSPG-USRDAT_MAJA CFG-NAVSPG-USRDAT_FLAT
CFG-NAVSPG-USRDAT_DX
0x20110011 E1 0x10110013 L 0x30110017 U2 0x10110019 L 0x2011001c E1 0x20110021 E1 0x10110025 L 0x10110061 L 0x50110062 R8 0x50110063 R8 -
0x40110064 R4 -
-
3 (AUTO)
-
0 (false)
-
2029
-
0 (false)
-
0 (AUTO)
-
0 (PORT)
-
0 (false)
-
0 (false)
m
6378137
-
298.
25722356300002502
m
0
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Early Production Information
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u-blox ZED-F9P Interface Description - Manual
Standard Precision Navigation Configuration (CFG-NAVSPG-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-NAVSPG-USRDAT_DY
0x40110065 R4 -
m
CFG-NAVSPG-USRDAT_DZ
0x40110066 R4 -
m
CFG-NAVSPG-USRDAT_ROTX
0x40110067 R4 - arcse
c
CFG-NAVSPG-USRDAT_ROTY
0x40110068 R4 - arcse
c
CFG-NAVSPG-USRDAT_ROTZ
0x40110069 R4 - arcse
c
CFG-NAVSPG-USRDAT_SCALE
0x4011006a R4 - ppm
CFG-NAVSPG-INFIL_MINSVS
0x201100a1 U1 -
-
CFG-NAVSPG-INFIL_MAXSVS
0x201100a2 U1 -
-
CFG-NAVSPG-INFIL_MINCNO
0x201100a3 U1 - dBHz
CFG-NAVSPG-INFIL_MINELEV
0x201100a4 I1 - deg
CFG-NAVSPG-INFIL_NCNOTHRS
0x201100aa U1 -
-
CFG-NAVSPG-INFIL_CNOTHRS
0x201100ab U1 -
-
CFG-NAVSPG-OUTFIL_PDOP
0x301100b1 U2 0.1 -
CFG-NAVSPG-OUTFIL_TDOP
0x301100b2 U2 0.1 -
CFG-NAVSPG-OUTFIL_PACC
0x301100b3 U2 -
m
CFG-NAVSPG-OUTFIL_TACC
0x301100b4 U2 -
m
CFG-NAVSPG-OUTFIL_FACC
0x301100b5 U2 0.01 m/s
CFG-NAVSPG-CONSTR_ALT
0x401100c1 I4 0.01 m
CFG-NAVSPG-CONSTR_ALTVAR
0x401100c2 U4 0. m^2
0001
CFG-NAVSPG-CONSTR_DGNSSTO
0x201100c4 U1 -
s
Default Value
0 0 0
0
0
0 3 32 6 10 0 0 250 250 100 350 150 0 10000
60
NMEA Protocol Configuration (CFG-NMEA-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-NMEA-PROTVER CFG-NMEA-MAXSVS CFG-NMEA-COMPAT CFG-NMEA-CONSIDER CFG-NMEA-LIMIT82 CFG-NMEA-HIGHPREC CFG-NMEA-SVNUMBERING CFG-NMEA-FILT_GPS CFG-NMEA-FILT_SBAS CFG-NMEA-FILT_GAL CFG-NMEA-FILT_QZSS CFG-NMEA-FILT_GLO CFG-NMEA-FILT_BDS CFG-NMEA-OUT_INVFIX CFG-NMEA-OUT_MSKFIX CFG-NMEA-OUT_INVTIME
0x20930001 E1 -
-
0x20930002 E1 -
-
0x10930003 L -
-
0x10930004 L -
-
0x10930005 L -
-
0x10930006 L -
-
0x20930007 E1 -
-
0x10930011 L -
-
0x10930012 L -
-
0x10930013 L -
-
0x10930015 L -
-
0x10930016 L -
-
0x10930017 L -
-
0x10930021 L -
-
0x10930022 L -
-
0x10930023 L -
-
Default Value
41 (V41) 0 (UNLIM)
0 (false) 1 (true) 0 (false) 0 (false) 0 (STRICT) 0 (false) 0 (false) 0 (false) 0 (false) 0 (false) 0 (false) 0 (false) 0 (false) 0 (false)
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NMEA Protocol Configuration (CFG-NMEA-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-NMEA-OUT_INVDATE
0x10930024 L -
-
CFG-NMEA-OUT_ONLYGPS
0x10930025 L -
-
CFG-NMEA-OUT_FROZENCOG
0x10930026 L -
-
CFG-NMEA-MAINTALKERID
0x20930031 E1 -
-
CFG-NMEA-GSVTALKERID
0x20930032 E1 -
-
CFG-NMEA-BDSTALKERID
0x30930033 U2 -
-
Default Value
0 (false) 0 (false) 0 (false) 0 (AUTO) 0 (GNSS)
0
Odometer and Low-Speed Course Over Ground Filter Configuration (CFG-ODO-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-ODO-USE_ODO CFG-ODO-USE_COG CFG-ODO-OUTLPVEL CFG-ODO-OUTLPCOG CFG-ODO-PROFILE CFG-ODO-COGMAXSPEED CFG-ODO-COGMAXPOSACC CFG-ODO-VELLPGAIN CFG-ODO-COGLPGAIN
0x10220001 L -
-
0x10220002 L -
-
0x10220003 L -
-
0x10220004 L -
-
0x20220005 E1 -
-
0x20220021 U1 - m/s
0x20220022 U1 -
-
0x20220031 U1 -
-
0x20220032 U1 -
-
0 (false) 0 (false) 0 (false) 0 (false) 0 (RUN)
10 50 153 76
Navigation and Measurement Rate Configuration (CFG-RATE-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
CFG-RATE-MEAS CFG-RATE-NAV CFG-RATE-TIMEREF
e
0x30210001 U2 0.001 s
0x30210002 U2 -
-
0x20210003 E1 -
-
1000 1
1 (GPS)
Remote Inventory (CFG-RINV-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
CFG-RINV-DUMP CFG-RINV-BINARY CFG-RINV-DATA_SIZE CFG-RINV-CHUNK0
e
0x10c70001 L -
-
0x10c70002 L -
-
0x20c70003 U1 -
-
0x50c70004 X8 -
-
CFG-RINV-CHUNK1
0x50c70005 X8 -
-
CFG-RINV-CHUNK2
0x50c70006 X8 -
-
CFG-RINV-CHUNK3
0x50c70007 X8 -
-
Default Value
0 (false) 0 (false)
22 0x203a656369746f4e
("Notice: ") 0x2061746164206f6e
("no data ") 0x0000216465766173
("saved!\0\0") 0x0000000000000000
Satellite Systems (GNSS) Signal Configuration (CFG-SIGNAL-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
CFG-SIGNAL-GPS_ENA
e
0x1031001f L -
-
1 (true)
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Satellite Systems (GNSS) Signal Configuration (CFG-SIGNAL-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-SIGNAL-GPS_L1CA_ENA
0x10310001 L -
-
CFG-SIGNAL-GPS_L2C_ENA
0x10310003 L -
-
CFG-SIGNAL-GAL_ENA
0x10310021 L -
-
CFG-SIGNAL-GAL_E1_ENA
0x10310007 L -
-
CFG-SIGNAL-GAL_E5B_ENA
0x1031000a L -
-
CFG-SIGNAL-BDS_ENA
0x10310022 L -
-
CFG-SIGNAL-BDS_B1_ENA
0x1031000d L -
-
CFG-SIGNAL-BDS_B2_ENA
0x1031000e L -
-
CFG-SIGNAL-QZSS_ENA
0x10310024 L -
-
CFG-SIGNAL-QZSS_L1CA_ENA
0x10310012 L -
-
CFG-SIGNAL-QZSS_L2C_ENA
0x10310015 L -
-
CFG-SIGNAL-GLO_ENA
0x10310025 L -
-
CFG-SIGNAL-GLO_L1_ENA
0x10310018 L -
-
CFG-SIGNAL-GLO_L2_ENA
0x1031001a L -
-
Default Value
1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true) 1 (true)
Configuration of the SPI Interface (CFG-SPI-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
CFG-SPI-MAXFF CFG-SPI-CPOLARITY CFG-SPI-CPHASE CFG-SPI-EXTENDEDTIMEOUT CFG-SPI-ENABLED
e
0x20640001 U1 -
-
0x10640002 L -
-
0x10640003 L -
-
0x10640005 L -
-
0x10640006 L -
-
Default Value
50 0 (false) 0 (false) 0 (false) 0 (false)
Input Protocol Configuration of the SPI Interface (CFG-SPIINPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-SPIINPROT-UBX CFG-SPIINPROT-NMEA CFG-SPIINPROT-RTCM3X
0x10790001 L -
-
0x10790002 L -
-
0x10790004 L -
-
1 (true) 1 (true) 1 (true)
Output Protocol Configuration of the SPI Interface (CFG-SPIOUTPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-SPIOUTPROT-UBX CFG-SPIOUTPROT-NMEA CFG-SPIOUTPROT-RTCM3X
0x107a0001 L -
-
0x107a0002 L -
-
0x107a0004 L -
-
1 (true) 1 (true) 1 (true)
Time Mode Configuration (CFG-TMODE-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-TMODE-MODE CFG-TMODE-POS_TYPE CFG-TMODE-ECEF_X CFG-TMODE-ECEF_Y
0x20030001 E1 -
-
0x20030002 E1 -
-
0x40030003 I4 - cm
0x40030004 I4 - cm
Default Value
0 (DISABLED) 0 (ECEF) 0 0
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Time Mode Configuration (CFG-TMODE-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale
e
CFG-TMODE-ECEF_Z
0x40030005 I4 -
CFG-TMODE-ECEF_X_HP
0x20030006 I1 0.1
CFG-TMODE-ECEF_Y_HP
0x20030007 I1 0.1
CFG-TMODE-ECEF_Z_HP
0x20030008 I1 0.1
CFG-TMODE-LAT
0x40030009 I4 1e-7
CFG-TMODE-LON
0x4003000a I4 1e-7
CFG-TMODE-HEIGHT
0x4003000b I4 -
CFG-TMODE-LAT_HP
0x2003000c I1 1e-9
CFG-TMODE-LON_HP
0x2003000d I1 1e-9
CFG-TMODE-HEIGHT_HP
0x2003000e I1 0.1
CFG-TMODE-FIXED_POS_ACC
0x4003000f U4 0.1
CFG-TMODE-SVIN_MIN_DUR
0x40030010 U4 -
CFG-TMODE-SVIN_ACC_LIMIT
0x40030011 U4 0.1
Unit
cm mm mm mm deg deg cm deg deg mm mm
s mm
Default Value
0 0 0 0 0 0 0 0 0 0 0 0 0
Timepulse Configuration (CFG-TP-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
e
CFG-TP-PULSE_DEF CFG-TP-PULSE_LENGTH_DEF CFG-TP-ANT_CABLEDELAY
CFG-TP-PERIOD_TP1
CFG-TP-PERIOD_LOCK_TP1
CFG-TP-FREQ_TP1 CFG-TP-FREQ_LOCK_TP1 CFG-TP-LEN_TP1
CFG-TP-LEN_LOCK_TP1
CFG-TP-DUTY_TP1 CFG-TP-DUTY_LOCK_TP1 CFG-TP-USER_DELAY_TP1
CFG-TP-TP1_ENA
0x20050023 E1 -
-
0x20050030 E1 -
-
0x30050001 I2 0.
s
0000
0000
1
0x40050002 U4 0.
s
0000
01
0x40050003 U4 0.
s
0000
01
0x40050024 U4 - Hz
0x40050025 U4 - Hz
0x40050004 U4 0.
s
0000
01
0x40050005 U4 0.
s
0000
01
0x5005002a R8 -
%
0x5005002b R8 -
%
0x40050006 I4 0.
s
0000
0000
1
0x10050007 L -
-
Default Value
0 (PERIOD) 1 (LENGTH)
50
1000000
1000000
1 1 0
100000
0 10 0
1 (true)
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Timepulse Configuration (CFG-TP-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-TP-SYNC_GNSS_TP1
0x10050008 L -
-
CFG-TP-USE_LOCKED_TP1
0x10050009 L -
-
CFG-TP-ALIGN_TO_TOW_TP1
0x1005000a L -
-
CFG-TP-POL_TP1
0x1005000b L -
-
CFG-TP-TIMEGRID_TP1
0x2005000c E1 -
-
Default Value
1 (true) 1 (true) 1 (true) 1 (true) 0 (UTC)
Tx-Ready Configuration (CFG-TXREADY-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit
CFG-TXREADY-ENABLED CFG-TXREADY-POLARITY CFG-TXREADY-PIN CFG-TXREADY-THRESHOLD CFG-TXREADY-INTERFACE
e
0x10a20001 L -
-
0x10a20002 L -
-
0x20a20003 U1 -
-
0x30a20004 U2 -
-
0x20a20005 E1 -
-
Default Value
0 (false) 0 (false)
0 0 0 (I2C)
Configuration of the UART1 Interface (CFG-UART1-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
CFG-UART1-BAUDRATE CFG-UART1-STOPBITS CFG-UART1-DATABITS CFG-UART1-PARITY CFG-UART1-ENABLED
e
0x40520001 U4 -
-
0x20520002 E1 -
-
0x20520003 E1 -
-
0x20520004 E1 -
-
0x10520005 L -
-
38400 1 (ONE) 0 (EIGHT) 0 (NONE) 1 (true)
Input Protocol Configuration of the UART1 Interface (CFG-UART1INPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-UART1INPROT-UBX CFG-UART1INPROT-NMEA CFG-UART1INPROT-RTCM3X
0x10730001 L -
-
0x10730002 L -
-
0x10730004 L -
-
1 (true) 1 (true) 1 (true)
Output Protocol Configuration of the UART1 Interface (CFG-UART1OUTPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-UART1OUTPROT-UBX CFG-UART1OUTPROT-NMEA CFG-UART1OUTPROT-RTCM3X
0x10740001 L -
-
0x10740002 L -
-
0x10740004 L -
-
1 (true) 1 (true) 1 (true)
Configuration of the UART2 Interface (CFG-UART2-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-UART2-BAUDRATE CFG-UART2-STOPBITS CFG-UART2-DATABITS CFG-UART2-PARITY
0x40530001 U4 -
-
0x20530002 E1 -
-
0x20530003 E1 -
-
0x20530004 E1 -
-
38400 1 (ONE) 0 (EIGHT) 0 (NONE)
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Configuration of the UART2 Interface (CFG-UART2-*) Configuration Defaults continued
Configuration Item
Key ID
Typ Scale Unit
e
CFG-UART2-ENABLED
0x10530005 L -
-
CFG-UART2-REMAP
0x10530006 L -
-
Default Value
1 (true) 0 (false)
Input Protocol Configuration of the UART2 Interface (CFG-UART2INPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-UART2INPROT-UBX CFG-UART2INPROT-NMEA CFG-UART2INPROT-RTCM3X
0x10750001 L -
-
0x10750002 L -
-
0x10750004 L -
-
0 (false) 0 (false) 1 (true)
Output Protocol Configuration of the UART2 Interface (CFG-UART2OUTPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-UART2OUTPROT-UBX CFG-UART2OUTPROT-NMEA CFG-UART2OUTPROT-RTCM3X
0x10760001 L -
-
0x10760002 L -
-
0x10760004 L -
-
0 (false) 0 (false) 1 (true)
Configuration of the USB Interface (CFG-USB-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-USB-ENABLED CFG-USB-SELFPOW CFG-USB-VENDOR_ID CFG-USB-PRODUCT_ID CFG-USB-POWER CFG-USB-VENDOR_STR0
CFG-USB-VENDOR_STR1
CFG-USB-VENDOR_STR2
CFG-USB-VENDOR_STR3
CFG-USB-PRODUCT_STR0
CFG-USB-PRODUCT_STR1
CFG-USB-PRODUCT_STR2
CFG-USB-PRODUCT_STR3 CFG-USB-SERIAL_NO_STR0 CFG-USB-SERIAL_NO_STR1 CFG-USB-SERIAL_NO_STR2 CFG-USB-SERIAL_NO_STR3
0x10650001 L 0x10650002 L 0x3065000a U2 0x3065000b U2 0x3065000c U2 0x5065000d X8 -
0x5065000e X8 -
0x5065000f X8 -
0x50650010 X8 -
0x50650011 X8 -
0x50650012 X8 -
0x50650013 X8 -
0x50650014 X8 0x50650015 X8 0x50650016 X8 0x50650017 X8 0x50650018 X8 -
-
1 (true)
-
1 (true)
-
5446
-
425
mA
0
-
0x4120786f6c622d75
("u-blox A")
-
0x2e777777202d2047
("G - www.")
-
0x632e786f6c622d75
("u-blox.c")
- 0x0000000000006d6f
("om\0\0\0\0\0\0")
- 0x4720786f6c622d75
("u-blox G")
- 0x656365722053534e
("NSS rece")
- 0x0000000072657669
("iver\0\0\0\0")
- 0x0000000000000000
- 0x0000000000000000
- 0x0000000000000000
- 0x0000000000000000
- 0x0000000000000000
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Input Protocol Configuration of the USB Interface (CFG-USBINPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-USBINPROT-UBX CFG-USBINPROT-NMEA CFG-USBINPROT-RTCM3X
0x10770001 L -
-
0x10770002 L -
-
0x10770004 L -
-
1 (true) 1 (true) 1 (true)
Output Protocol Configuration of the USB Interface (CFG-USBOUTPROT-*) Configuration Defaults
Configuration Item
Key ID
Typ Scale Unit Default Value
e
CFG-USBOUTPROT-UBX CFG-USBOUTPROT-NMEA CFG-USBOUTPROT-RTCM3X
0x10780001 L -
-
0x10780002 L -
-
0x10780004 L -
-
1 (true) 1 (true) 1 (true)
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Related Documents
Overview
As part of our commitment to customer support, u-blox maintains an extensive volume of technical documentation for our products. In addition to product-specific data sheets and integration manuals, general documents are also available. These include: · GPS Compendium, Docu. No GPS-X-02007 · GPS Antennas - RF Design Considerations for u-blox GPS Receivers, Docu. No GPS-X-08014 Our website www.u-blox.com is a valuable resource for general and product specific documentation.
Related Documents for ZED-F9P
· u-blox ZED-F9P, Data Sheet, Docu. No UBX-17051259 · u-blox ZED-F9P, Integration Manual, Docu. No UBX-18010802
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Revision History
Revision
R04 R05 R06 R07
Date
18-Sep-2018 20-Dec-2018 19-Feb-2019 09-Jul-2019
Name
jhak jhak jhak gste
Status / Comments
Advance Information HPG 1.10 Advance Information HPG 1.11 Early Production Information HPG 1.12 Early Production Information
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Contact
For complete contact information visit us at www.u-blox.com
u-blox Offices
North, Central and South America
u-blox America, Inc. Phone: +1 703 483 3180 E-mail: info_us@u-blox.com
Regional Office West Coast: Phone: +1 408 573 3640 E-mail: info_us@u-blox.com
Technical Support: Phone: +1 703 483 3185 E-mail: support_us@u-blox.com
Headquarters Europe, Middle East, Africa
u-blox AG Phone: +41 44 722 74 44 E-mail: info@u-blox.com Support: support@u-blox.com
Documentation Feedback E-mail: docsupport@u-blox.com
Asia, Australia, Pacific
u-blox Singapore Pte. Ltd. Phone: +65 6734 3811 E-mail: info_ap@u-blox.com Support: support_ap@u-blox.com
Regional Office Australia: Phone: +61 2 8448 2016 E-mail: info_anz@u-blox.com Support: support_ap@u-blox.com
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