u-blox ZED-F9P - Base Station: RTCM Output Configuration; Base and Rover: UBX Output Configuration; Base Station: Mode Configuration

ZED-F9P-Integration Manual
UBX-18010802 - R02

3 Getting started Page 18 of 114
Advance Information
3.5.5 Base station: RTCM output configuration
To enable a base station to output the recommended RTCM messages, configuration items need to
be set using the appropriate CFG-MSGOUT-RTCM_3X* configuration item. Below are the relevant
configuration items for the UART1 interface:
Configuration item Description
CFG-MSGOUT-
RTCM_3X_TYPE1005_UART1
Output rate of the RTCM-3X-TYPE1005 message on port UART1: RTCM Base
station message
CFG-MSGOUT-
RTCM_3X_TYPE1074_UART1
Output rate of the RTCM-3X-TYPE1074 message on port UART1: RTCM GPS
MSMS4 message
CFG-MSGOUT-
RTCM_3X_TYPE1084_UART1
Output rate of the RTCM-3X-TYPE1084 message on port UART1: RTCM Glonass
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1094_UART1
Output rate of the RTCM-3X-TYPE1094 message on port UART1: RTCM Galileo
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1124_UART1
Output rate of the RTCM-3X-TYPE1124 message on port UART1: RTCM Beidou
MSM4 message
CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1
Output rate of the RTCM-3X-TYPE1230 message on port UART1: RTCM Glonass
bias message
Table 4: Configuration items used for typical RTCM output configuration on UART1
3.5.6 Base and rover: UBX output configuration
To enable a base or rover to output the recommended UBX messages, configuration items need
to be set using the appropriate CFG-MSGOUT-UBX* configuration item. Below are the relevant
configuration items for the UART1 interface:
Configuration item Description
CFG-MSGOUT-
UBX_NAV_SAT_UART1
Output rate of the UBX-NAV-SAT message on port UART1
CFG-MSGOUT-
UBX_NAV_SIG_UART1
Output rate of the UBX-NAV-SIG message on port UART1
CFG-MSGOUT-
UBX_NAV_POSLLH_UART1
Output rate of the UBX-NAV-POSLLH message on port UART1
CFG-MSGOUT-
UBX_NAV_PVT_UART1
Output rate of the UBX-NAV-PVT message on port UART1
CFG-MSGOUT-
UBX_NAV_RELPOSNED_UART1
Output rate of the UBX-NAV-RELPOSNED message on port UART1
CFG-MSGOUT-
UBX_NAV_STATUS_UART1
Output rate of the UBX-NAV-STATUS message on port UART1
CFG-MSGOUT-
UBX_NAV_SVIN_UART1
Output rate of the UBX-NAV-SVIN message on port UART1
CFG-MSGOUT-
UBX_RXM_RTCM_UART1
Output rate of the UBX-RXM-RTCM message on port UART1
Table 5: Configuration items used for recommended UBX output configuration on UART1
3.5.7 Base station: Mode configuration
To set a ZED-F9P as a base station, it is necessary to set its coordinates. Once this is done, the
ZED-F9P will operate as a base station and output the configured stream of RTCM messages.
To set a base station to survey-in mode (CFG-TMODE-MODE=SURVEY_IN), the relevant
configuration items below need to be set:
Configuration item Description
CFG-TMODE-MODE Receiver mode (disabled or survey-in or fixed)
CFG-TMODE-SVIN_MIN_DUR Survey-in minimum duration