ZED-F9P-Integration Manual
UBX-18010802 - R02

4 Receiver description Page 64 of 114
Advance Information
The position solution uncertainty (standard deviation) is multiplied with the configured confidence
sigma level number and taken into account when evaluating the geofence state (red circle in figure
below).
Figure 40: Geofence states
The combined state for all geofences is evaluated as the combination (logical OR) of all geofences:
•
Inside - The position lies inside of at least one geofence
•
Outside - The position lies outside of all geofences
•
Unknown - All remaining states
4.12.4 Using a PIO for geofence state output
This feature can be used for example for waking up a sleeping host when a defined geofence
condition is reached. The receiver will toggle the assigned pin according to the combined geofence
state. Due to hardware restrictions the unknown state will always be represented as HIGH. If the
receiver is in software backup or in a reset, the pin will go to HIGH accordingly. The meaning of the
LOW state can be configured using CFG-GEOFENCE-PINPOL configuration item.
4.13 Receiver status monitoring
Messages in the UBX class UBX-MON are used to report the status of the parts of the embedded
computer system that are not GNSS specific.
The main purposes are:
• Hardware and Software Versions, using UBX-MON-VER
• Status of the Communications Input/Output system, using UBX-MON-COMMS
• Status of various Hardware Sections with UBX-MON-HW3 and UBX-MON-RF
4.13.1 Input/output system
The I/O system is a GNSS-internal layer where all data input- and output capabilities (such as
UART, DDC, SPI, USB) of the GNSS receiver are combined. Each communications task has buffers
assigned, where data is queued. For data originating at the receiver, to be communicated over one
or multiple communications queues, the message UBX-MON-COMMS can be used. This message
shows the current and maximum buffer usage, as well as error conditions.
If the amount of data configured is too much for a certain port's bandwidth (e.g. all UBX
messages output on a UART port with a baud rate of 9600), the buffer will fill up. Once the
buffer space is exceeded, new messages to be sent will be dropped.
Inbound data to the GNSS receiver is placed in buffers. Usage of these buffers is shown with the
message UBX-MON-COMMS. Further, as data is then decoded within the receiver (e.g. to separate
UBX and NMEA data), the UBX-MON-COMMS message can be used. This message shows (for each
port and protocol) how many messages were successfully received. It also shows (for each port) how
many bytes were discarded because they were not in any of the supported protocol framings.
4.13.2 Jamming/interference indicator
The field jamInd of the UBX-MON-RF message can be used as an indicator for continuous
wave (narrow-band) jammers/interference only. The interpretation of the value depends on the
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