u-blox ZED-F9P User Manual

u-blox ZED-F9P Interface Description - Manual
Advance Information
5.9.16 UBX-CFG-ODO (0x06 0x1E)
5.9.16.1 Odometer, Low-speed COG Engine Settings
Message
UBX-CFG-ODO
Description
Odometer, Low-speed COG Engine Settings
Firmware
Supported on:
• u-blox 9 with protocol version 27
Type
Get/Set
Comment
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
Message Structure
0xB5 0x62 0x06 0x1E 20
see below
CK_A CK_B
Payload Contents:
Byte Offset Number
Format
Scaling Name Unit Description
0 U1 - version - Message version (0 for this version)
1 U1[3] - reserved1 - Reserved
4 U1 - flags - Odometer/Low-speed COG filter flags (see
graphic below)
5 X1 - odoCfg - Odometer filter settings (see graphic below)
6 U1[6] - reserved2 - Reserved
12 U1 1e-1 cogMaxSpeed m/s Speed below which course-over-ground (COG)
is computed with the low-speed COG filter
13 U1 - cogMaxPosAcc m Maximum acceptable position accuracy for
computing COG with the low-speed COG filter
14 U1[2] - reserved3 - Reserved
16 U1 - velLpGain - Velocity low-pass filter level, range 0..255
17 U1 - cogLpGain - COG low-pass filter level (at speed < 8 m/s),
range 0..255
18 U1[2] - reserved4 - Reserved
Bitfield flags
This graphic explains the bits of flags
UBX-18010854 - R04 Advance Information Page 62 of 259

u-blox ZED-F9P Specifications

General

GNSS	GPS, GLONASS, Galileo, BeiDou, QZSS, SBAS
Concurrent GNSS	4
RTK	Yes
Velocity Accuracy	0.05 m/s
Time Pulse Accuracy	30 ns
Operating Temperature	-40°C to +85°C
Supply Voltage	2.7 V to 3.6 V
Channels	184
Frequency Bands	L1, L2
Dimensions	22 mm x 17 mm x 2.4 mm
Interfaces	UART, SPI, I2C