ZED-F9P-Integration Manual
UBX-18010802 - R01
1 Overview Page 11 of 64
Objective Specification - Confidential
The default communication configuration of the UART1 port is set at a baud rate of 38400
baud with NMEA messages being output. The module will respond to incoming UBX binary
commands. To see all the default configuration of ZED-F9P, please see the u-blox ZED-F9P
Interface Description [2].
If the navigation rate of the rover is increased, the UART baud rate should be increased to
account for the additional data that is going to be transferred. A baud rate of 460800 baud is
recommended for high update rates with the minimum required messages enabled.
The default baud rate of 38400 baud should be increased to allow for increased capacity over
the UART interface if UBX messages, RAW data or debug messages are enabled, again a baud
rate of 230400 baud to 460800 baud is recommended in this case.
1.9.2 Message output configuration
It is possible to configure the rate of NMEA, UBX and RTCM protocol output messages of a
base station or a rover. If the rate configuration value is zero, the corresponding message will
not be output. Values greater than zero indicate how often the message is output. Note that
all message output is additionally subject to the protocol configuration of the communication
interfaces. Messages of a given protocol will not be output until the protocol is enabled for output
on the interface.
Setting the appropriate configuration items is done by using the UBX-CFG-VALSET message.
Several configuration items allow configuring the message output rates per message and
per communication interface. For all for available configuration items, see the CFG-MSGOUT
configuration group in ZED-F9P Interface Description [2].
1.9.3 Base station: RTCM3 output configuration
To enable a base station to output the recommended RTCM messages, the relevant configuration
items need to be set using the UBX-CFG-VALSET message. 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
CFG-MSGOUT-
RTCM_3X_TYPE1077_UART1
Output rate of the RTCM-3X-TYPE1077 message on port UART1
CFG-MSGOUT-
RTCM_3X_TYPE1087_UART1
Output rate of the RTCM-3X-TYPE1087 message on port UART1
CFG-MSGOUT-
RTCM_3X_TYPE1097_UART1
Output rate of the RTCM-3X-TYPE1097 message on port UART1
CFG-MSGOUT-
RTCM_3X_TYPE1127_UART1
Output rate of the RTCM-3X-TYPE1127 message on port UART1
CFG-MSGOUT-
RTCM_3X_TYPE1230_UART1
Output rate of the RTCM-3X-TYPE1230 message on port UART1
Table 4: Configuration items used for typical RTCM output configuration on UART1
1.9.4 Base and rover: UBX output configuration
To enable a base or rover to output the recommended UBX messages, the relevant configuration
items need to be set using the UBX-CFG-VALSET message. 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
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