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u-blox ZED-F9P Interface Description

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u-blox ZED-F9P
Interface Description
Abstract
The Interface Description describes the UBX (version 27.00),
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 - R04

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  • Page 1 ZED-F9P Interface Description Abstract The Interface Description describes the UBX (version 27.00), 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 - R04...
  • Page 2 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.

  • Page 3: Table Of Contents

    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 ........................
  • Page 4 ZED-F9P Interface Description - Manual 4.2.18 ZDA ............................ 27 5 UBX Protocol............................27 5.1 UBX Protocol Key Features ......................27 5.2 UBX Frame Structure........................27 5.3 UBX Payload Definition Rules ....................28 5.3.1 Structure Packing ........................ 28 5.3.2 Reserved Elements ......................28 5.3.3 Undefined Values........................
  • Page 5 ZED-F9P Interface Description - Manual 5.9.24 UBX-CFG-USB (0x06 0x1B)....................81 5.9.25 UBX-CFG-VALDEL (0x06 0x8C) ..................82 5.9.26 UBX-CFG-VALGET (0x06 0x8B)..................85 5.9.27 UBX-CFG-VALSET (0x06 0x8A) ..................86 5.10 UBX-INF (0x04).......................... 90 5.10.1 UBX-INF-DEBUG (0x04 0x04)..................... 90 5.10.2 UBX-INF-ERROR (0x04 0x00) ..................... 90 5.10.3 UBX-INF-NOTICE (0x04 0x02) ....................
  • Page 6 ZED-F9P Interface Description - Manual 5.14 UBX-NAV (0x01) ........................141 5.14.1 UBX-NAV-CLOCK (0x01 0x22) ..................141 5.14.2 UBX-NAV-DOP (0x01 0x04) ..................... 141 5.14.3 UBX-NAV-EOE (0x01 0x61)....................142 5.14.4 UBX-NAV-GEOFENCE (0x01 0x39) .................. 142 5.14.5 UBX-NAV-HPPOSECEF (0x01 0x13) ................. 143 5.14.6 UBX-NAV-HPPOSLLH (0x01 0x14) ...................
  • Page 7 ZED-F9P Interface Description - Manual 6.1 Configuration Database ......................189 6.2 Configuration Items ......................... 189 6.3 Configuration Layers........................ 190 6.4 Configuration Interface Access ....................191 6.4.1 UBX Protocol Interface ..................... 191 6.5 Configuration Data ........................191 6.6 Reset Behaviour........................191 6.7 Configuration Reference ......................
  • Page 8 Appendix ..............................239 A Satellite Numbering ........................239 B UBX and NMEA Signal Identifiers....................239 C Configuration Defaults........................240 C.1 u-blox 9 ZED-F9P (version 1.00 HPG 1.00)................240 Related Documents ..........................257 Overview .............................. 257 Related Documents for ZED-F9P ......................257 Revision History ............................

  • Page 9: Preface

    ZED-F9P Interface Description - Manual 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.

  • Page 10: Decoding The Output Of Ubx-Mon-Ver (For Protocol Version 24 And Above)

    ZED-F9P Interface Description - Manual Possible lines in the boot screen and their meanings: continued Entry Description Firmware of product category and version where FWVER=HPG 1.00 SPG: Firmware of Standard Precision GNSS product HPG: Firmware of High Precision GNSS product...

  • Page 11: How To Determine The Supported Protocol 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):...
  • Page 12 The configuration interface has changed from earlier u-blox positioning receivers. There is some backwards compatibility. Users are strongly advised to only use the...
  • Page 13 ZED-F9P Interface Description - Manual UBX-18010854 - R04 Advance Information Page 5 of 259...

  • Page 14: Interface Description

    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.

  • Page 15: Protocol Configuration

    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.

  • Page 16: Satellite Numbering

    The NMEA protocol (V4.1) 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 CFG-NMEA-*.

  • Page 17: Position Fix Flags

    Longitude 8 Degrees, 33 Minutes, 54.89058 Seconds 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 4.1 and above NMEA Message...

  • Page 18: Multi-Gnss Considerations

    ZED-F9P Interface Description - Manual (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...
  • Page 19 ZED-F9P Interface Description - Manual NMEA Messages Overview continued Page Mnemonic Cls/ID Description 0xF0 0x0A Datum Reference 0xF0 0x44 Poll a standard message (if the current Talker ID is GB) 0xF0 0x09 GNSS Satellite Fault Detection 0xF0 0x00 Global positioning system fix data...

  • Page 20: Standard Messages

    ZED-F9P Interface Description - Manual 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 Datum Reference Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Message Type This message gives the difference between the current datum and the reference datum.

  • Page 21: Gbq

    ZED-F9P Interface Description - Manual 4.2.2 GBQ 4.2.2.1 Poll a standard message (if the current Talker ID is GB) Message Poll a standard message (if the current Talker ID is GB) Description Supported on: Firmware • u-blox 9 with protocol version 27...

  • Page 22: Gga

    ZED-F9P Interface Description - Manual 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 Unit Format Example Description string $GPGBS GBS Message ID (xx = current Talker ID) xxGBS hhmmss.ss 235503.00 UTC time to which this RAIM sentence belongs, see time note on UTC representation...
  • Page 23 ZED-F9P Interface Description - Manual GGA continued Field Name Unit Format Example Description Field Name Unit Format Example Description string $GPGGA GGA Message ID (xx = current Talker ID) xxGGA hhmmss.ss 092725.00 UTC time, see note on UTC representation time ddmm.

  • Page 24: Gll

    ZED-F9P Interface Description - Manual 4.2.5 GLL 4.2.5.1 Latitude and longitude, with time of position fix and status Message Latitude and longitude, with time of position fix and status Description Supported on: Firmware • u-blox 9 with protocol version 27...

  • Page 25: Glq

    ZED-F9P Interface Description - Manual 4.2.6 GLQ 4.2.6.1 Poll a standard message (if the current Talker ID is GL) Message Poll a standard message (if the current Talker ID is GL) Description Supported on: Firmware • u-blox 9 with protocol version 27...

  • Page 26: Gns

    ZED-F9P Interface Description - Manual 4.2.8 GNS 4.2.8.1 GNSS fix data Message GNSS fix data Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Message Type The output of this message is dependent on the currently selected datum (default:...

  • Page 27: Gpq

    ZED-F9P Interface Description - Manual 4.2.9 GPQ 4.2.9.1 Poll a standard message (if the current Talker ID is GP) Message Poll a standard message (if the current Talker ID is GP) Description Supported on: Firmware • u-blox 9 with protocol version 27...

  • Page 28: Gsa

    082632.00 UTC time of associated position fix, see note on time UTC representation digit Mode (see table below), u-blox receivers will always mode output Mode 1 residuals Start of repeated block (12 times) numeric 0.54 Range residuals for SVs used in navigation. The SV...

  • Page 29: Gst

    ZED-F9P Interface Description - Manual GSA continued Field Name Unit Format Example Description string $GPGSA GSA Message ID (xx = current Talker ID) xxGSA character Operation mode, see first table below opMode digit Navigation mode, see second table below and...

  • Page 30: Gsv

    ZED-F9P Interface Description - Manual GST continued Field Name Unit Format Example Description string $GPGST GST Message ID (xx = current Talker ID) xxGST hhmmss.ss 082356.00 UTC time of associated position fix, see note on time UTC representation numeric...

  • Page 31: Rmc

    ZED-F9P Interface Description - Manual GSV continued Field Name Unit Format Example Description Start of repeated block (1..4 times) numeric Satellite ID deg numeric Elevation (range 0-90) deg numeric Azimuth, (range 0-359) numeric Signal strength (C/N0, range 0-99), blank when not...

  • Page 32: Txt

    ZED-F9P Interface Description - Manual RMC continued Field Name Unit Format Example Description character North/South indicator dddmm. 00833.91522 Longitude (degrees & minutes), see format long mmmmm description character East/West indicator knot numeric 0.004 Speed over ground degr numeric 77.52...

  • Page 33: Vlw

    Total number of messages in this transmission, 01.. numMsg numeric Message number in this transmission, range 01..xx msgNum numeric Text identifier, u-blox receivers specify the type of msgType the message with this number. 00: Error 01: Warning 02: Notice 07: User string www.u-blox.

  • Page 34: Vtg

    ZED-F9P Interface Description - Manual VLW continued Field Name Unit Format Example Description hexadecimal Checksum character Carriage return and line feed <CR><LF> 4.2.17 VTG 4.2.17.1 Course over ground and Ground speed Message Course over ground and Ground speed Description...

  • Page 35: Zda

    <CR><LF> 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 •...

  • Page 36: Ubx Payload Definition Rules

    ZED-F9P Interface Description - Manual • 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.

  • Page 37: Message Naming

    ZED-F9P Interface Description - Manual 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.

  • Page 38: Ubx Message Flow

    ZED-F9P Interface Description - Manual 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.

  • Page 39: Ubx Class Ids

    ZED-F9P Interface Description - Manual 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.

  • Page 40: Ubx Messages Overview

    ZED-F9P Interface Description - Manual 5.7 UBX Messages Overview Page Mnemonic Cls/ID Length Type Description UBX Class ACK Ack/Nak Messages ACK-ACK 0x05 0x01 Output Message Acknowledged ACK-NAK 0x05 0x00 Output Message Not-Acknowledged UBX Class CFG Configuration Input Messages CFG-ANT...
  • Page 41 ZED-F9P Interface Description - Manual UBX Messages Overview continued Page Mnemonic Cls/ID Length Type Description CFG-VALDEL 0x06 0x8C 4 + 4*N Deletes values corresponding to provided... CFG-VALGET 0x06 0x8B 4 + 4*N Poll Request Get Configuration Items CFG-VALGET 0x06 0x8B...
  • Page 42 ZED-F9P Interface Description - Manual UBX Messages Overview continued Page Mnemonic Cls/ID Length Type Description MGA-GLO-TIMEOFF... 0x13 0x06 Input GLONASS Auxiliary Time Offset Assistance MGA-GPS-EPH 0x13 0x00 Input GPS Ephemeris Assistance MGA-GPS-ALM 0x13 0x00 Input GPS Almanac Assistance MGA-GPS-HEALTH...
  • Page 43 ZED-F9P Interface Description - Manual UBX Messages Overview continued Page Mnemonic Cls/ID Length Type Description NAV-ORB 0x01 0x34 8 + 6*numSv Periodic/Polled GNSS Orbit Database Info NAV-POSECEF 0x01 0x01 Periodic/Polled Position Solution in ECEF NAV-POSLLH 0x01 0x02 Periodic/Polled Geodetic Position Solution...
  • Page 44 ZED-F9P Interface Description - Manual UBX Messages Overview continued Page Mnemonic Cls/ID Length Type Description UPD-SOS 0x09 0x14 Output Backup File Creation Acknowledge UPD-SOS 0x09 0x14 Output System Restored from Backup UBX-18010854 - R04 Advance Information Page 36 of 259...

  • Page 45: Ubx-Ack (0X05)

    ZED-F9P Interface Description - Manual 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...

  • Page 46: Ubx-Cfg (0X06)

    ZED-F9P Interface Description - Manual 5.9 UBX-CFG (0x06) Configuration Input Messages: i.e. Set Dynamic Model, Set DOP Mask, Set Baud Rate, etc.. Messages in the CFG class are used to configure the receiver and read out 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.

  • Page 47: Ubx-Cfg-Cfg (0X06 0X09)

    ZED-F9P Interface Description - Manual Name Description Enable Antenna Supply Voltage Control Signal svcs Enable Short Circuit Detection Enable Open Circuit Detection Power Down Antenna supply if Short Circuit is detected. (only in combination with Bit 1) pdwnOnSCD recovery...
  • Page 48 ZED-F9P Interface Description - Manual 0xB5 0x62 0x06 0x09 (12) or (13) CK_A CK_B Message Structure see below Payload Contents: Byte Offset Number Scaling Name Unit Description Format Mask for configuration to clear (see graphic clearMask below) Mask for configuration to save (see...

  • Page 49: Ubx-Cfg-Dat (0X06 0X06)

    ZED-F9P Interface Description - Manual Name Description Save all current configuration to the selected non-volatile memory if any bit is set saveAll Bitfield loadMask This graphic explains the bits of loadMask Name Description Discard current configuration and rebuilt it from lower non-volatile memory layers if any bit is set...
  • Page 50 ZED-F9P Interface Description - Manual CFG-DAT continued Byte Offset Number Scaling Name Unit Description Format Semi-major Axis ( accepted range = 6,300,000.0 majA to 6,500,000.0 meters ). 1.0 / Flattening ( accepted range is 0.0 to 500.0 flat X Axis shift at the origin ( accepted range is +/- 5000.0 meters ).

  • Page 51: Ubx-Cfg-Dgnss (0X06 0X70)

    ZED-F9P Interface Description - Manual CFG-DAT continued Byte Offset Number Scaling Name Unit Description Format X Axis shift at the origin ( accepted range is +/- 5000.0 meters ). Y Axis shift at the origin ( accepted range is +/- 5000.0 meters ).

  • Page 52: Ubx-Cfg-Dynseed (0X06 0X85)

    ZED-F9P Interface Description - Manual 5.9.5 UBX-CFG-DYNSEED (0x06 0x85) 5.9.5.1 Programming the dynamic seed for the host interface signature UBX-CFG-DYNSEED Message Programming the dynamic seed for the host interface signature Description Supported on: Firmware • u-blox 9 with protocol version 27 Type The message can be used to program the dynamic seed for the host interface signature.

  • Page 53: Ubx-Cfg-Geofence (0X06 0X69)

    ZED-F9P Interface Description - Manual CFG-FIXSEED continued Byte Offset Number Scaling Name Unit Description Format End of repeated block 5.9.7 UBX-CFG-GEOFENCE (0x06 0x69) 5.9.7.1 Geofencing configuration UBX-CFG-GEOFENCE Message Geofencing configuration Description Supported on: Firmware • u-blox 9 with protocol version 27...

  • Page 54: Ubx-Cfg-Gnss (0X06 0X3E)

    ZED-F9P Interface Description - Manual CFG-GEOFENCE continued Byte Offset Number Scaling Name Unit Description Format U1[1] Reserved reserved2 Start of repeated block (numFences times) 8 + 12*N 1e-7 Latitude of the geofence circle center 12 + 12*N 1e-7 Longitude of the geofence circle center...
  • Page 55 ZED-F9P Interface Description - Manual CFG-GNSS continued Byte Offset Number Scaling Name Unit Description Format Byte Offset Number Scaling Name Unit Description Format Message version (=0 for this version) msgVer Number of tracking channels available in numTrkChHw hardware (read only)

  • Page 56: Ubx-Cfg-Inf (0X06 0X02)

    ZED-F9P Interface Description - Manual Name Description Enable this system enable Signal configuration mask sigCfgMask When gnssId is 0 (GPS) * 0x01 = GPS L1C/A * 0x10 = GPS L2C When gnssId is 1 (SBAS) * 0x01 = SBAS L1C/A...
  • Page 57 ZED-F9P Interface Description - Manual 5.9.9.2 Information message configuration UBX-CFG-INF Message Information message configuration Description Supported on: Firmware • u-blox 9 with protocol version 27 Get/Set Type This message is deprecated in protocol versions greater than 23.01. Use UBX-CFG- Comment instead.

  • Page 58: Ubx-Cfg-Itfm (0X06 0X39)

    ZED-F9P Interface Description - Manual Name Description enable ERROR ERROR enable WARNING WARNING NOTICE enable NOTICE enable TEST TEST DEBUG enable DEBUG 5.9.10 UBX-CFG-ITFM (0x06 0x39) 5.9.10.1 Jamming/Interference Monitor configuration UBX-CFG-ITFM Message Jamming/Interference Monitor configuration Description Supported on: Firmware •...

  • Page 59: Ubx-Cfg-Logfilter (0X06 0X47)

    - should be set to 0x31E in hex for correct setting generalBits antSetting antennaSetting, 0=unknown, 1=passive, 2=active Set to 1 to scan auxiliary bands (u-blox 8 / u-blox M8 only, otherwise ignored) enable2 5.9.11 UBX-CFG-LOGFILTER (0x06 0x47) 5.9.11.1 Data Logger Configuration...
  • Page 60 ZED-F9P Interface Description - Manual CFG-LOGFILTER continued Byte Offset Number Scaling Name Unit Description Format Byte Offset Number Scaling Name Unit Description Format The version of this message. Set to 1 version Flags (see graphic below) flags Minimum time interval between logged minInterval positions (0 = not set).

  • Page 61: Ubx-Cfg-Msg (0X06 0X01)

    ZED-F9P Interface Description - Manual Name Description 1 = enable recording, 0 = disable recording recordEnabled 1 = enable recording only one single position per PSM on/off mode wake-up period, 0 = disable once per wake-up psmOncePerWak upEnabled 1 = apply all filter settings, 0 = only apply recordEnabled...

  • Page 62: Ubx-Cfg-Nav5 (0X06 0X24)

    ZED-F9P Interface Description - Manual CFG-MSG continued Byte Offset Number Scaling Name Unit Description Format Message Identifier msgID U1[6] Send rate on I/O Port (6 Ports) rate 5.9.12.3 Set Message Rate UBX-CFG-MSG Message Set Message Rate Description Supported on: Firmware •...
  • Page 63 ZED-F9P Interface Description - Manual CFG-NAV5 continued Byte Offset Number Scaling Name Unit Description Format Dynamic platform model: dynModel 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...

  • Page 64: Ubx-Cfg-Navx5 (0X06 0X23)

    ZED-F9P Interface Description - Manual Bitfield mask This graphic explains the bits of mask Name Description Apply dynamic model settings minEl Apply minimum elevation settings Apply fix mode settings posFixMode drLim Reserved Apply position mask settings posMask timeMask Apply time mask settings...
  • Page 65 ZED-F9P Interface Description - Manual CFG-NAVX5 continued Byte Offset Number Scaling Name Unit Description Format #SVs Maximum number of satellites for navigation maxSVs dBHz Minimum satellite signal level for navigation minCNO Reserved reserved2 1 = initial fix must be 3D...
  • Page 66 ZED-F9P Interface Description - Manual Name Description 1 = apply min/max SVs settings minMax 1 = apply minimum C/N0 setting minCno initial3dfix 1 = apply initial 3D fix settings 1 = apply GPS weeknumber rollover settings wknRoll ackAid 1 = apply assistance acknowledgement settings...

  • Page 67: Ubx-Cfg-Nmea (0X06 0X17)

    ZED-F9P Interface Description - Manual 5.9.15 UBX-CFG-NMEA (0x06 0x17) 5.9.15.1 Extended NMEA protocol configuration V1 UBX-CFG-NMEA Message Extended NMEA protocol configuration V1 Description Supported on: Firmware • u-blox 9 with protocol version 27 Get/Set Type This message is deprecated in protocol versions greater than 23.01. Use...
  • Page 68 ZED-F9P Interface Description - Manual CFG-NMEA continued Byte Offset Number Scaling Name Unit Description Format By default the main Talker ID (i.e. the Talker ID mainTalkerId used for all messages other than GSV) is determined by the GNSS assignment of the receiver's channels (see UBX-CFG-GNSS).
  • Page 69 ZED-F9P Interface Description - Manual Name Description Enable position output for failed or invalid fixes posFilt Enable position output for invalid fixes mskPosFilt timeFilt Enable time output for invalid times Enable date output for invalid dates dateFilt gpsOnlyFilter Restrict output to GPS satellites only...

  • Page 70: Ubx-Cfg-Odo (0X06 0X1E)

    ZED-F9P Interface Description - Manual 5.9.16 UBX-CFG-ODO (0x06 0x1E) 5.9.16.1 Odometer, Low-speed COG Engine Settings UBX-CFG-ODO Message Odometer, Low-speed COG Engine Settings Description Supported on: Firmware • u-blox 9 with protocol version 27 Get/Set Type This feature is not supported for the FTS product variant.

  • Page 71: Ubx-Cfg-Prt (0X06 0X00)

    ZED-F9P Interface Description - Manual Name Description Odometer enabled flag useODO Low-speed COG filter enabled flag useCOG outLPVel Output low-pass filtered velocity flag Output low-pass filtered heading (COG) flag outLPCog Bitfield odoCfg This graphic explains the bits of odoCfg...
  • Page 72 ZED-F9P Interface Description - Manual 5.9.17.2 Port Configuration for UART UBX-CFG-PRT Message Port Configuration for UART Description Supported on: Firmware • u-blox 9 with protocol version 27 Get/Set Type This message is deprecated in protocol versions greater than 23.01. Use...
  • Page 73 ZED-F9P Interface Description - Manual Bitfield txReady This graphic explains the bits of txReady Name 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)
  • Page 74 ZED-F9P Interface Description - Manual Bitfield mode Description continued Name Description Number of Stop Bits nStopBits 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...
  • Page 75 ZED-F9P Interface Description - Manual 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 1.5s. If not set eout the port will timeout if no activity for 1.5s regardless on the amount of allocated TX memory.
  • Page 76 ZED-F9P Interface Description - Manual CFG-PRT continued Byte Offset Number Scaling Name Unit Description Format U1[2] Reserved reserved4 Bitfield txReady This graphic explains the bits of txReady Name Description Enable TX ready feature for this port Polarity 0 High-active...
  • Page 77 ZED-F9P Interface Description - Manual Bitfield outProtoMask This graphic explains the bits of outProtoMask Name Description UBX protocol outUbx outNmea NMEA protocol RTCM3 protocol outRtcm3 5.9.17.4 Port Configuration for SPI Port UBX-CFG-PRT Message Port Configuration for SPI Port Description...
  • Page 78 ZED-F9P Interface Description - Manual Bitfield txReady This graphic explains the bits of txReady Name 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)
  • Page 79 ZED-F9P Interface Description - Manual 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 1.5s.
  • Page 80 ZED-F9P Interface Description - Manual CFG-PRT continued Byte Offset Number Scaling Name Unit Description Format DDC Mode Flags (see graphic below) mode U1[4] Reserved reserved2 A mask describing which input protocols are inProtoMask active. Each bit of this mask is used for a protocol.
  • Page 81 ZED-F9P Interface Description - Manual Bitfield mode This graphic explains the bits of mode Name Description Slave address slaveAddr Range: 0x07 < slaveAddr < 0x78. Bit 0 must be 0 Bitfield inProtoMask This graphic explains the bits of inProtoMask...

  • Page 82: Ubx-Cfg-Pwr (0X06 0X57)

    ZED-F9P Interface Description - Manual Name Description Extended TX timeout: if set, the port will timeout if allocated TX memory >=4 kB and no activity for 1.5s. extendedTxTim eout 5.9.18 UBX-CFG-PWR (0x06 0x57) 5.9.18.1 Put receiver in a defined power state.

  • Page 83: Ubx-Cfg-Rinv (0X06 0X34)

    ZED-F9P Interface Description - Manual • 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.

  • Page 84: Ubx-Cfg-Rst (0X06 0X04)

    ZED-F9P Interface Description - Manual CFG-RINV continued Byte Offset Number Scaling Name Unit Description Format 1 + 1*N Data to store/stored in Remote Inventory. data End of repeated block Bitfield flags This graphic explains the bits of flags Name Description Dump data at startup.

  • Page 85: Ubx-Cfg-Tmode3 (0X06 0X71)

    ZED-F9P Interface Description - Manual CFG-RST continued Byte Offset Number Scaling Name Unit Description Format Reset Type resetMode 0x00 - Hardware reset (Watchdog) immediately 0x01 - Controlled Software reset 0x02 - Controlled Software reset (GNSS only) 0x04 - Hardware reset (Watchdog) after...
  • Page 86 ZED-F9P Interface Description - Manual 0xB5 0x62 0x06 0x71 40 CK_A CK_B Message Structure see below Payload Contents: Byte Offset Number Scaling Name Unit Description Format Message version (0x00 for this version) version Reserved reserved1 Receiver mode flags (see...

  • Page 87: Ubx-Cfg-Tp5 (0X06 0X31)

    ZED-F9P Interface Description - Manual Bitfield flags This graphic explains the bits of flags Name Description mode 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) 5.9.23 UBX-CFG-TP5 (0x06 0x31)
  • Page 88 ZED-F9P Interface Description - Manual 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. If set synchronize time pulse to GNSS as soon as GNSS time is valid. If not set, or before GNSS time is valid use lockGnssFreq local clock.

  • Page 89: Ubx-Cfg-Usb (0X06 0X1B)

    ZED-F9P Interface Description - Manual Bitfield flags Description continued Name Description Sync Manager lock mode to use: syncMode 0: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has an accurate time, never switch back to 'freqPeriod' and 'pulseLenRatio'...

  • Page 90: Ubx-Cfg-Valdel (0X06 0X8C)

    ZED-F9P Interface Description - Manual Bitfield flags This graphic explains the bits of flags Name Description force re-enumeration reEnum powerMode self-powered (1), bus-powered (0) 5.9.25 UBX-CFG-VALDEL (0x06 0x8C) 5.9.25.1 Deletes values corresponding to provided keys UBX-CFG-VALDEL Message Deletes values corresponding to provided keys...
  • Page 91 ZED-F9P Interface Description - Manual CFG-VALDEL continued Byte Offset Number Scaling Name Unit Description Format The layers where the configuration should be layers deleted from (see graphic below) U1[2] Reserved reserved1 Start of repeated block (N times) 4 + 4*N...
  • Page 92 ZED-F9P Interface Description - Manual • 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.

  • Page 93: Ubx-Cfg-Valget (0X06 0X8B)

    ZED-F9P Interface Description - Manual Name Description Transaction action to be applied: action 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.

  • Page 94: Ubx-Cfg-Valset (0X06 0X8A)

    ZED-F9P Interface Description - Manual 5.9.26.2 Configuration Items UBX-CFG-VALGET Message Configuration Items Description Supported on: Firmware • u-blox 9 with protocol version 27 polled Type This message is output by the receiver to return requested configuration data (key and Comment value pairs).
  • Page 95 ZED-F9P Interface Description - Manual • 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.
  • Page 96 ZED-F9P Interface Description - Manual • See version 0 of for simplified version of this message. UBX-CFG-VALSET 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 •...
  • Page 97 ZED-F9P Interface Description - Manual Name Description Update configuration in the RAM layer Update configuration in the BBR layer flash Update configuration in the Flash layer Bitfield transaction This graphic explains the bits of transaction Name Description action Transaction action to be applied: 0: Transactionless UBX-CFG-VALSET: In the next UBX-CFG-VALSET, it can be either 0 or 1.

  • Page 98: Ubx-Inf (0X04)

    ZED-F9P Interface Description - Manual 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.

  • Page 99: Ubx-Inf-Notice (0X04 0X02)

    ZED-F9P Interface Description - Manual 5.10.3 UBX-INF-NOTICE (0x04 0x02) 5.10.3.1 ASCII output with informational contents UBX-INF-NOTICE Message ASCII output with informational contents Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type This message has a variable length payload, representing an ASCII string.

  • Page 100: Ubx-Inf-Warning (0X04 0X01)

    ZED-F9P Interface Description - Manual 5.10.5 UBX-INF-WARNING (0x04 0x01) 5.10.5.1 ASCII output with warning contents UBX-INF-WARNING Message ASCII output with warning contents Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type This message has a variable length payload, representing an ASCII string.

  • Page 101: Ubx-Log (0X21)

    ZED-F9P Interface Description - Manual 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...

  • Page 102: Ubx-Log-Erase (0X21 0X03)

    ZED-F9P Interface Description - Manual Name Description Log is circular (new entries overwrite old ones in a full log) if this bit set circular 5.11.2 UBX-LOG-ERASE (0x21 0x03) 5.11.2.1 Erase Logged Data UBX-LOG-ERASE Message Erase Logged Data Description Supported on: Firmware •...

  • Page 103: Ubx-Log-Info (0X21 0X08)

    ZED-F9P Interface Description - Manual LOG-FINDTIME continued Byte Offset Number Scaling Name Unit Description Format Second (0-60) of UTC time second Reserved reserved2 5.11.3.2 Response to FINDTIME request UBX-LOG-FINDTIME Message Response to FINDTIME request Description Supported on: Firmware •...
  • Page 104 ZED-F9P Interface Description - Manual 5.11.4.2 Log information UBX-LOG-INFO Message Log information Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type This message is used to report information about the logging subsystem. Comment Note: • The reported maximum log size will be smaller than that originally specified in LOG- CREATE due to logging and filestore implementation overheads.

  • Page 105: Ubx-Log-Retrieveposextra (0X21 0X0F)

    ZED-F9P Interface Description - Manual LOG-INFO continued Byte Offset Number Scaling Name Unit Description Format Newest minute (0-59) newestMinute Newest second (0-60) newestSecond Reserved reserved4 Log status flags (see graphic below) status U1[3] Reserved reserved5 Bitfield status This graphic explains the bits of status...

  • Page 106: Ubx-Log-Retrievepos (0X21 0X0B)

    ZED-F9P Interface Description - Manual LOG-RETRIEVEPOSEXTRA continued Byte Offset Number Scaling Name Unit Description Format U1[3] Reserved reserved2 Odometer distance traveled since the last time distance the odometer was reset by a UBX-NAV- RESETODO U1[12] Reserved reserved3 5.11.6 UBX-LOG-RETRIEVEPOS (0x21 0x0b) 5.11.6.1 Position fix log entry...

  • Page 107: Ubx-Log-Retrievestring (0X21 0X0D)

    ZED-F9P Interface Description - Manual 5.11.7 UBX-LOG-RETRIEVESTRING (0x21 0x0d) 5.11.7.1 Byte string log entry UBX-LOG-RETRIEVESTRING Message Byte string log entry Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type This message is used to report a byte string log entry...

  • Page 108: Ubx-Log-String (0X21 0X04)

    ZED-F9P Interface Description - Manual data rate and temporarily stopping the GPS processing (see UBX-CFG-RST). Header Class Length (Bytes) Payload Checksum 0xB5 0x62 0x21 0x09 12 CK_A CK_B Message Structure see below Payload Contents: Byte Offset Number Scaling Name...

  • Page 109: Ubx-Mga (0X13)

    • u-blox 9 with protocol version 27 Output Type This message is sent by a u-blox receiver to acknowledge the receipt of an assistance Comment message. Acknowledgments are enabled by setting the ackAiding parameter in the UBX- message. See the description of flow control for details.

  • Page 110: Ubx-Mga-Bds (0X13 0X03)

    ZED-F9P Interface Description - Manual 5.12.2 UBX-MGA-BDS (0x13 0x03) 5.12.2.1 UBX-MGA-BDS-EPH UBX-MGA-BDS-EPH Message BDS Ephemeris Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of BeiDou ephemeris assistance to a receiver. See the...
  • Page 111 ZED-F9P Interface Description - Manual MGA-BDS continued Byte Offset Number Scaling Name Unit Description Format 2^-31 semi- Amplitude of sine harmonic correction term to circles the argument of latitude 2^-6 Amplitude of cosine harmonic correction term to the orbit radius...
  • Page 112 ZED-F9P Interface Description - Manual MGA-BDS continued Byte Offset Number Scaling Name Unit Description Format 2^-38 semi- Almanac rate of right ascension omegaDot circles/s 2^-20 Almanac satellite clock bias 2^-38 Almanac satellite clock rate U1[4] Reserved reserved2 5.12.2.3 UBX-MGA-BDS-HEALTH...
  • Page 113 ZED-F9P Interface Description - Manual MGA-BDS continued Byte Offset Number Scaling Name Unit Description Format Message version (0x00 for this version) version U1[2] Reserved reserved1 2^-30 BDT clock bias relative to UTC a0UTC 2^-50 BDT clock rate relative to UTC...

  • Page 114: Ubx-Mga-Dbd (0X13 0X80)

    ZED-F9P Interface Description - Manual 5.12.3 UBX-MGA-DBD (0x13 0x80) 5.12.3.1 Poll the Navigation Database UBX-MGA-DBD Message Poll the Navigation Database Description Supported on: Firmware • u-blox 9 with protocol version 27 Poll Request Type Poll the whole navigation data base. The receiver will send all available data from its Comment internal database.

  • Page 115: Ubx-Mga-Gal (0X13 0X02)

    ZED-F9P Interface Description - Manual 5.12.4 UBX-MGA-GAL (0x13 0x02) 5.12.4.1 UBX-MGA-GAL-EPH UBX-MGA-GAL-EPH Message Galileo Ephemeris Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of Galileo ephemeris assistance to a receiver. See the...
  • Page 116 ZED-F9P Interface Description - Manual MGA-GAL continued Byte Offset Number Scaling Name Unit Description Format 2^-29 radians Amplitude of the sine harmonic correction term to the angle of inclination Ephemeris reference time 2^-34 SV clock bias correction coefficient 2^-46...
  • Page 117 ZED-F9P Interface Description - Manual MGA-GAL continued Byte Offset Number Scaling Name Unit Description Format 2^-16 Eccentricity 2^-14 semi- Inclination at reference time relative to i0 = 56 deltaI circles degree 2^-15 semi- Longitude of ascending node of orbital plane at...

  • Page 118: Ubx-Mga-Glo (0X13 0X06)

    ZED-F9P Interface Description - Manual 5.12.4.4 UBX-MGA-GAL-UTC UBX-MGA-GAL-UTC Message Galileo UTC Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of Galileo UTC assistance to a receiver. See the description...
  • Page 119 ZED-F9P Interface Description - Manual MGA-GLO continued Byte Offset Number Scaling Name Unit Description Format Message type (0x01 for this type) type Message version (0x00 for this version) version GLONASS Satellite identifier (see Satellite svId Numbering) Reserved reserved1 User range accuracy...
  • Page 120 ZED-F9P Interface Description - Manual 5.12.5.2 UBX-MGA-GLO-ALM UBX-MGA-GLO-ALM Message GLONASS Almanac Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of GLONASS almanac assistance to a receiver. See the...

  • Page 121: Ubx-Mga-Gps (0X13 0X00)

    ZED-F9P Interface Description - Manual 5.12.5.3 UBX-MGA-GLO-TIMEOFFSET UBX-MGA-GLO-TIMEOFFSET Message GLONASS Auxiliary Time Offset Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of auxiliary GLONASS assistance (including the GLONASS Comment time offsets to other GNSS systems) to a receiver.
  • Page 122 ZED-F9P Interface Description - Manual MGA-GPS continued Byte Offset Number Scaling Name Unit Description Format SV health svHealth 2^-31 Group delay differential IODC iodc Clock data reference time Reserved reserved2 2^-55 Time polynomial coefficient 2 squared 2^-43 Time polynomial coefficient 1...
  • Page 123 ZED-F9P Interface Description - Manual 5.12.6.2 UBX-MGA-GPS-ALM UBX-MGA-GPS-ALM Message GPS Almanac Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of GPS almanac assistance to a receiver. See the...
  • Page 124 ZED-F9P Interface Description - Manual 5.12.6.3 UBX-MGA-GPS-HEALTH UBX-MGA-GPS-HEALTH Message GPS Health Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of GPS health assistance to a receiver. See the description...
  • Page 125 ZED-F9P Interface Description - Manual MGA-GPS continued Byte Offset Number Scaling Name Unit Description Format weeks Week number at the end of which the future utcWNlsf leap second becomes effective (the 8 bit WNLSF field) days Day number at the end of which the future leap...

  • Page 126: Ubx-Mga-Ini (0X13 0X40)

    ZED-F9P Interface Description - Manual 5.12.7 UBX-MGA-INI (0x13 0x40) 5.12.7.1 UBX-MGA-INI-POS_XYZ UBX-MGA-INI-POS_XYZ Message Initial Position Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type Supplying position assistance that is inaccurate by more than the specified Comment position accuracy, may lead to substantially degraded receiver performance.
  • Page 127 ZED-F9P Interface Description - Manual MGA-INI continued Byte Offset Number Scaling Name Unit Description Format 1e-7 WGS84 Latitude 1e-7 WGS84 Longitude WGS84 Altitude Position accuracy (stddev) posAcc 5.12.7.3 UBX-MGA-INI-TIME_UTC UBX-MGA-INI-TIME_UTC Message Initial Time Assistance Description Supported on: Firmware •...
  • Page 128 ZED-F9P Interface Description - Manual Bitfield ref This graphic explains the bits of ref Name Description 0: none, i.e. on receipt of message (will be inaccurate!) source 1: relative to pulse sent to EXTINT0 2: relative to pulse sent to EXTINT1...
  • Page 129 ZED-F9P Interface Description - Manual MGA-INI continued Byte Offset Number Scaling Name Unit Description Format GNSS time of week, nanosecond part from 0 to 999,999,999 Seconds part of time accuracy tAccS U1[2] Reserved reserved2 Nanoseconds part of time accuracy, from 0 to...
  • Page 130 ZED-F9P Interface Description - Manual 5.12.7.6 UBX-MGA-INI-FREQ UBX-MGA-INI-FREQ Message Initial Frequency Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type Supplying external frequency assistance that is inaccurate by more than the Comment specified accuracy, may lead to substantially degraded receiver performance.

  • Page 131: Ubx-Mga-Qzss (0X13 0X05)

    ZED-F9P Interface Description - Manual 5.12.7.7 UBX-MGA-INI-EOP UBX-MGA-INI-EOP Message Earth Orientation Parameters Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of new Earth Orientation Parameters (EOP) to a receiver to Comment improve AssistNow Autonomous operation.
  • Page 132 ZED-F9P Interface Description - Manual MGA-QZSS continued Byte Offset Number Scaling Name Unit Description Format Message version (0x00 for this version) version QZSS Satellite identifier (see Satellite Numbering svId ), Range 1-5 Reserved reserved1 Fit interval flag fitInterval URA index...
  • Page 133 ZED-F9P Interface Description - Manual 5.12.8.2 UBX-MGA-QZSS-ALM UBX-MGA-QZSS-ALM Message QZSS Almanac Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of QZSS almanac assistance to a receiver. See the...
  • Page 134 ZED-F9P Interface Description - Manual 5.12.8.3 UBX-MGA-QZSS-HEALTH UBX-MGA-QZSS-HEALTH Message QZSS Health Assistance Description Supported on: Firmware • u-blox 9 with protocol version 27 Input Type This message allows the delivery of QZSS health assistance to a receiver. See the description...

  • Page 135: Ubx-Mon (0X0A)

    ZED-F9P Interface Description - Manual 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.

  • Page 136: Ubx-Mon-Gnss (0X0A 0X28)

    ZED-F9P Interface Description - Manual MON-COMMS continued Byte Offset Number Scaling Name Unit Description Format End of repeated block Bitfield txErrors This graphic explains the bits of txErrors Name Description Memory Allocation error Allocation error (TX buffer full) alloc 5.13.2 UBX-MON-GNSS (0x0A 0x28)
  • Page 137 ZED-F9P Interface Description - Manual MON-GNSS continued Byte Offset Number Scaling Name Unit Description Format Maximum number of concurrent major GNSS simultaneous that can be supported by this receiver U1[3] Reserved reserved1 Bitfield supported This graphic explains the bits of supported...

  • Page 138: Ubx-Mon-Hw2 (0X0A 0X0B)

    ZED-F9P Interface Description - Manual Name Description GPS is enabled GPSEna GLONASS is enabled GlonassEna BeidouEna BeiDou is enabled Galileo is enabled GalileoEna 5.13.3 UBX-MON-HW2 (0x0A 0x0B) 5.13.3.1 Extended Hardware Status UBX-MON-HW2 Message Extended Hardware Status Description Supported on: Firmware •...

  • Page 139: Ubx-Mon-Hw3 (0X0A 0X37)

    ZED-F9P Interface Description - Manual 5.13.4 UBX-MON-HW3 (0x0A 0x37) 5.13.4.1 HW I/O pin information UBX-MON-HW3 Message HW I/O pin information Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type This message contains information specific to each HW I/O pin, for example whether the Comment pin is set as Input or Output.

  • Page 140: Ubx-Mon-Hw (0X0A 0X09)

    ZED-F9P Interface Description - Manual Name Description RTC is calibrated rtcCalib safeBoot mode (0 = inactive, 1 = active) safeBoot xtalAbsent RTC xtal has been determined to be absent Bitfield pinMask This graphic explains the bits of pinMask Name...
  • Page 141 ZED-F9P Interface Description - Manual MON-HW continued Byte Offset Number Scaling Name Unit Description Format AGC Monitor (counts SIGHI xor SIGLO, range 0 agcCnt to 8191) Status of the Antenna Supervisor State Machine aStatus (0=INIT, 1=DONTKNOW, 2=OK, 3=SHORT, 4=OPEN)

  • Page 142: Ubx-Mon-Io (0X0A 0X02)

    This message is deprecated in this protocol version. Use instead. UBX-MON-COMMS Comment 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 Length (Bytes) Payload...

  • Page 143: Ubx-Mon-Patch (0X0A 0X27)

    ZED-F9P Interface Description - Manual MON-MSGPP continued Byte Offset Number Scaling Name Unit Description Format U2[8] msgs Number of successfully parsed messages for msg3 each protocol on port2 U2[8] msgs Number of successfully parsed messages for msg4 each protocol on port3...

  • Page 144: Ubx-Mon-Rf (0X0A 0X38)

    ZED-F9P Interface Description - Manual Bitfield patchInfo This graphic explains the bits of patchInfo Name Description 1: the patch is active. 0: otherwise. activated location Indicates where the patch is stored. 0: eFuse, 1: ROM, 2: BBR, 3: file system.

  • Page 145: Ubx-Mon-Rxbuf (0X0A 0X07)

    ZED-F9P Interface Description - Manual MON-RF continued Byte Offset Number Scaling Name Unit Description Format 22 + 24*N Magnitude of I-part of complex signal, scaled magI (0= no signal, 255 = max.magnitude) 23 + 24*N Imbalance of Q-part of complex signal, scaled (- ofsQ 128 = max.

  • Page 146: Ubx-Mon-Rxr (0X0A 0X21)

    ZED-F9P Interface Description - Manual 5.13.11 UBX-MON-RXR (0x0A 0x21) 5.13.11.1 Receiver Status Information UBX-MON-RXR Message Receiver Status Information Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type The receiver ready message is sent when the receiver changes from or to backup mode.

  • Page 147: Ubx-Mon-Ver (0X0A 0X04)

    ZED-F9P Interface Description - Manual MON-TXBUF continued Byte Offset Number Scaling Name Unit Description Format Maximum usage of transmitter buffer during tUsage the last sysmon period for all targets Maximum usage of transmitter buffer for all tPeakusage targets Error bitmask (see...
  • Page 148 ZED-F9P Interface Description - Manual MON-VER continued Byte Offset Number Scaling Name Unit Description Format 40 + 30*N CH[30] - Extended software information strings. extension A series of zero-terminated strings. Each extension field is 30 characters long and contains varying software information. Not all extension fields may appear.

  • Page 149: Ubx-Nav (0X01)

    ZED-F9P Interface Description - Manual 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.

  • Page 150: Ubx-Nav-Eoe (0X01 0X61)

    ZED-F9P Interface Description - Manual NAV-DOP continued Byte Offset Number Scaling Name Unit Description Format 0.01 Time DOP tDOP 0.01 Vertical DOP vDOP 0.01 Horizontal DOP hDOP 0.01 Northing DOP nDOP 0.01 Easting DOP eDOP 5.14.3 UBX-NAV-EOE (0x01 0x61) 5.14.3.1 End Of Epoch...

  • Page 151: Ubx-Nav-Hpposecef (0X01 0X13)

    ZED-F9P Interface Description - Manual NAV-GEOFENCE continued Byte Offset Number Scaling Name Unit Description Format Geofencing status status 0 - Geofencing not available or not reliable 1 - Geofencing active Number of geofences numFences Combined (logical OR) state of all geofences...

  • Page 152: Ubx-Nav-Hpposllh (0X01 0X14)

    ZED-F9P Interface Description - Manual NAV-HPPOSECEF continued Byte Offset Number Scaling Name Unit Description Format High precision component of ECEF Y ecefYHp coordinate. Must be in the range of -99..+99. Precise coordinate in cm = ecefY + (ecefYHp * 1e-2).

  • Page 153: Ubx-Nav-Odo (0X01 0X09)

    ZED-F9P Interface Description - Manual NAV-HPPOSLLH continued Byte Offset Number Scaling Name Unit Description Format High precision component of height above heightHp ellipsoid. Must be in the range -9..+9. Precise height in mm = height + (heightHp * 0.1).

  • Page 154: Ubx-Nav-Orb (0X01 0X34)

    ZED-F9P Interface Description - Manual 5.14.8 UBX-NAV-ORB (0x01 0x34) 5.14.8.1 GNSS Orbit Database Info UBX-NAV-ORB Message GNSS Orbit Database Info Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type Status of the GNSS orbit database knowledge.
  • Page 155 ZED-F9P Interface Description - Manual Name Description SV health: health 0: unknown 1: healthy 2: not healty visibility SV health: 0: unknown 1: below horizon 2: above horizon 3: above elevation mask Bitfield eph This graphic explains the bits of eph...
  • Page 156 ZED-F9P Interface Description - Manual Name Description How long the receiver will be able to use the stored almanac data from now on: almUsability 31: The usability period is unknown 30: The usability period is more than 30 days 30 >...

  • Page 157: Ubx-Nav-Posecef (0X01 0X01)

    ZED-F9P Interface Description - Manual 5.14.9 UBX-NAV-POSECEF (0x01 0x01) 5.14.9.1 Position Solution in ECEF UBX-NAV-POSECEF Message Position Solution in ECEF Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type See important comments concerning validity of position given in section...

  • Page 158: Ubx-Nav-Pvt (0X01 0X07)

    ZED-F9P Interface Description - Manual NAV-POSLLH continued Byte Offset Number Scaling Name Unit Description Format Vertical accuracy estimate vAcc 5.14.11 UBX-NAV-PVT (0x01 0x07) 5.14.11.1 Navigation Position Velocity Time Solution UBX-NAV-PVT Message Navigation Position Velocity Time Solution Description Supported on: Firmware •...
  • Page 159 ZED-F9P Interface Description - Manual NAV-PVT continued Byte Offset Number Scaling Name Unit Description Format Vertical accuracy estimate vAcc mm/s NED north velocity velN mm/s NED east velocity velE mm/s NED down velocity velD mm/s Ground Speed (2-D) gSpeed...
  • Page 160 ZED-F9P Interface Description - Manual Name Description 1 = valid fix (i.e within DOP & accuracy masks) gnssFixOK 1 = differential corrections were applied diffSoln psmState Power Save Mode state (see Power Management): 0: PSM is not active 1: Enabled (an intermediate state before Acquisition state...

  • Page 161: Ubx-Nav-Relposned (0X01 0X3C)

    ZED-F9P Interface Description - Manual 5.14.12 UBX-NAV-RELPOSNED (0x01 0x3C) 5.14.12.1 Relative Positioning Information in NED frame UBX-NAV-RELPOSNED Message Relative Positioning Information in NED frame Description Supported on: Firmware • u-blox 9 with protocol version 27 (only with High Precision GNSS products)

  • Page 162: Ubx-Nav-Resetodo (0X01 0X10)

    ZED-F9P Interface Description - Manual NAV-RELPOSNED continued Byte Offset Number Scaling Name Unit Description Format Accuracy of relative position East component accE Accuracy of relative position Down component accD Flags (see graphic below) flags Bitfield flags This graphic explains the bits of flags...

  • Page 163: Ubx-Nav-Sat (0X01 0X35)

    ZED-F9P Interface Description - Manual 5.14.14 UBX-NAV-SAT (0x01 0x35) 5.14.14.1 Satellite Information UBX-NAV-SAT Message Satellite Information Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type This message displays information about SVs which are either known to be visible or Comment currently tracked by the receiver.
  • Page 164 ZED-F9P Interface Description - Manual Name Description Signal quality indicator: qualityInd 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 Note: Since IMES signals are not time synchronized, a channel tracking an IMES signal can never reach a quality indicator value of higher than 3.

  • Page 165: Ubx-Nav-Sig (0X01 0X43)

    ZED-F9P Interface Description - Manual 5.14.15 UBX-NAV-SIG (0x01 0x43) 5.14.15.1 Signal Information UBX-NAV-SIG Message Signal Information Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type This message displays information about signals currently tracked by the receiver.
  • Page 166 ZED-F9P Interface Description - Manual NAV-SIG continued Byte Offset Number Scaling Name Unit Description Format 16 + 16*N Correction source: corrSource 0: no corrections 1: SBAS corrections 2: BeiDou corrections 3: RTCM2 corrections 4: RTCM3 OSR corrections 5: RTCM3 SSR corrections...

  • Page 167: Ubx-Nav-Status (0X01 0X03)

    ZED-F9P Interface Description - Manual 5.14.16 UBX-NAV-STATUS (0x01 0x03) 5.14.16.1 Receiver Navigation Status UBX-NAV-STATUS Message Receiver Navigation Status Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type See important comments concerning validity of position and velocity given in...
  • Page 168 ZED-F9P Interface Description - Manual Name Description 1 = position and velocity valid and within DOP and ACC Masks, see also important comments in section gpsFixOk Navigation Output Filters. diffSoln 1 = differential corrections were applied 1 = Week Number valid (see...

  • Page 169: Ubx-Nav-Svin (0X01 0X3B)

    ZED-F9P Interface Description - Manual Bitfield flags2 Description continued Name Description Spoofing detection state spoofDetState 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.

  • Page 170: Ubx-Nav-Timebds (0X01 0X24)

    ZED-F9P Interface Description - Manual NAV-SVIN continued Byte Offset Number Scaling Name Unit Description Format 0.1_ Current high-precision survey-in mean position meanYHP 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)

  • Page 171: Ubx-Nav-Timegal (0X01 0X25)

    ZED-F9P Interface Description - Manual NAV-TIMEBDS continued Byte Offset Number Scaling Name Unit Description Format BDS week number of the navigation epoch week BDS leap seconds (BDS-UTC) leapS Validity Flags (see graphic below) valid Time Accuracy Estimate tAcc Bitfield valid...

  • Page 172: Ubx-Nav-Timeglo (0X01 0X23)

    ZED-F9P Interface Description - Manual Bitfield valid This graphic explains the bits of valid Name Description 1 = Valid galTow and fGalTow (see Time Validity section for details) galTowValid galWnoValid 1 = Valid galWno (see Time Validity section for details)

  • Page 173: Ubx-Nav-Timegps (0X01 0X20)

    ZED-F9P Interface Description - Manual Bitfield valid This graphic explains the bits of valid Name Description 1 = Valid TOD and fTOD (see Time Validity section for details) todValid dateValid 1 = Valid N4 and Nt (see Time Validity section for details) 5.14.21 UBX-NAV-TIMEGPS (0x01 0x20)

  • Page 174: Ubx-Nav-Timels (0X01 0X26)

    ZED-F9P Interface Description - Manual Name Description 1 = Valid GPS time of week (iTOW & fTOW, see Time Validity section for details) towValid 1 = Valid GPS week number (see Time Validity section for details) weekValid leapSValid 1 = Valid GPS leap seconds 5.14.22 UBX-NAV-TIMELS (0x01 0x26)
  • Page 175 ZED-F9P Interface Description - Manual NAV-TIMELS continued Byte Offset Number Scaling Name Unit Description Format srcOfLsChange - 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.

  • Page 176: Ubx-Nav-Timeutc (0X01 0X21)

    ZED-F9P Interface Description - Manual Name Description 1 = Valid current number of leap seconds value. validCurrLs 1 = Valid time to next leap second event or from the last leap second event if no future event scheduled. validTimeToLs Event 5.14.23 UBX-NAV-TIMEUTC (0x01 0x21)

  • Page 177: Ubx-Nav-Velecef (0X01 0X11)

    ZED-F9P Interface Description - Manual Name Description 1 = Valid Time of Week (see Time Validity section for details) validTOW 1 = Valid Week Number (see Time Validity section for details) validWKN validUTC 1 = Valid UTC Time UTC standard identifier.

  • Page 178: Ubx-Nav-Velned (0X01 0X12)

    ZED-F9P Interface Description - Manual 5.14.25 UBX-NAV-VELNED (0x01 0x12) 5.14.25.1 Velocity Solution in NED UBX-NAV-VELNED Message Velocity Solution in NED Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type See important comments concerning validity of velocity given in section...

  • Page 179: Ubx-Rxm (0X02)

    ZED-F9P Interface Description - Manual 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...
  • Page 180 ZED-F9P Interface Description - Manual RXM-MEASX continued Byte Offset Number Scaling Name Unit Description Format Flags (see graphic below) flags U1[8] Reserved reserved4 Start of repeated block (numSV times) 44 + 24*N GNSS ID (see Satellite Numbering) gnssId 45 + 24*N...

  • Page 181: Ubx-Rxm-Pmreq (0X02 0X41)

    ZED-F9P Interface Description - Manual 5.15.2 UBX-RXM-PMREQ (0x02 0x41) 5.15.2.1 Requests a Power Management task UBX-RXM-PMREQ Message Requests a Power Management task Description Supported on: Firmware • u-blox 9 with protocol version 27 Command Type Request of a Power Management related task of the receiver.
  • Page 182 ZED-F9P Interface Description - Manual RXM-PMREQ continued Byte Offset Number Scaling Name Unit Description Format Duration of the requested task, set to zero for duration infinite duration. The maximum supported time is 12 days. task flags (see graphic below)

  • Page 183: Ubx-Rxm-Rawx (0X02 0X15)

    ZED-F9P Interface Description - Manual 5.15.3 UBX-RXM-RAWX (0x02 0x15) 5.15.3.1 Multi-GNSS Raw Measurement Data UBX-RXM-RAWX Message Multi-GNSS Raw Measurement Data Description Supported on: Firmware • u-blox 9 with protocol version 27 (only with High Precision GNSS products) Periodic/Polled Type...
  • Page 184 ZED-F9P Interface Description - Manual RXM-RAWX continued Byte Offset Number Scaling Name Unit Description Format 24 + 32*N cycles Carrier phase measurement [cycles]. The carrier cpMes phase initial ambiguity is initialized using an approximate value to make the magnitude of the phase close to the pseudorange measurement.
  • Page 185 ZED-F9P Interface Description - Manual Name Description Leap seconds have been determined leapSec Clock reset applied. Typically the receiver clock is changed in increments of integer milliseconds. clkReset Bitfield prStdev This graphic explains the bits of prStdev Name Description...

  • Page 186: Ubx-Rxm-Rlm (0X02 0X59)

    ZED-F9P Interface Description - Manual Name Description Pseudorange valid prValid Carrier phase valid cpValid halfCyc Half cycle valid Half cycle subtracted from phase subHalfCyc 5.15.4 UBX-RXM-RLM (0x02 0x59) 5.15.4.1 Galileo SAR Short-RLM report UBX-RXM-RLM Message Galileo SAR Short-RLM report...

  • Page 187: Ubx-Rxm-Rtcm (0X02 0X32)

    ZED-F9P Interface Description - Manual 5.15.4.2 Galileo SAR Long-RLM report UBX-RXM-RLM Message Galileo SAR Long-RLM report Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type This message contains the contents of any Galileo Search and Rescue (SAR) Long Return Comment Link Message detected by the receiver.

  • Page 188: Ubx-Rxm-Sfrbx (0X02 0X13)

    ZED-F9P Interface Description - Manual Bitfield flags This graphic explains the bits of flags Name Description 0 when RTCM message received and passed CRC check, 1 when failed in which case refStation and msgType crcFailed might be corrupted and misleading 5.15.6 UBX-RXM-SFRBX (0x02 0x13)

  • Page 189: Ubx-Sec (0X27)

    ZED-F9P Interface Description - Manual 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-SIGN (0x27 0x01) 5.16.1.1 Signature of a previous message UBX-SEC-SIGN Message Signature of a previous message...

  • Page 190: Ubx-Tim (0X0D)

    ZED-F9P Interface Description - Manual 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...

  • Page 191: Ubx-Tim-Tp (0X0D 0X01)

    ZED-F9P Interface Description - Manual Name Description 0=single mode 1=running 0=armed 1=stopped newFallingEdg new falling edge detected timeBase 0=Time base is Receiver Time 1=Time base is GNSS Time (the system according to the configuration in for tpIdx=0) UBX-CFG-TP5 2=Time base is UTC (the variant according to the configuration in UBX-CFG-NAV5)
  • Page 192 ZED-F9P Interface Description - Manual Bitfield flags This graphic explains the bits of flags Name Description 0=Time base is GNSS timeBase 1=Time base is UTC 0=UTC not available 1=UTC available (T)RAIM information raim 0=information not available 1=not active 2=active...

  • Page 193: Ubx-Tim-Vrfy (0X0D 0X06)

    ZED-F9P Interface Description - Manual 5.17.3 UBX-TIM-VRFY (0x0D 0x06) 5.17.3.1 Sourced Time Verification UBX-TIM-VRFY Message Sourced Time Verification Description Supported on: Firmware • u-blox 9 with protocol version 27 Periodic/Polled Type This message contains verification information about previous time received via AID-INI or...

  • Page 194: Ubx-Upd (0X09)

    ZED-F9P Interface Description - Manual 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...
  • Page 195 ZED-F9P Interface Description - Manual 5.18.1.3 Clear Backup in Flash UBX-UPD-SOS Message Clear Backup in Flash Description Supported on: Firmware • u-blox 9 with protocol version 27 Command Type The host can send this message in order to erase the backup file present in flash. It is...
  • Page 196 ZED-F9P Interface Description - Manual 5.18.1.5 System Restored from Backup UBX-UPD-SOS Message System Restored from Backup Description Supported on: Firmware • u-blox 9 with protocol version 27 Output Type The message is sent from the device to notify the host the BBR has been restored from a Comment backup file in flash.

  • Page 197: Cfg Interface

    ZED-F9P Interface Description - Manual 6 CFG Interface This chapter describes the Receiver Configuration Database accessible thorough 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.

  • Page 198: Configuration Layers

    ZED-F9P Interface Description - Manual • 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.

  • Page 199: Configuration Interface Access

    ZED-F9P Interface Description - Manual 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: • to read Configuration Items from the database UBX-CFG-VALGET •...
  • Page 200 ZED-F9P Interface Description - Manual CFG-GEOFENCE-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-GEOFENCE-CONFLVL 0x20240011 E1 Required confidence level for state evaluation This value times the position's standard deviation (sigma) defines the confidence band. Constants for CFG-GEOFENCE-CONFLVL below for a list of possible constants for this item.

  • Page 201: Cfg-Hw: Hardware Configuration

    ZED-F9P Interface Description - Manual Constants for CFG-GEOFENCE-PINPOL continued Constant Value Description LOW_OUT PIO low means outside geofence 6.7.2 CFG-HW: Hardware Configuration Hardware configuration settings. CFG-HW-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-HW-ANT_CFG_VOLTCTRL Active antenna voltage control flag 0x10a3002e Enable active antenna voltage control flag.

  • Page 202: Cfg-I2Coutprot: Output Protocol Configuration Of The I2C Interface

    ZED-F9P Interface Description - Manual CFG-I2CINPROT-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-I2CINPROT-UBX Flag to indicate if UBX should be an 0x10710001 input protocol on I2C CFG-I2CINPROT-NMEA Flag to indicate if NMEA should be an...
  • Page 203 ZED-F9P Interface Description - Manual CFG-INFMSG-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-INFMSG-NMEA_UART1 0x20920007 X1 Information message enable flags for the NMEA protocol on the UART1 interface Constants for CFG-INFMSG-NMEA_UART1 below for a list of possible constants for this item.
  • Page 204 ZED-F9P Interface Description - Manual Constants for CFG-INFMSG-UBX_USB continued Constant Value Description TEST Enable TEST information messages 0x08 DEBUG Enable DEBUG information messages 0x10 Constants for CFG-INFMSG-UBX_SPI Constant Value Description ERROR Enable ERROR information messages 0x01 WARNING Enable WARNING information messages...

  • Page 205: Cfg-Itfm: Jamming/Interference Monitor Configuration

    Antenna setting Constants for CFG-ITFM-ANTSETTING below for a list of possible constants for this item. CFG-ITFM-ENABLE_AUX Set to true to scan auxiliary bands 0x10410013 Supported on u-blox 8 / u-blox M8 only, otherwise ignored. Constants for CFG-ITFM-ANTSETTING Constant Value Description UNKNOWN...

  • Page 206: Cfg-Mot: Motion Detector Configuration

    ZED-F9P Interface Description - Manual CFG-LOGFILTER-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-LOGFILTER-APPLY_ALL_ Apply all filter settings 0x10de0004 FILTERS Set to true when all filter settings are to be applied, not just recording enabling/disabling.
  • Page 207 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-NMEA_ID_DTM_SPI 0x209100aa U1 Output rate of the NMEA-GX-DTM message on port SPI CFG-MSGOUT-NMEA_ID_DTM_ 0x209100a7 U1 Output rate of the NMEA-GX-DTM UART1 message on port UART1...
  • Page 208 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-NMEA_ID_GNS_ 0x209100b7 U1 Output rate of the NMEA-GX-GNS UART2 message on port UART2 CFG-MSGOUT-NMEA_ID_GNS_ 0x209100b8 U1 Output rate of the NMEA-GX-GNS message on port USB...
  • Page 209 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-NMEA_ID_RMC_I2C 0x209100ab U1 Output rate of the NMEA-GX-RMC message on port I2C CFG-MSGOUT-NMEA_ID_RMC_SPI 0x209100af U1 Output rate of the NMEA-GX-RMC message on port SPI...
  • Page 210 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-PUBX_ID_POLYP_ 0x209100ed U1 Output rate of the NMEA-GX-PUBX00 UART1 message on port UART1 CFG-MSGOUT-PUBX_ID_POLYP_ 0x209100ee U1 Output rate of the NMEA-GX-PUBX00 UART2...
  • Page 211 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-RTCM_3X_ 0x20910361 U1 Output rate of the RTCM-3X- TYPE1074_USB TYPE1074 message on port USB CFG-MSGOUT-RTCM_3X_ 0x209102cc U1 Output rate of the RTCM-3X-...
  • Page 212 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-RTCM_3X_ 0x2091031c U1 Output rate of the RTCM-3X- TYPE1097_SPI TYPE1097 message on port SPI CFG-MSGOUT-RTCM_3X_ 0x20910319 U1 Output rate of the RTCM-3X-...
  • Page 213 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_LOG_INFO_ 0x2091025b U1 Output rate of the UBX-LOG-INFO UART2 message on port UART2 CFG-MSGOUT-UBX_LOG_INFO_ 0x2091025c U1 Output rate of the UBX-LOG-INFO message on port USB...
  • Page 214 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_MON_IO_I2C 0x209101a5 U1 Output rate of the UBX-MON-IO message on port I2C CFG-MSGOUT-UBX_MON_IO_SPI 0x209101a9 U1 Output rate of the UBX-MON-IO message on port SPI...
  • Page 215 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_MON_RXR_ 0x20910188 U1 Output rate of the UBX-MON-RXR UART1 message on port UART1 CFG-MSGOUT-UBX_MON_RXR_ 0x20910189 U1 Output rate of the UBX-MON-RXR UART2...
  • Page 216 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_NAV_EOE_ 0x20910162 U1 Output rate of the UBX-NAV-EOE message on port USB CFG-MSGOUT-UBX_NAV_ 0x209100a1 U1 Output rate of the UBX-NAV- GEOFENCE_I2C GEOFENCE message on port I2C...
  • Page 217 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_NAV_ORB_SPI 0x20910014 U1 Output rate of the UBX-NAV-ORB message on port SPI CFG-MSGOUT-UBX_NAV_ORB_ 0x20910011 U1 Output rate of the UBX-NAV-ORB UART1 message on port UART1...
  • Page 218 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_NAV_ 0x2091008f U1 Output rate of the UBX-NAV- RELPOSNED_UART2 RELPOSNED message on port UART2 CFG-MSGOUT-UBX_NAV_ 0x20910090 U1 Output rate of the UBX-NAV-...
  • Page 219 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_NAV_ 0x20910051 U1 Output rate of the UBX-NAV-TIMEBDS TIMEBDS_I2C message on port I2C CFG-MSGOUT-UBX_NAV_ 0x20910055 U1 Output rate of the UBX-NAV-TIMEBDS TIMEBDS_SPI...
  • Page 220 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_NAV_TIMELS_ 0x20910061 U1 Output rate of the UBX-NAV-TIMELS UART1 message on port UART1 CFG-MSGOUT-UBX_NAV_TIMELS_ 0x20910062 U1 Output rate of the UBX-NAV-TIMELS UART2...
  • Page 221 ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_RXM_MEASX_ 0x20910207 U1 Output rate of the UBX-RXM-MEASX message on port USB CFG-MSGOUT-UBX_RXM_RAWX_ 0x209102a4 U1 Output rate of the UBX-RXM-RAWX message on port I2C...

  • Page 222: Cfg-Navhpg: High Precision Navigation Configuration

    ZED-F9P Interface Description - Manual CFG-MSGOUT-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-MSGOUT-UBX_TIM_TM2_SPI 0x2091017c U1 Output rate of the UBX-TIM-TM2 message on port SPI CFG-MSGOUT-UBX_TIM_TM2_ 0x20910179 U1 Output rate of the UBX-TIM-TM2 UART1 message on port UART1...

  • Page 223: Cfg-Navspg: Standard Precision Navigation Configuration

    ZED-F9P Interface Description - Manual 6.7.12 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...
  • Page 224 ZED-F9P Interface Description - Manual CFG-NAVSPG-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-NAVSPG-USRDAT_ROTX 0x40110067 R4 arcsec Geodetic datum rotation about 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.

  • Page 225: Cfg-Nmea: Nmea Protocol Configuration

    ZED-F9P Interface Description - Manual CFG-NAVSPG-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-NAVSPG-CONSTR_ALT 0.01 Fixed altitude (mean sea level) for 2D 0x401100c1 fix mode CFG-NAVSPG-CONSTR_ALTVAR 0x401100c2 U4 m^2 Fixed altitude variance for 2D mode...
  • Page 226 ZED-F9P Interface Description - Manual CFG-NMEA-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-NMEA-COMPAT Enable compatibility mode 0x10930003 This might be needed for certain applications, e.g. for an NMEA parser that expects a fixed number of digits in position coordinates.

  • Page 227: Cfg-Odo: Odometer And Low-Speed Course Over Ground Filter Configuration

    ZED-F9P Interface Description - Manual Constants for CFG-NMEA-PROTVER Constant Value Description NMEA protocol version 2.1 NMEA protocol version 2.3 NMEA protocol version 4.0 NMEA protocol version 4.1 Constants for CFG-NMEA-MAXSVS Constant Value Description UNLIM Unlimited 8SVS 8 SVs 12SVS...

  • Page 228: Cfg-Rate: Navigation And Measurement Rate Configuration

    ZED-F9P Interface Description - Manual CFG-ODO-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-ODO-OUTLPCOG Output low-pass filtered course over 0x10220004 ground (heading) CFG-ODO-PROFILE 0x20220005 E1 Odometer profile configuration Constants for CFG-ODO-PROFILE below for a list of possible constants for this item.

  • Page 229: Cfg-Rinv: Remote Inventory

    ZED-F9P Interface Description - Manual Constants for CFG-RATE-TIMEREF Constant Value 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 6.7.16 CFG-RINV: Remote Inventory The Remote Inventory enables storing user-defined data in the non-volatile memory of the receiver.

  • Page 230: Cfg-Spi: Configuration Of The Spi Interface

    Key ID Type Scale Unit Description CFG-SIGNAL-GPS_ENA GPS enable 0x1031001f CFG-SIGNAL-GPS_L1CA_ENA GPS L1C/A 0x10310001 CFG-SIGNAL-GPS_L2C_ENA GPS L2C (only on u-blox 9 F platform 0x10310003 products) CFG-SIGNAL-GAL_ENA Galileo enable 0x10310021 CFG-SIGNAL-GAL_E1_ENA Galileo E1 0x10310007 CFG-SIGNAL-GAL_E5B_ENA Galileo E5b (only on u-blox 9 F...

  • Page 231: Cfg-Spioutprot: Output Protocol Configuration Of The Spi Interface

    ZED-F9P Interface Description - Manual CFG-SPIINPROT-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-SPIINPROT-UBX Flag to indicate if UBX should be an 0x10790001 input protocol on SPI CFG-SPIINPROT-NMEA Flag to indicate if NMEA should be an...

  • Page 232: Cfg-Tp: Timepulse Configuration

    ZED-F9P Interface Description - Manual CFG-TMODE-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description 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 High-precision ECEF Z coordinate of 0x20030008 the ARP position.
  • Page 233 ZED-F9P Interface Description - Manual CFG-TP-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-TP-PULSE_DEF 0x20050023 E1 Determines whether the time pulse is interpreted as frequency or period? Constants for CFG-TP-PULSE_DEF below for a list of possible constants for this item.

  • Page 234: Cfg-Txready: Tx-Ready Configuration

    ZED-F9P Interface Description - Manual CFG-TP-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-TP-USE_LOCKED_TP1 Use locked parameters when possible 0x10050009 (TP1) If set, ues 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.

  • Page 235: Cfg-Uart1: Configuration Of The Uart1 Interface

    ZED-F9P Interface Description - Manual CFG-TXREADY-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-TXREADY-POLARITY The polarity of the tx ready pin: false: 0x10a20002 high-active, true:low-active CFG-TXREADY-PIN 0x20a20003 U1 Pin number to use for the tx ready...

  • Page 236: Cfg-Uart1Inprot: Input Protocol Configuration Of The Uart1 Interface

    ZED-F9P Interface Description - Manual Constants for CFG-UART1-PARITY Constant Value Description NONE No parity bit Add an odd parity bit EVEN Add an even parity bit 6.7.25 CFG-UART1INPROT: Input Protocol Configuration of the UART1 Interface Input protocol enable flags of the UART1 interface.

  • Page 237: Cfg-Uart2Inprot: Input Protocol Configuration Of The Uart2 Interface

    ZED-F9P Interface Description - Manual CFG-UART2-* Configuration Items continued Configuration Item Key ID Type Scale Unit Description CFG-UART2-REMAP UART2 Remapping 0x10530006 Constants for CFG-UART2-STOPBITS Constant Value Description HALF 0.5 stopbits 1.0 stopbits ONEHALF 1.5 stopbits 2.0 stopbits Constants for CFG-UART2-DATABITS...

  • Page 238: Cfg-Usb: Configuration Of The Usb Interface

    ZED-F9P Interface Description - Manual 6.7.30 CFG-USB: Configuration of the USB Interface Settings needed to configure the USB communication interface. CFG-USB-* Configuration Items Configuration Item Key ID Type Scale Unit Description CFG-USB-ENABLED Flag to indicate if the USB interface...

  • Page 239: Legacy Ubx Message Fields Reference

    ZED-F9P Interface Description - Manual 6.8 Legacy UBX Message Fields Reference The following table lists the legacy UBX message fields and the corresponding Configuration Item. Note that the mapping from message fields to Configuration Items is not necessarily 1:1.
  • Page 240 ZED-F9P Interface Description - Manual 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...
  • Page 241 ZED-F9P Interface Description - Manual 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...
  • Page 242 ZED-F9P Interface Description - Manual UBX Messages Fields and the Corresponding Configuration Items continued UBX Message and Field Name Configuration Item 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...
  • Page 243 ZED-F9P Interface Description - Manual UBX Messages Fields and the Corresponding Configuration Items continued UBX Message and Field Name Configuration Item 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...
  • Page 244 ZED-F9P Interface Description - Manual UBX Messages Fields and the Corresponding Configuration Items continued UBX Message and Field Name Configuration Item 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...

  • Page 245: Rtcm Protocol

    ZED-F9P Interface Description - Manual 7 RTCM Protocol 7.1 RTCM3 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...

  • Page 246: Configuration

    ZED-F9P Interface Description - Manual Supported RTCM 3.3 Output Messages continued Message Type Cls/ID Description 1127 0xF5 0x7F BeiDou MSM7 1230 0xF5 0xE6 GLONASS code-phase biases 7.1.2 Configuration The configuration of the RTK rover and reference station is explained in the Integration Manual.

  • Page 247: Appendix

    ZED-F9P Interface Description - Manual 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 UBX svId NMEA 2.X-4. NMEA 2.X-4.0 NMEA 4.1+ NMEA 4.1+...

  • Page 248: 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 1.00) This section lists the configuration defaults for the u-blox 9 ZED-F9P (version 1.00 HPG 1.00), protocol version 27.00.
  • Page 249 ZED-F9P Interface Description - Manual Input Protocol Configuration of the I2C Interface (CFG-I2CINPROT-*) Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value 1 (true) CFG-I2CINPROT-UBX 0x10710001 1 (true) CFG-I2CINPROT-NMEA 0x10710002 1 (true) CFG-I2CINPROT-RTCM3X 0x10710004 Output Protocol Configuration of the I2C Interface (CFG-I2COUTPROT-*) Configuration Defaults...
  • Page 250 ZED-F9P Interface Description - Manual Motion Detector Configuration (CFG-MOT-*) Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value 0x20250038 U1 0.01 CFG-MOT-GNSSSPEED_THRS 0x3025003b U2 CFG-MOT-GNSSDIST_THRS Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults Configuration Item Key ID Type Scale...
  • Page 251 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x209100c4 U1 CFG-MSGOUT-NMEA_ID_GSV_I2C 0x209100c8 U1 CFG-MSGOUT-NMEA_ID_GSV_SPI 0x209100c5 U1 CFG-MSGOUT-NMEA_ID_GSV_UART1 0x209100c6 U1 CFG-MSGOUT-NMEA_ID_GSV_UART2 0x209100c7 U1 CFG-MSGOUT-NMEA_ID_GSV_USB 0x209100ab U1 CFG-MSGOUT-NMEA_ID_RMC_I2C...
  • Page 252 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x209102bf U1 CFG-MSGOUT-RTCM_3X_TYPE1005_ UART2 0x209102c0 U1 CFG-MSGOUT-RTCM_3X_TYPE1005_USB 0x2091035e U1 CFG-MSGOUT-RTCM_3X_TYPE1074_I2C 0x20910362 U1 CFG-MSGOUT-RTCM_3X_TYPE1074_SPI 0x2091035f U1 CFG-MSGOUT-RTCM_3X_TYPE1074_ UART1 0x20910360 U1...
  • Page 253 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x2091036d U1 CFG-MSGOUT-RTCM_3X_TYPE1124_I2C 0x20910371 U1 CFG-MSGOUT-RTCM_3X_TYPE1124_SPI 0x2091036e U1 CFG-MSGOUT-RTCM_3X_TYPE1124_ UART1 0x2091036f U1 CFG-MSGOUT-RTCM_3X_TYPE1124_ UART2 0x20910370 U1 CFG-MSGOUT-RTCM_3X_TYPE1124_USB 0x209102d6 U1...
  • Page 254 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x209101b7 U1 CFG-MSGOUT-UBX_MON_HW_USB 0x209101a5 U1 CFG-MSGOUT-UBX_MON_IO_I2C 0x209101a9 U1 CFG-MSGOUT-UBX_MON_IO_SPI 0x209101a6 U1 CFG-MSGOUT-UBX_MON_IO_UART1 0x209101a7 U1 CFG-MSGOUT-UBX_MON_IO_UART2 0x209101a8 U1 CFG-MSGOUT-UBX_MON_IO_USB...
  • Page 255 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x20910162 U1 CFG-MSGOUT-UBX_NAV_EOE_USB 0x209100a1 U1 CFG-MSGOUT-UBX_NAV_GEOFENCE_I2C 0x209100a5 U1 CFG-MSGOUT-UBX_NAV_GEOFENCE_SPI 0x209100a2 U1 CFG-MSGOUT-UBX_NAV_GEOFENCE_ UART1 0x209100a3 U1 CFG-MSGOUT-UBX_NAV_GEOFENCE_ UART2 0x209100a4 U1...
  • Page 256 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x20910008 U1 CFG-MSGOUT-UBX_NAV_PVT_UART2 0x20910009 U1 CFG-MSGOUT-UBX_NAV_PVT_USB 0x2091008d U1 CFG-MSGOUT-UBX_NAV_RELPOSNED_I2C 0x20910091 U1 CFG-MSGOUT-UBX_NAV_RELPOSNED_SPI 0x2091008e U1 CFG-MSGOUT-UBX_NAV_RELPOSNED_ UART1 0x2091008f U1...
  • Page 257 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x2091004b U1 CFG-MSGOUT-UBX_NAV_TIMEGPS_SPI 0x20910048 U1 CFG-MSGOUT-UBX_NAV_TIMEGPS_UART1 0x20910049 U1 CFG-MSGOUT-UBX_NAV_TIMEGPS_UART2 0x2091004a U1 CFG-MSGOUT-UBX_NAV_TIMEGPS_USB 0x20910060 U1 CFG-MSGOUT-UBX_NAV_TIMELS_I2C 0x20910064 U1 CFG-MSGOUT-UBX_NAV_TIMELS_SPI...
  • Page 258 ZED-F9P Interface Description - Manual Message Output Configuration (CFG-MSGOUT-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x20910235 U1 CFG-MSGOUT-UBX_RXM_SFRBX_SPI 0x20910232 U1 CFG-MSGOUT-UBX_RXM_SFRBX_UART1 0x20910233 U1 CFG-MSGOUT-UBX_RXM_SFRBX_UART2 0x20910234 U1 CFG-MSGOUT-UBX_RXM_SFRBX_USB 0x20910178 U1 CFG-MSGOUT-UBX_TIM_TM2_I2C 0x2091017c U1 CFG-MSGOUT-UBX_TIM_TM2_SPI...
  • Page 259 ZED-F9P Interface Description - Manual Standard Precision Navigation Configuration (CFG-NAVSPG-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value CFG-NAVSPG-INFIL_MINELEV 0x201100a4 0x201100aa U1 CFG-NAVSPG-INFIL_NCNOTHRS 0x201100ab U1 CFG-NAVSPG-INFIL_CNOTHRS 0x301100b1 U2 CFG-NAVSPG-OUTFIL_PDOP 0x301100b2 U2 CFG-NAVSPG-OUTFIL_TDOP 0x301100b3 U2 CFG-NAVSPG-OUTFIL_PACC...
  • Page 260 ZED-F9P Interface Description - Manual Odometer and Low-Speed Course Over Ground Filter Configuration (CFG-ODO-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x20220031 U1 CFG-ODO-VELLPGAIN 0x20220032 U1 CFG-ODO-COGLPGAIN Navigation and Measurement Rate Configuration (CFG-RATE-*) Configuration Defaults...
  • Page 261 ZED-F9P Interface Description - Manual Configuration of the SPI Interface (CFG-SPI-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0 (false) CFG-SPI-ENABLED 0x10640006 Input Protocol Configuration of the SPI Interface (CFG-SPIINPROT-*) Configuration Defaults Configuration Item...
  • Page 262 ZED-F9P Interface Description - Manual Timepulse Configuration (CFG-TP-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x40050003 U4 1000000 CFG-TP-PERIOD_LOCK_TP1 00000 0x40050024 U4 CFG-TP-FREQ_TP1 0x40050025 U4 CFG-TP-FREQ_LOCK_TP1 0x40050004 U4 CFG-TP-LEN_TP1 00000 0x40050005 U4 100000 CFG-TP-LEN_LOCK_TP1...
  • Page 263 ZED-F9P Interface Description - Manual Output Protocol Configuration of the UART1 Interface (CFG-UART1OUTPROT-*) Configuration Defaults Configuration Item Key ID Type Scale Unit Default Value 1 (true) CFG-UART1OUTPROT-UBX 0x10740001 1 (true) CFG-UART1OUTPROT-NMEA 0x10740002 1 (true) CFG-UART1OUTPROT-RTCM3X 0x10740004 Configuration of the UART2 Interface (CFG-UART2-*) Configuration Defaults...
  • Page 264 ZED-F9P Interface Description - Manual Configuration of the USB Interface (CFG-USB-*) Configuration Defaults continued Configuration Item Key ID Type Scale Unit Default Value 0x50650014 X8 0x0000000000000000 CFG-USB-PRODUCT_STR3 0x50650015 X8 0x0000000000000000 CFG-USB-SERIAL_NO_STR0 0x50650016 X8 0x0000000000000000 CFG-USB-SERIAL_NO_STR1 0x50650017 X8 0x0000000000000000 CFG-USB-SERIAL_NO_STR2...

  • Page 265: Related Documents

    ZED-F9P Interface Description - Manual 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: •...

  • Page 266: Revision History

    ZED-F9P Interface Description - Manual Revision History Revision Date Name Status / Comments 18-Sep-2018 jhak Advance Information UBX-18010854 - R04 Advance Information Page 258 of 259...

  • Page 267: Contact

    ZED-F9P Interface Description - Manual Contact For complete contact information visit us at www.u-blox.com u-blox Offices North, Central and South America Headquarters Asia, Australia, Pacific Europe, Middle East, Africa u-blox America, Inc. u-blox Singapore Pte. Ltd. u-blox AG Phone:...

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