Advanced Setup; Non-Automotive Applications; Configuring The Dynamic Model; Configuring The Imu Alignment - u-blox EVK-M9DR User Manual

4

Advanced setup

4.1 Non-automotive applications

To use the device in a two-wheel vehicle, some extra steps are required. Follow these instructions in
addition to section 3.1.
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The UBX-C cable provided together with the kit might not be sufficiently long when evaluating
these use cases. Get a cable with appropriate length before starting the test.

4.1.1 Configuring the dynamic model

There are two dynamic models for two-wheel vehicles: motorbike and e-scooter. Select the model
which better suits the application and configure the receiver accordingly:
• For motorbike applications, set
• For e-scooter applications, set
☞
Refer to the NEO-M9V Integration manual [2] for more information about different dynamic
models.

4.1.2 Configuring the IMU alignment

When using the motorbike or e-scooter dynamic model, auto-alignment must be disabled, and the
correct alignment angles have to be configured manually:
1. Disable auto-alignment by setting
2. Set the roll angle with
3. Set the pitch angle with
4. Set the yaw angle with
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Refer to the NEO-M9V Integration manual [2] for determining the alignment angles.

4.2 ADR setup

Follow these instructions in addition to section 3.1 to set up the device for testing ADR.

4.2.1 Providing odometer input

ADR requires odometer input from the vehicle, that is, wheel ticks or speed, and direction. The
following options are available for supplying odometer input to the receiver:
1. Hardware interface: wheel tick and direction pins.
2. Software interface: UBX-ESF-MEAS messages.
3. CAN interface: CAN_H and CAN_L pins.
Only one of the options above may be used at one time. Make the following connections based on the
selected option:
A. If using the hardware interface, connect the Wheel Tick and FWD pins to the corresponding
pins of the outputting sensor
B. If using the software interface, connect a serial interface (USB/UART) to the data provider
C. If using the CAN interface, connect the CAN high and CAN low signals of the CAN bus to the
CAN_H and CAN_L pins in the front connector.
See the NEO-M9V documentation ([2], [3]) for more information about options 1 and 2. For option 3,
refer to chapter 5.
UBX-21049360 - R01
C1-Public
CFG-NAVSPG-DYNMODEL = 10
CFG-NAVSPG-DYNMODEL = 12
CFG-SFIMU-AUTO_MNTALG_ENA = 0
CFG-SFIMU-IMU_MNTALG_ROLL
CFG-SFIMU-IMU_MNTALG_PITCH
CFG-SFIMU-IMU_MNTALG_YAW
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EVK-M9DR - User guide
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