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Configuring ZED-F9R
ZED-F9R configuration can be set with UBX-CFG-VALSET message and the appropriate
configuration keys.
8. Disable output messages on I2C (MCU is connected to I2C):
o
CFG-I2COUTPROT-UBX
o
CFG-I2COUTPROT-NMEA
9. Enable automatic alignment:
o
CFG-SFIMU-AUTO_MNTALG_ENA
10. (Optional) Enable priority navigation mode (10 Hz):
o
CFG-RATE-NAV_PRIO
o
CFG-UART1-BAUDRATE
• You need to increase UART1 baud rate if you are using the priority navigation mode.
Enabling logging/debug messages
Messages can be enabled with UBX-CFG-VALSET with CFG-MSGOUT-xx configuration keys.
The following hex string contains the recommended minimum set of debug messages required by u-
blox for any issues which may need investigation.
B5 62 06 8A 54 00 00 05 00 00 3E 02 91 20 01 98 02 91 20 01 9D 02 91 20 01 44 01 91 20 01 3F
01 91 20 01 39 02 91 20 01 66 02 91 20 01 26 01 91 20 01 7A 02 91 20 01 0D 01 91 20 01 08 01
91 20 01 09 00 91 20 01 18 00 91 20 01 6B 02 91 20 01 16 02 91 20 01 2F 02 91 20 01 3B 7C
☞
The debug messages are supplied here as a hex string because it contains some proprietary
messages.
11. Copy and paste the hex string into the Custom Messages field in u-center Messages view, and
select the Send button (circled in the figure below).
UBX-20029244 - R03
C1-Public
= false
= false
= true
= 10
= 115200
Appendix
C102-F9R - User guide
Page 20 of 32
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