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Alternatively, host interface can be established via UART pins on the front connector or the RS-232
connector. In this case, power must be provided via USB or the VIN and GND pins on the front
connector.
☞
Use the provided 14-pin breakout cable to securely connect the front connector pins. The unused
wires must be isolated.
3.3 Configuring the device
With u-center connected to the COM port assigned to the ZED-F9R module, verify that the host
interface to the ZED-F9R is established. This can be verified with u-center "Messages" view by polling
the UBX-MON-VER message. A valid response proves that the host interface is connected correctly.
3.3.1 ADR configuration
The receiver can be configured with UBX-CFG-VALSET messages. Consult the ZED-F9R
documentation ([1], [2]) for more information about the configuration.
1. Enable automatic alignment of the IMU with key ID CFG-SFIMU-AUTO_MNTALG_ENA. Set the
value to 1.
2. Configure the odometer sensor input depending on the used sensor:
a. If the wheel tick and direction pins on the front connector are used, enable the use of the wheel
tick pin by setting the value for key ID CFG-SFODO-USE_WT_PIN to 1.
b. If using the CAN interface or the software interface, the wheel tick pin must be disabled. Set
the value for key ID CFG-SFODO-USE_WT_PIN to 0. See chapter 4 for instructions on how to
configure the CAN interface.
☞
It is highly recommended to verify that the configuration is correct and to perform system sanity
checks.
UBX-20029244 - R03
C1-Public
Setting up
C102-F9R - User guide
Page 9 of 32
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