---
- group: aar
name: pnm_id
expert: false
type: integer
units: N/A
default value: '0'
readonly: false
Description: PNM Identification. Range [0..2]. 0 = Non-locomotive, startup, advanced configuration; 1 = PNM1; 2 = PNM2
Notes:
- group: aar
name: pcps_pos_reference
expert: false
type: string
units: N/A
default value: '1'
readonly: false
Description: Reported locomotive position reference. Range [1..4]. 1 = Antenna ARP; 2 = Antenna Centroid; 3 = Front Coupler; 4 = Rear Coupler
Notes: Valid locomotive attitude is required to compute Antenna Centroid, Front Coupler and Rear Coupler positions. Attitude may not be available after receiver start before the locomotive movement in a good sky visibility conditions.
- group: aar
name: pcsh_ss_ssd_thr_high_precision_mph
expert: true
type: float
units: MPH
default_value: 0.05
Description: Speed SD threshold below which speed High Precision mode is reported. Range [0.0..1000.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_ssd_thr_standard_mph
expert: true
type: float
units: MPH
default_value: 0.5
Description: Speed SD threshold below which speed Standard mode is reported. Range [0.0..1000.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_ssd_thr_degraded_mph
expert: true
type: float
units: MPH
default_value: 1.0
Description: Speed SD threshold below which speed Degraded mode is reported. Range [0.0..1000.0].
Notes: Speed Very Low Confidence mode is reported when the speed is valid and speed SD is above this threshold. Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_high_precision_deg
expert: true
type: float
units: degrees
default_value: 1.0
Description: Heading SD threshold below which heading High Precision mode is reported. Range [0.0..180.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_standard_deg
expert: true
type: float
units: degrees
default_value: 5.0
Description: Heading SD threshold below which heading Standard mode is reported. Range [0.0..180.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_degraded_deg
expert: true
type: float
units: degrees
default_value: 20.0
Description: Heading SD threshold below which heading Degraded mode is reported. Range [0.0..180.0].
Notes: Heading Very Low Confidence mode is reported when the heading is valid and heading SD is above this threshold. Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcof_along_track_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Along Track Offset. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler towards the rear of the locomotive.
- group: aar
name: pcof_cross_track_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Cross Track Offset. Range [-327.68..327.67].
Notes: Distance is measured from the locomotive centerline towards the right of the locomotive.
- group: aar
name: pcof_vertical_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Vertical Offset. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pcof_along_track_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Along Track Offset. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler towards the rear of the locomotive.
- group: aar
name: pcof_cross_track_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Cross Track Offset. Range [-327.68..327.67].
Notes: Distance is measured from the locomotive centerline towards the right of the locomotive.
- group: aar
name: pcof_vertical_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Vertical Offset. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pcof_loco_length_m
expert: false
type: float
units: m
default_value: 0.0
Description: Locomotive length. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler to the pulling face of the rear coupler.
- group: aar
name: loco_coupler_height_m
expert: false
type: float
units: m
default_value: 0.84
Description: Locomotive coupler height. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pccf_mfg_id
expert: true
type: integer
units: N/A
default value: '0'
readonly: false
Description: Manufacturer ID. Range [0..255].
Notes:
- group: aar
name: pccf_device_reported
expert: true
type: integer
units: N/A
default value: '0'
readonly: false
Description: Device being reported. Range [0..65535].
Notes:
- group: aar
name: pccf_equipment_description
expert: true
type: string
units: N/A
default value: ''
readonly: false
Description: Equipment description. Maximum 32 characters.
Notes:
- group: aar
name: pcsd_imu_stat_period_s
expert: true
type: integer
units: N/A
default value: '1'
readonly: false
Description: IMU statistic computation period. Range [0..1000].
Notes: When set to zero statistic will be computed at the position output rate.
- group: acquisition
name: sbas_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable SBAS acquisition.
Notes: If SBAS satellites are already being tracked, this setting will not remove them from tracking or exclude SBAS corrections from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: bds2_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Beidou2 acquisition.
Notes: If Beidou2 satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: galileo_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Galileo acquisition.
Notes: If Galileo satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: qzss_acquisition_enabled
expert: true
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable QZSS acquisition.
Notes:
- group: acquisition
name: glonass_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable GLONASS acquisition.
Notes: If GLONASS satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: almanacs_enabled
expert: true
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable the almanac-based acquisition.
Notes:
- group: cell_modem
name: modem_type
expert: true
type: enum
enumerated possible values: GSM,CDMA
default value: 'GSM'
readonly: false
Description: The type of cell modem in use.
- group: cell_modem
name: debug
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Additional debug messages for cell modem. This setting must be saved and the device rebooted for it to take effect.
- group: cell_modem
name: enable
expert: true
type: boolean
default value: 'False'
readonly: false
units: N/A
- group: cell_modem
name: device
expert: true
type: string
default value: 'ttyACM0'
readonly: false
units: N/A
- group: cell_modem
name: APN
expert: true
type: string
default value: INTERNET
readonly: false
Description: Access point name (provided by cell carrier).
units: N/A
- group: cell_modem
name: device_override
expert: true
type: string
default value: ''
readonly: false
Description: Override the device used for cell modem connectivity. If left empty, uses default device discovery to determine the correct device to use.
Notes: Cell modem 'enable' must be 'False' in order to change this setting.
- group: ethernet
name: interface_mode
expert: false
type: enum
enumerated possible values: Config,Active
units: N/A
default value: 'Active'
readonly: false
Description: Ethernet configuration mode.
Notes: |
"Config" IP configuration can be changed freely, but no change is made on the device. Returning to 'Active' mode will refresh ethernet connection with current values.
"Active" The current IP configuration is sent to the device and updated. Afterward, no IP settings can be changed until returned to 'Config' mode.
- group: ethernet
name: ip_config_mode
expert: false
type: enum
enumerated possible values: Static,DHCP
units: N/A
default value: 'Static'
readonly: false
Description: Ethernet configuration mode.
Notes: "If DHCP is chosen the IP address will be assigned automatically. Note: The DHCP assigned IP address cannot be viewed under the Settings tab, instead use the Advanced -> Networking Tab and click on 'Refresh Network Status'."
- group: ethernet
name: ip_address
expert: false
type: string
units: N/A
default value: '192.168.0.222'
readonly: false
Description: The static IP address.
Notes: "The configured IP address in XXX.XXX.XXX.XXX format. Note: If DHCP is used, the DHCP assigned IP address cannot be viewed under the Settings tab, instead use the Advanced -> Networking Tab and click on 'Refresh Network Status'."
- group: ethernet
name: netmask
expert: false
type: string
units: N/A
default value: '255.255.255.0'
readonly: false
Description: The netmask for the IP config.
Notes: The configured netmask in XXX.XXX.XXX.XXX format.
- group: ethernet
name: gateway
expert: false
type: string
units: N/A
default value: '192.168.0.1'
readonly: false
Description: The default gateway for the IP config.
Notes: The configured gateway in XXX.XXX.XXX.XXX format.
- group: ethernet
name: ip_address2
expert: true
type: string
units: N/A
default value: ''
readonly: false
Description: The secondary static IP address in XXX.XXX.XXX.XXX format.
Notes: Secondary IP is used only if the ip_config_mode is set to static and ip_address2 is set to a valid IP address on the same subnet as the main IP address.
- group: ext_event_a
name: edge_trigger
expert: false
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_a
name: sensitivity
expert: false
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: ext_event_b
name: edge_trigger
expert: true
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Duro only. Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_b
name: sensitivity
expert: true
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Duro only. Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: ext_event_c
name: edge_trigger
expert: true
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Duro only. Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_c
name: sensitivity
expert: true
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Duro only. Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: frontend
expert: false
name: antenna_selection
type: enum
units: N/A
default value: 'Primary'
readonly: false
enumerated possible values: Primary,Secondary
Description: Determines which antenna to use.
Notes: This setting selects the antenna input that should be used by the receiver.
Piksi Multi boards and Duro units ship with only a "Primary" antenna connector,
so this should always be set to "Primary."
- group: frontend
name: antenna_bias
expert: false
type: bool
units: N/A
default value: 'True'
readonly: false
Description: Enable/Disable 4.85V antenna bias.
Notes: Most active antennas require an antenna bias in order to power
the amplifier in the antenna.
- group: frontend
name: use_ext_clk
expert: false
type: bool
units: N/A
default value: 'False'
readonly: false
Description: Enable/Disable External Clock Input.
Notes: This setting toggles the hardware switch for Piksi Multi 10Mhz clock source.
When true, Piksi Multi will be configured to use an external clock source rather
than its onboard oscillator. It is only available on Piksi Multi hardware versions
greater than or equal to 5.1 (00108-05 rev 1). The external clock input signal can
be provided on the Piksi Multi evaluation board through a labeled SMA connector.
It is not exposed on Duro.
- group: frontend
name: activate_clock_steering
expert: true
type: bool
units: N/A
default value: 'False'
readonly: false
Description: Enable/Disable Clock Steering of RF frontend.
Notes: This setting toggles the clock steering for the RF frontend. If timing drift
is detected in the onboard oscillator, the clock will be continuously adjusted to align
more precisely with clock data encoded within the GNSS signals received by the device.
- group: imu
name: imu_raw_output
expert: false
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable IMU raw data output from onboard Bosch BMI160 IMU.
Notes: The IMU raw data can be seen in the Advanced Tab of the Swift Console.
The default enabled_sbp_messages settings on all interfaces decimate the
raw IMU messages sent by the device by a factor of 50 to reduce bandwidth.
- group: imu
name: imu_rate
expert: false
type: enum
default value: '100'
readonly: false
enumerated possible values: 25,50,100,200
units: Hz
Description: The data rate (in Hz) for IMU raw output.
Notes: It is recommended to use Ethernet or USB for IMU data output
for data rates over 25 Hz. Make sure that the rate is greater than that of
INS solutions.
- group: imu
name: acc_range
expert: false
type: enum
default value: '8'
readonly: false
enumerated possible values: 2,4,8,16
units: g
Description: The approximate range of accelerations that can be measured.
Notes: When 2 g is chosen, it means the accelerometer is scaled to measure
about +/- 2 g of acceleration. Refer to the IMU datasheet for detailed information.
- group: imu
name: gyro_range
expert: false
type: enum
default value: '125'
readonly: false
enumerated possible values: 125,250,500,1000,2000
units: deg/s
Description: The approximate range of angular rate that can be measured.
Notes: When 125 is chosen, it means the gyro is scaled to measure
about +/- 125 deg/s of angular rate. Refer to the IMU datasheet for detailed information.
- group: imu
name: mag_raw_output
expert: false
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable raw data output from onboard Bosch BMM150 Magnetometer.
Notes: The magnetometer raw data can be seen in the Advanced Tab of the Swift Console. imu.imu_raw_output must also be set to True for the magnetometer output to be enabled.
- group: imu
name: mag_rate
expert: false
type: enum
default value: '12.5'
readonly: false
enumerated possible values: 6.25,12.5,25
units: Hz
Description: The data rate (in Hz) for magnetometer raw output.
- group: ins
name: output_mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: Disabled, Loosely Coupled
Description: Determines output mode of the inertial navigation outputs.
Notes: |
Disabled - output GNSS-only solutions.
Loosely Coupled - output loosely coupled solutions, utilizing GNSS and inertial data.
- group: ins
name: odometry_noise_1
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 1
- group: ins
name: odometry_noise_2
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 2
- group: ins
name: odometry_noise_3
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 3
- group: ins
name: odometry_noise_4
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 4
- group: ins
name: vehicle_frame_roll
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Roll angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: vehicle_frame_pitch
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Pitch angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: vehicle_frame_yaw
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Yaw angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: antenna_offset_x
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: X component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device.
- group: ins
name: antenna_offset_y
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: Y component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device.
- group: ins
name: antenna_offset_z
expert: false
type: double
units: meters
default value: '-0.12674'
readonly: false
Description: Z component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device. The default
value represents the offset from the Duro Device Frame to the antenna phase center when the antenna
mounting bracket shipped with Duro is in use.
- group: ins
name: vehicle_frame_offset_x
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: X component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
- group: ins
name: vehicle_frame_offset_y
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: Y component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
- group: ins
name: vehicle_frame_offset_z
expert: false
type: double
units: meters
default value: '-0.12674'
readonly: false
Description: Z component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
The default value represents vehicle outpus at the antenna phase center when the Duro antenna mounting bracket is in use.
- group: ins
name: constrain_vehicle_sideslip
expert: true
type: boolean
units: N/A
default value: false
readonly: false
Description: Experimental non-holonomic constraint feature that allows inertial system to make assumptions about vehicle dynamics
Notes: This settings should only be enabled provided the vehicle frame Euler angles are measured precisely and are correct. It assumes a vehicle can have no velocity in the direction aligned with the vehicle "y" axis (i.e no sideslip). This is a reasonable assumption for passenger vehicles and many tractors.
- group: ins
name: stillness_detection_enable
expert: true
type: boolean
units: N/A
default value: false
readonly: false
Description: Experimental stillness detection feature
Notes: This settings attempts to automatically determine that a particular vehicle is still based upon its vibration and dynamics profile. It can improve performance on vehicles when stopped and/or idling.
- group: ins
name: dr_duration_max
expert: false
type: double
units: seconds
default value: '600'
readonly: false
Description: Indicates the maximum duration in seconds for which the inertial system will dead reckon.
Notes: The default value of 600 seconds was chosen as the expected duration for which the Duro Inertial solution can maintain sub-meter accuracy.
- group: ins
name: dr_timeout_pos_stddev
expert: false
type: double
units: meters
default value: '20'
readonly: false
Description: Indicates the maximum standard deviation of position for which the inertial system will dead reckon.
Notes: The default value of 20 meters was chosen as the logical minimum standard of the position accuracy during dead reckon mode.
- group: ins
name: build_name
expert: true
type: string
units: N/A
default value: N/A
readonly: true
Description: inertial navigation system build name
- group: ins
name: build_date
expert: true
type: string
units: N/A
default value: N/A
readonly: true
Description: inertial navigation system build date
- group: ins
name: antenna_offset_deviation
type: double
units: meters
default value: '0.05'
readonly: False
Description: Standard deviation of antenna lever arm measurement.
Notes: |
Must be greater than 0.
This value should overestimate the actual expected error.
- group: ins
name: pos_std_deviation_cutoff_meters
expert: true
type: double
units: meters
default value: '30'
readonly: False
Description: GNSS position standard deviation cutoff - only solutions with a standard deviation lower than this will be used.
Notes: |
- group: ins
name: vehicle_frame_deviation
type: double
units: degrees
default value: '1'
readonly: False
Description: Standard deviation of misalignment measurement.
Notes: |
Must be greater than 0.
This value should overestimate the actual expected error.
- group: ins
name: fused_soln_freq
type: double
expert: False
units: hertz
default value: '10'
readonly: False
Description: Fusion engine output rate in Hertz.
Notes: Make sure that the rate is less than the imu rate.
- group: ins
name: solution_accuracy_confidence_level
type: enum
expert: true
units: percent
default value: '68'
readonly: False
enumerated possible values: 40,68
Description: Sets the confidence level for the message SBP MSG_LLH_ACC.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_x
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_y
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_z
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_x
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_y
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_z
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_x
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_y
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_z
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_x
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_y
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_z
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: lowpass_filter_cutoff_hz
type: double
expert: true
units: gertz
default value: '1'
readonly: False
Description: The cut-off frequency of the low-pass filter (smaller than half the nominal_sample_rate_hz).
Notes: |
- group: ins
name: zupt_acceleration_threshold_mpers2
type: double
expert: true
units: meters per second squared
default value: '0.05'
readonly: False
Description: Maximum allowed acceleration while in ZUPT.
Notes: |
- group: ins
name: zupt_angular_rate_threshold_degpers
type: double
expert: true
units: degrees per second
default value: '0.3'
readonly: False
Description: Maximum allowed angular rate while in in ZUPT.
Notes: |
- group: ins
name: zupt_enable_partial_zerovel_update
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable partial zero-velocity update (ZUPT).
Notes: |
- group: ins
name: zupt_enable_full_zerovel_update
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable full zero-velocity update (ZUPT).
Notes: |
- group: ins
name: zupt_enable_zero_angular_rate_update
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable zero angular rate update.
Notes: |
- group: ins
name: zupt_settings_1
type: double
expert: True
units:
default value: '0.1'
readonly: False
Description:
Notes: |
- group: ins
name: zupt_settings_2
type: double
expert: True
units:
default value: '0.1'
readonly: False
Description:
Notes: |
- group: ins
name: zupt_settings_3
type: double
expert: True
units:
default value: '0.05'
readonly: False
Description:
Notes: |
- group: ins
name: zupt_settings_4
type: double
expert: True
units:
default value: '0.5'
readonly: False
Description:
Notes: |
- group: ins
name: zupt_settings_5
type: double
expert: True
units:
default value: '4'
readonly: False
Description:
Notes: |
- group: ins
name: alignment_cog_enable
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable updating the alignment algorithm by assuming course over ground (i.e. the horizontal direction of the velocity vector) is equal to the vehicle heading.
Notes: |
- group: ins
name: alignment_cog_low_speed_disambiguation_enable
type: boolean
expert: true
units:
default value: 'false'
readonly: False
Description: If this parameter is set to true, COG updates will also be used if the current vehicle speed does not exceed alignment_cog_min_speed_meters_per_second.
Notes: |
- group: ins
name: alignment_cog_min_speed_meters_per_second
type: double
expert: true
units: meters per second
default value: '5'
readonly: False
Description: If enabled, COG updates will only be used if the current vehicle speed exceeds this threshold. Value should be >= 1m/s.
Notes: |
- group: ins
name: alignment_settings_1
type: double
expert: true
units:
default value: '3'
readonly: False
Description:
Notes: |
- group: ins
name: filter_vel_max_half_life_ms
expert: true
type: float
units: milliseconds
default_value: 20000
Description: Time constant parameter for low-speed velocity filtering
- group: ins
name: filter_vel_half_life_alpha
expert: true
type: float
units: N/A
default_value: 0.02
Description: Parameter for low-speed velocity filtering
- group: ins
name: filter_vel_max
expert: true
type: float
units: m/s
default_value: 0.4
Description: Velocity above which to disable velocity filtering
- group: ins
name: filter_vel_min
expert: true
type: float
units: m/s
default_value: 0.1
Description: Velocity below whih to enable advanced velocity filtering
- group: ins
name: filter_vel
expert: true
type: boolean
default_value: false
Description: Enabled low-speed velocity filtering (advanced use only)
- group: ins
name: filter_pos
expert: true
type: boolean
default_value: false
Description: Enabled low-speed position filtering (advanced use only)
- group: ins
name: stillness_autotune
expert: true
type: boolean
default_value: false
Description: Automatically attempt to tune stillness detection thresholds
- group: ins
name: gyro_still_threshold
expert: true
type: float
units: rad/sec
default_value: 0.0005
Description: Gyro magnitude stillness thresold
- group: ins
name: accel_still_threshold
expert: true
type: float
units: Gs
default_value: 0.01
readonly: false
Description: Gyro magnitude stillness thresold
- group: ins
name: vel_still_threshold
expert: true
type: float
units: m/s
default_value: 0.02
Description: Gyro magnitude stillness thresold
- group: ins
name: stillness_detection_use_accel
expert: true
type: boolean
default_value: False
Description: Use accelermoter in detecting stillness
- group: ins
name: stillness_detection_use_gyro
expert: true
type: boolean
default_value: False
Description: Use gyro in detecting stillness
- group: ins
name: accel_noise
expert: true
type: float
units: Gs
default_value: 0.08
Description: Noise estimate for raw sensor
- group: ins
name: gyro_noise
expert: true
type: float
units: deg/s
default_value: 0.002
Description: Noise estimate for raw sensor
- group: metrics_daemon
name: metrics_update_interval
expert: true
type: integer
units: seconds
default value: '1'
readonly: false
Description: Set metric update interval
Notes:
- group: metrics_daemon
name: enable_log_to_file
expert: true
type: bool
units: N/A
default value: 'true'
readonly: false
Description: Enable metric logging to file
Notes:
- group: ndb
name: erase_ephemeris
expert: true
type: boolean
default value: 'True'
readonly: false
Description: Erase stored ephmerides during boot.
- group: ndb
name: erase_almanac
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Erase stored almanacs during boot.
- group: ndb
name: erase_almanac_wn
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Erase stored almanac week numbers during boot.
- group: ndb
name: erase_iono
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Erase stored ionospheric parameters during boot.
- group: ndb
name: erase_lgf
expert: true
type: boolean
default value: 'True'
readonly: false
Description: Erase stored last fix information during boot.
- group: ndb
name: erase_gnss_capb
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Erase stored GNSS capability mask during boot.
- group: ndb
name: erase_utc_params
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Erase stored UTC offset parameters during boot.
- group: ndb
name: lgf_update_s
expert: true
type: int
default value: '1800'
readonly: false
units: seconds
Description: Update period for navigation database last good fix.
- group: ndb
name: lgf_update_m
expert: true
type: int
default value: '10000'
readonly: false
units: meters
Description: Change in position required to update last good fix.
- group: ndb
name: valid_alm_days
expert: true
type: int
default value: '6'
readonly: false
units: days
Description: Number of days for which Almanac is valid.
- group: ndb
name: valid_eph_acc
expert: true
type: int
default value: '100'
readonly: false
units: meters
- group: ndb
name: valid_alm_acc
expert: true
type: int
default value: '5000'
readonly: false
units: meters
- group: nmea
name: gpgsv_msg_rate
expert: false
type: integer
units: Solution Period
default value: '10'
readonly: false
Description: Number of Solution Periods between GSV NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gpgga_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
Description: Number of Solution Periods between GGA NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gphdt_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
Description: Number of Solution Periods between HDT NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gprmc_msg_rate
expert: false
type: integer
units: Solution Period
default value: '10'
readonly: false
Description: Number of Solution Periods between RMC NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gpvtg_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
Description: Number of Solution Periods between VTG NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gpgll_msg_rate
expert: false
type: integer
units: Solution Period
default value: '10'
readonly: false
Description: Number of Solution Periods between GLL NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gpzda_msg_rate
expert: false
type: integer
units: Solution Period
default value: '10'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between ZDA NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gsa_msg_rate
expert: false
type: integer
units: Solution Periods
default value: '10'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between GSA NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message. For example, if the solution rate is 10 Hz, and this rate setting is 2, the NMEA message will be sent every two solution epochs at a rate of 5 Hz. If this setting is 0, the msg will be suppressed.
- group: nmea
name: gpgsa_msg_rate
expert: false
type: integer
units: Solution Period
default value: '10'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between GSA NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message.
- group: nmea
name: gpgst_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between GST NMEA messages being sent.
Notes: This setting represents the integer number of solution periods between each transmission of the NMEA message.
- group: nmea
name: pcps_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCPS messages being sent.
Notes:
- group: nmea
name: pcsh_msg_rate
expert: false
type: integer
units: Solution Period
default value: '1'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCSH messages being sent.
Notes:
- group: nmea
name: pcgd_msg_rate
expert: false
type: integer
units: Solution Period
default value: '5'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCGD messages being sent.
Notes:
- group: nmea
name: pcof_msg_rate
expert: false
type: integer
units: Solution Period
default value: '50'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCOF messages being sent.
Notes:
- group: nmea
name: pccf_msg_rate
expert: false
type: integer
units: Solution Period
default value: '50'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCCF messages being sent.
Notes:
- group: nmea
name: pcsd_msg_rate
expert: false
type: integer
units: Solution Period
default value: '5'
readonly: false
enumerated possible values:
Description: Number of Solution Periods between AAR PNM PCSD messages being sent.
Notes:
- group: nmea
name: cog_output_min_speed
expert: true
type: float
units: Meters per second
digits: '2'
default value: '0.1'
readonly: false
enumerated possible values:
Description: Minimum speed for outputting Course-Over-Ground values.
Notes: For value '0' Course-Over-Ground is output always when fix is available.
- group: nmea
name: cog_update_min_speed
expert: true
type: float
units: Meters per second
digits: '2'
default value: '0.1'
readonly: false
enumerated possible values:
Description: Minimum speed for updating the current Course-Over-Ground value.
Notes: For value '0' Course-Over-Ground is updated always when a fix is available. For non '0' values, the Course-Over-Ground value will only be recomputed and updated when the speed exceeds the specified value.
- group: nmea
name: max_reported_sats
expert: true
type: integer
units: N/A
default value: '99'
readonly: false
Description: Maximum number of used satellites reported in GGA message. Range [0..99].
Notes:
- group: nmea
name: pos_mode_spp_report_as
expert: true
type: enum
units: N/A
default value: 'SPP'
readonly: false
enumerated possible values: Invalid,SPP
Description: A valid SPP solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes:
- group: nmea
name: pos_mode_dgnss_report_as
expert: true
type: enum
units: N/A
default value: 'DGNSS'
readonly: false
enumerated possible values: Invalid,SPP,DGNSS
Description: A valid DGNSS solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes:
- group: nmea
name: pos_mode_float_rtk_report_as
expert: true
type: enum
units: N/A
default value: 'Float RTK'
readonly: false
enumerated possible values: Invalid,SPP,DGNSS,Float RTK
Description: A valid Float RTK solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes:
- group: nmea
name: pos_mode_fixed_rtk_report_as
expert: true
type: enum
units: N/A
default value: 'Fixed RTK'
readonly: false
enumerated possible values: Invalid,SPP,DGNSS,Float RTK,Fixed RTK
Description: A valid Fixed RTK solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes:
- group: nmea
name: pos_mode_dr_report_as
expert: true
type: enum
units: N/A
default value: 'DR'
readonly: false
enumerated possible values: Invalid,SPP,DR
Description: A valid DR solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes: If the SPP is selected, the number of used satellites will be set to 4, PDOP to 3.0, HDOP to 2.0, and VDOP to 2.0.
- group: nmea
name: pos_mode_sbas_report_as
expert: true
type: enum
units: N/A
default value: 'DGNSS'
readonly: false
enumerated possible values: Invalid,SPP,DGNSS
Description: A valid SBAS solution will be reported as selected in GGA, RMC, VTG, GLL and GSA messages.
Notes:
- group: ntrip
name: enable
expert: false
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable NTRIP client.
Notes: If True, NTRIP client will be used.
- group: ntrip
name: url
expert: false
type: string
units: N/A
default value: N/A
readonly: false
enumerated possible values:
Description: NTRIP URL to use.
Notes: NTRIP must be enabled to use this setting. URLs should be HTTP URLs with a port, and a mountpoint path such as example.com:2101/BAZ_RTCM3.
NTRIP 'enable' must be 'False' in order to change this setting.
- group: ntrip
name: username
expert: false
type: string
units: N/A
default value: N/A
readonly: false
enumerated possible values:
Description: NTRIP username to use.
Notes: Username to use with NTRIP client. NTRIP must be enabled to use this setting.
- group: ntrip
name: password
expert: false
type: string
units: N/A
default value: N/A
readonly: false
enumerated possible values:
Description: NTRIP password to use.
Notes: Password to use with NTRIP client. NTRIP must be enabled to use this setting.
- group: ntrip
name: gga_out_interval
expert: false
type: integer
units: seconds
default value: '0'
readonly: false
enumerated possible values:
Description: Interval at which the NMEA GGA sentence is uploaded to the NTRIP server
Notes: The interval (in seconds) at which the NMEA GGA sentence is uploaded to
the specified NTRIP server. The default of 0 disables the GGA sentence upload.
- group: ntrip
name: gga_out_rev1
expert: true
type: boolean
units: seconds
default value: 'False'
readonly: false
enumerated possible values:
Description: If True, the NTRIP client will use an NTRIP 1.0 formatted GGA sentence.
Notes: |
By default, the NTRIP client will use an NTRIP 2.0 formatted GGA sentence,
which prefixes the GGA sentence with "Ntrip-GGA: ". If this option is
enabled, the prefix will be dropped.
- group: ntrip
name: debug
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Additional debug messages for NTRIP (sent to /var/log/messages).
- group: pps
name: width
expert: false
type: integer
units: us (microseconds)
default value: '2000'
readonly: false
enumerated possible values:
Description: Number of microseconds the PPS will remain active (allowed range from 1 to 999999 us).
Notes:
- group: pps
name: polarity
expert: false
type: integer
units: Logic Level
default value: '1'
readonly: false
enumerated possible values: 0, 1
Description: Logic level on output pin when the PPS is active.
Notes:
- group: pps
name: offset
expert: false
type: integer
units: ns (nanoseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Offset in nanoseconds between GPS time and the PPS.
Notes: This setting can be used to compensate for cable delays in timing systems.
- group: pps
name: frequency
expert: false
type: double
units: Hz
default value: '1.0'
readonly: false
enumerated possible values:
Description: Generate a pulse with the given frequency (maximum = 20 Hz).
Notes:
- group: pps
name: propagation_mode
expert: false
type: enum
units: N/A
default value: Time Limited
enumerated possible values: None,Time Limited,Unlimited
Description: Configures the behavior of the PPS when no GNSS fix is available.
- group: pps
name: propagation_timeout
expert: false
type: float
units: seconds
default value: '5'
readonly: false
Description: Configures the timeout length of the PPS when using the "Time Limited" propagation mode.
- group: rtcm_out
name: output_mode
expert: true
type: enum
units: N/A
default value: 'MSM5'
readonly: false
enumerated possible values: Legacy, MSM4, MSM5
Description: Selects the format of RTCM observation messages for the RTCMv3 OUT protocol
Notes: Legacy mode outputs the RTCMv3.1 1004 & 1012 observation messages (GPS&GLO only),
whereas the RTCMv3.2 MSM4 and MSM5 modes send observations from all constellations.
- group: rtcm_out
name: rcv_descriptor
expert: true
type: string
units: N/A
default value: 'PIKSI'
readonly: false
enumerated possible values:
Description: Receiver type description to be sent out in the RTCMv3 1033 message.
Notes: Alphanumeric characters. Maxmimum 31 characters.
- group: rtcm_out
name: ant_descriptor
expert: true
type: string
units: N/A
default value: 'HXCGPS500 NONE'
readonly: false
enumerated possible values:
Description: Antenna description to be sent out in RTCMv3 messages 1008 and 1033.
Notes: Alphanumeric characters. IGS limits the number of characters to 20 at
this time, but this setting allows for 31 characters for future extension.
- group: rtcm_out
name: antenna_height
expert: true
type: double
units: meters
default value: '0.0'
readonly: false
enumerated possible values:
Description: Antenna height to be sent out in RTCMv3 message 1006.
Notes: The Antenna Height field provides the height of the Antenna Reference Point
above the marker used in the survey campaign.
- group: rtcm_out
name: enable_ephemeris
expert: true
type: boolean
units: N/A
default value: 'false'
readonly: false
enumerated possible values:
Description: Allow output of RTCMv3 ephemeris messages.
Notes: RTCM Message Type - 1019 (GPS Ephemeris), 1020 (GLONASS Ephemeris),
1045/1046 (Galileo Ephemeris), 1042 (Beidou Ephemeris)
- group: sample_daemon
name: enabled
expert: true
type: boolean
units: N/A
default value: 'false'
readonly: false
Description: Enables or disables the SDK sample daemon.
- group: sample_daemon
name: enable_broadcast
expert: true
type: boolean
units: N/A
default value: 'false'
readonly: false
Description: Enables or disables UDP broadcast in the SDK sample daemon.
- group: sample_daemon
name: offset
expert: true
type: float
units: meters
default value: '-32.1597'
readonly: false
Description: Sets the height offset for the SDK sample daemon.
- group: sample_daemon
name: broadcast_hostname
expert: true
type: string
units: N/A
default value: '255.255.255.255'
readonly: false
Description: Sets the broadcast hostname for the SDK sample daemon.
- group: sample_daemon
name: broadcast_port
expert: true
type: integer
units: N/A
default value: '56666'
readonly: false
Description: Sets the broadcast port for the SDK sample daemon.
- group: sbp
name: obs_msg_max_size
expert: true
type: integer
units: bytes
default value: '255'
readonly: false
enumerated possible values:
Description: Determines the maximum message length for raw observation sbp messages.
Notes: This parameter is useful for tuning observation messages for compatibility
with radio modems. Some serial modems will internally split serial packets for
their protocol and this parameter allows the size of the message to be reduced
as to prevent the modem from sending multiple packets. If the parameter exceeds
255 bytes (the maximum size of an SBP message), the receiver firmware will ignore
the parameter and use 255 bytes. If the parameter is set smaller than the size
of one observation, the firmware will ignore the parameter and use the size
of one observation as the maximum message size.
- group: simulator
expert: false
name: enabled
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Toggles the receiver internal simulator on and off.
Notes: The simulator will provide simulated outputs of a
stationary base station and the Local receiver moving in a circle around the
base station. The simulator is intended to aid in system integration by
providing realistic looking outputs but does not faithfully simulate every
aspect of device operation.
- group: simulator
name: start_date
expert: false
type: string
default value: '2023-01-01'
readonly: false
Description: Simulation start date in format YYYY-MM-DD.
units: N/A
Notes:
- group: simulator
name: start_time
expert: false
type: string
default value: '00:00:00'
readonly: false
Description: Simulation start UTC time in format HH:MM:SS, HH in range [00..23], MM and SS in range [00..59].
units: N/A
Notes:
- group: simulator
name: base_lat_deg
expert: false
type: double
units: degrees
default value: '0.0'
readonly: false
enumerated possible values:
Description: Simulated base station latitude. Range [-90.0..90.0].
Notes: ECEF base position is used if base_lat_deg, base_lon_deg and base_alt_m are zeroes.
- group: simulator
name: base_lon_deg
expert: false
type: double
units: degrees
default value: '0.0'
readonly: false
enumerated possible values:
Description: Simulated base station longitude. Range [-180.0..180.0].
Notes: ECEF base position is used if base_lat_deg, base_lon_deg and base_alt_m are zeroes.
- group: simulator
name: base_alt_m
expert: false
type: double
units: meters
default value: '0.0'
readonly: false
enumerated possible values:
Description: Simulated base station altitude. Range [-1000.0..10000.0].
Notes: ECEF base position is used if base_lat_deg, base_lon_deg and base_alt_m are zeroes.
- group: simulator
name: base_ecef_x
expert: false
type: double
units: meters
default value: '-2706098.845'
readonly: false
enumerated possible values:
Description: Simulated base station position.
Notes: Earth Centered Earth Fixed (ECEF) x position of the simulated base station.
- group: simulator
name: base_ecef_y
expert: false
type: double
units: meters
default value: '-4261216.475'
readonly: false
enumerated possible values:
Description: Simulated base station position.
Notes: Earth Centered Earth Fixed (ECEF) y position of the simulated base station.
- group: simulator
name: base_ecef_z
expert: false
type: double
units: meters
default value: '3885597.912'
readonly: false
enumerated possible values:
Description: Simulated base station position.
Notes: Earth Centered Earth Fixed (ECEF) z position of the simulated base station.
- group: simulator
name: speed
expert: false
type: double
units: m/s
default value: '4'
readonly: false
enumerated possible values:
Description: Simulated tangential speed of the receiver.
Notes:
- group: simulator
name: radius
expert: false
type: double
units: meters
default value: '100'
readonly: false
enumerated possible values:
Description: Radius of the circle around which the simulated receiver will move.
Notes:
- group: simulator
name: pos_sigma
expert: false
type: double
units: meters^2
default value: '1.5'
readonly: false
enumerated possible values:
Description: Standard deviation of simulated single point position.
Notes:
- group: simulator
name: speed_sigma
expert: false
type: double
units: meters^2/s^2
default value: '0.15'
readonly: false
enumerated possible values:
Description: Standard deviation of noise addition to simulated tangential speed.
Notes:
- group: simulator
name: cn0_sigma
expert: false
type: double
units: dBm-Hz
default value: '0.3'
readonly: false
enumerated possible values:
Description: Standard deviation of noise added to the simulated signal to noise.
ratio
Notes:
- group: simulator
name: pseudorange_sigma
expert: false
type: double
units: meters
default value: '4'
readonly: false
enumerated possible values:
Description: Standard deviation of noise added to the simulated pseudo range.
Notes:
- group: simulator
name: phase_sigma
expert: false
type: double
units: cycles
default value: '0.03'
readonly: false
enumerated possible values:
Description: Standard deviation of noise added to the simulated carrier phase.
Notes:
- group: simulator
name: num_sats
expert: false
type: integer
units: N/A
default value: '9'
readonly: false
enumerated possible values:
Description: The number of satellites for the simulator.
Notes:
- group: simulator
name: mode_mask
expert: false
type: packed bitfield
units: N/A
default value: 15 (decimal), 0xF (hexadecimal)
readonly: false
enumerated possible values:
Description: Determines the types of position outputs for the simulator.
Notes: |
bit 0 (decimal value 1) turns on single point position PVT simulated outputs
bit 1 (decimal value 2) turns on the satellite tracking simulated outputs
bit 2 (decimal value 4) turns on Float IAR simulated RTK outputs
bit 3 (decimal value 8) turns on Fixed IAR simulated RTK outputs
- group: solution
name: elevation_mask
expert: false
type: float
units: degrees
default value: '10'
readonly: false
enumerated possible values:
Description: SPP / RTK solution elevation mask.
Notes: Satellites must be above the horizon by at least this angle before they
will be used in a solution.
- group: solution
name: dgnss_filter
expert: true
type: enum
units: N/A
default value: 'Fixed'
readonly: false
enumerated possible values: Fixed,Float
Description: Determines the type of carrier phase ambiguity resolution that the receiver will attempt to achieve.
Notes: If "fixed", the receiver will output a integer fixed ambiguity estimate. If
no fixed solution is available, it will revert to the float solution. If "float",
the device will only output the float ambiguity estimate.
- group: solution
name: dynamic_motion_model
expert: true
type: enum
units: N/A
default value: 'High Dynamics'
readonly: false
enumerated possible values: High Dynamics, High Horizontal Dynamics, Low Dynamics
Description: Selects the Filter Uncertainity of position, velocity & acceleration in the Horizontal &
Vertical directions.
Notes: High dynamics - suitable when dynamics are high in all axes, High horizontal dynamics - suitable
when dynamics are high in the horizontal plane and low in the vertical axis and Low dynamics - suitable
when dynamics are high in all axes.
- group: solution
name: correction_age_max
expert: false
type: float
units: seconds
default value: '30'
readonly: false
enumerated possible values:
Description: The maximum age of corrections for which an RTK solution will be generated.
Notes:
- group: solution
name: enable_glonass
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable GLONASS measurement processing in the navigation filter.
Notes: If set to True, GLONASS measurements are processed in the navigation filter for SPP and RTK.
- group: solution
name: enable_galileo
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Galileo measurement processing in the navigation filter.
Notes: If set to True, Galileo measurements are processed in the navigation filter for SPP and RTK.
- group: solution
name: enable_beidou
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Beidou measurement processing in the navigation filter.
Notes: If set to True, Beidou measurements are processed in the navigation filter for SPP and RTK.
- group: solution
name: glonass_measurement_std_downweight_factor
expert: true
type: float
units: N/A
default value: '4.0'
readonly: false
enumerated possible values:
Description: Down weights GLONASS measurements by a given factor in the navigation filter.
Notes: This parameter down weights GLONASS observations relative to GPS observations by this factor.
- group: solution
name: dgnss_solution_mode
expert: false
type: enum
units: N/A
default value: 'Low Latency'
readonly: false
enumerated possible values: Low Latency, Time Matched, No DGNSS
Description: Selects the type of RTK solution to output.
Notes: A "Low Latency" solution uses an internal model of anticipated satellite observations
to provide RTK output with minimal latency but slightly reduced accuracy. "Low Latency" mode
assumes that the base station is stationary. For applications where accuracy is desired over timeliness
or when both receivers are moving, "Time Matched" mode should be chosen. This
means that the RTK output will require a corresponding set of correction observations
for each timestamp. When "No DGNSS" is chosen, no differential output will be
attempted by the receiver.
- group: solution
name: heading_offset
expert: False
type: double
units: degrees
default value: '0.0'
readonly: false
enumerated possible values: N/A
Description: Rotate the heading output.
Notes: |
Adds an offset to the heading output to rotate the heading vector to align the
baseline heading with a desired 0 heading. Valid values are -180.0 to 180.0 degrees
- group: solution
name: send_heading
expert: False
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: |
Enables SBP heading output.
Heading is calculated from base station to rover and represents
the inverse tangent of the north and east components of the baseline.
Notes: |
No smoothing or additional processing is provided to improve heading output.
The heading feature requires the following additional settings
Time Matched Mode
Equal Observation rate between both base and rover
The observation rate will also determine the heading output rate and is defined as "soln freq" / "output every n obs"
- group: solution
name: disable_raim
expert: true
type: boolean
units:
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Receiver Autonomous Integrity Monitoring.
Notes: If True, RAIM checks will not be performed on observation output.
- group: solution
name: soln_freq
expert: false
type: integer
units: Hz
default value: '10'
readonly: false
enumerated possible values:
Description: |
The frequency at which GNSS navigation solution is computed.
Notes: |
Minimum is 1 Hz. Maximum is 10 Hz for RTK positioning with a maximum of 15 used satellites.
At 5 Hz and lower the maximum number of used satellites is 22. 20 Hz is an absolute maximum with
a limit of 5 used satellites.
System with inertial fusion (Duro Inertial, Piksi Multi Inertial) can output position at a higher rate
than the GNSS-only solution. See fused_soln_freq in the INS group.
- group: solution
name: output_every_n_obs
expert: false
type: integer
units: N/A
default value: '10'
readonly: false
enumerated possible values:
Description: Integer divisor of solution frequency for which the observations will
be output.
Notes: For instance, if the solution frequency (soln_freq) is 10 Hz, and the output_every_n_obs
setting is 10, it means that the observation output will occur at a rate
of 1 Hz. This parameter is designed to tune the rate at which correction information is passed
from one receiver to the other as to efficiently use radio modem bandwidth and fit with user applications.
- group: solution
name: min_modelled_baseline_len_km
expert: false
type: double
units: km
default value: '0.0'
readonly: false
enumerated possible values: N/A
Description: Minimum assumed baseline length to use in RTK model calculations. This parameter
can be used to improve performance with virtual reference station (VRS) services that generate
the virtual base at an arbitrary location, independent from the quality of atmospheric models.
Notes: Typically 50 km can be used with most VRS services.
- group: solution
name: known_baseline_n
expert: false
type: double
units: meters
default value: '0'
readonly: false
enumerated possible values:
Description: Determines the baseline vector for the "init known baseline" feature.
Notes: This sets the number of meters that the rover is North from the
base station when the "init known baseline" feature is used.
- group: solution
name: known_baseline_e
expert: false
type: double
units: meters
default value: '0'
readonly: false
enumerated possible values:
Description: Determines the baseline vector for the "init known baseline" feature.
Notes: This sets the number of meters that the rover is East from the
base station when the "init known baseline" feature is used.
- group: solution
name: known_baseline_d
expert: false
type: double
units: meters
default value: '0'
readonly: false
enumerated possible values:
Description: Determines the baseline vector for the "init known baseline" feature.
Notes: This sets the number of meters that the rover is Down from the
base station when the "init known baseline" feature is used.
- group: solution
name: disable_klobuchar_correction
expert: false
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Disable Klobuchar ionospheric corrections.
Notes: |
If True, Klobuchar ionospheric corrections will not be applied.
- group: standalone_logging
name: blacklist_sdcard
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable SD Card.
- group: standalone_logging
name: enable
type: boolean
expert: false
default value: 'False'
readonly: false
units: N/A
Description: Standalone logging enabled.
Notes: Setting this to true triggers the logger to start trying to write logs to the output_directory.
Setting this to false will immediately close the current file and stop logging.
Reenabling logging will increment the session counter which is reflected in the log file names (see USB Logging File Output section).
- group: standalone_logging
name: output_directory
expert: false
type: string
default value: '/media/sda1/'
readonly: false
Description: Standalone logging path.
units: N/A
Notes: Sets the paths in which to write logs. A warning will be logged every 30 seconds if this path is invalid or unavailable. The system will not create a folder that does not exist.
If this setting is changed while logging is enabled, it will go into effect on the next file that’s created.
- group: standalone_logging
name: sdcard_enable
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable SD Card.
- group: standalone_logging
name: max_fill
expert: false
type: int
default value: '95'
readonly: false
Description: Maximum storage device usage.
units: percent
Notes: Sets a limit on how full the storage device can be before logging is stopped. If the drive is more than this percent full, no new log files will be created and a warning will be logged every 30 seconds.
If this setting is changed while logging is enabled, it will go into effect on the next file that’s created.
- group: standalone_logging
name: file_duration
expert: false
type: int
default value: '10'
readonly: false
Description: Duration of each logfile.
units: minutes
Notes: Sets the number of minutes to output to each standalone log file before opening the next one.
If this setting is changed while logging is enabled, it will go into effect immediately which will close the current file if its length exceeds the new duration.
- group: standalone_logging
name: logging_file_system
type: enum
expert: true
default value: 'FAT'
readonly: false
units: N/A
Description: Configure the file-system used for standalone logging (SD card only).
Notes: Configures the file-system used for standalone logging.
Setting this to F2FS will reparition and the reformat any SD card
that is not formatted with F2FS upon system reboot. Settings must
be persisted for this to take effect.
- group: standalone_logging
name: copy_system_logs
type: boolean
expert: true
default value: 'False'
readonly: false
units: N/A
Description: Copy system logs to the SD card at regular intervals.
Notes: Setting this to true will cause the device to copy the system logs to the SD card at regular intervals.
Setting this to false will stop the device from copying the systems logs to the SD card.
- group: surveyed_position
name: broadcast
expert: false
type: boolean
units:
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Broadcast surveyed base station position.
Notes: This flag ultimately determines whether the SBP message with identifier
MSG_BASE_POS_ECEF will be calculated and sent. Logically, setting this attribute to
"true" sets the Local receiver as a base station and configures the unit to send
its surveyed position coordinates to the other receiver(s) with which the base
station is communicating. If "true", the remote receiver that receives the
surveyed position will calculate and communicate a pseudo absolute
RTK position based upon the received position.
- group: surveyed_position
name: surveyed_lat
expert: false
type: Double
units: degrees
default value: '0'
readonly: false
enumerated possible values:
Description: Surveyed latitude of the antenna.
Notes: This setting represents the latitude of the local receiver's antenna, expressed
in decimal degrees relative to the equator (north = positive, south = negative).
If surveyed position "broadcast" is set to "true", the coordinate will be
communicated to remote receivers for use in calculating their pseudo-absolute
RTK position. The value should be as accurate as possible and should have
precision to at least 7 digits following the decimal point. For reference,
1e-7 degrees of latitude is about 1.1 cm on the surface of the earth. Any
errors in the surveyed position will directly affect the pseudo-absolute
RTK position measurement reported by the remote receiver.
- group: surveyed_position
name: surveyed_lon
expert: false
type: Double
units: degrees
default value: '0'
readonly: false
enumerated possible values:
Description: Surveyed longitude of the antenna.
Notes: This setting represents the longitude of the local receiver's antenna, expressed
in decimal degrees relative to the Prime Meridian (east = positive, west = negative).
If surveyed position "broadcast" is set to "true", the coordinate will be
communicated to remote receivers for use in calculating their pseudo-absolute
RTK position. The value should be as accurate as possible and should have
precision to at least 7 digits following the decimal point. For reference,
1e-7 degrees of longitude at 35 degree latitude is about 1 cm. Any
errors in the surveyed position will directly affect the pseudo-absolute
RTK position measurement reported by the remote receiver.
- group: surveyed_position
name: surveyed_alt
expert: false
type: Double
units: meters
default value: '0'
readonly: false
enumerated possible values:
Description: Surveyed altitude of the antenna.
Notes: This setting represents the altitude of the receiver's antenna above the
WGS84 ellipsoid, in meters. If surveyed position "broadcast" is set to "true",
this coordinate will be communicated to remote receivers for use in calculating
their pseudo-absolute position. This value should be precise to 1 cm. Any
errors in the surveyed position will directly affect the pseudo-absolute
RTK position measurement reported by the Rover.
- group: system
name: system_time
type: enum
expert: false
default value: 'GPS'
enumerated possible values: GPS+NTP,GPS,NTP
readonly: false
Description: Sources for Linux System Time.
units: N/A
Notes: Configures the possible sources for Linux system time on the Swift Device.
Linux system time is required for HTTPS certification validation and other Linux system functionality.
- group: system
name: log_ping_activity
type: boolean
expert: true
default value: 'False'
readonly: false
units: N/A
Description: If set to true, the network poll service will also log ping activity.
Notes: Configures the network poll service to log ping activity to /var/log/ping.log.
- group: system
name: connectivity_check_frequency
type: float
expert: true
default value: '0.1'
readonly: false
units: Hz
Description: The frequency at which the network poll service checks for connectivity.
Notes: The network poll service will perform a connectivity check with a well known IP
address at the frequency configured by this setting. A value of 0 will disable
the connectivity check and the Link LED will not show Internet access status.
- group: system
name: connectivity_retry_frequency
type: float
expert: true
default value: '1.0'
readonly: false
units: Hz
Description: The frequency at which the network poll service retries after a failed connectivity check.
Notes: If a connectivity check fails, this settings controls the frequency at which a new
connectivity check is performed.
- group: system
name: connectivity_check_addresses
type: string
expert: true
default value: '8.8.8.8'
readonly: false
units: N/A
Description: A comma separated list of addresses to ping to check for network connectivity.
Notes: 'A comma separated list of addresses, for example: 8.8.8.8,1.1.1.1 to which
an ICMP echo request is sent, each in succession until a successful response
is received.'
- group: system
name: ota_enabled
type: boolean
expert: true
default value: 'False'
readonly: false
units: N/A
Description: Enables or disables the Over-The-Air upgrade daemon.
Notes: The OTA daemon contacts the OTA server once per hour and checks if the offered version is newer
than currently installed. If the offered version is newer, then the image is downloaded and an
upgrade is performed. After the upgrade the device is automatically rebooted.
- group: system
name: ota_debug
type: boolean
expert: true
default value: 'False'
readonly: false
units: N/A
Description: Enables or disables the Over-The-Air upgrade daemon's verbose output.
Notes: The OTA daemon must be disabled in order to change this setting.
- group: system
name: ota_url
type: string
expert: true
default value: N/A
readonly: false
units: N/A
Description: Set the URL of the Over-The-Air upgrade server. If empty, an internal
default address is used.
Notes: The OTA daemon must be disabled in order to change this setting.
- group: system
name: heading_forwarding
type: boolean
expert: false
default value: 'False'
readonly: false
units: N/A
Description: Resend any SBP_MSG_HEADING or SBP_MSG_BASELINE_NED messages
received by this device to this device's output interfaces
Notes: This is intended to enable a dual piksi / duro installation so a consumer
can read both RTK heading or moving baseline and RTK position
from the same communication interface.
- group: system
name: resource_monitor_update_interval
expert: true
type: integer
units: seconds
default value: '0'
readonly: false
Description: Interval to run the resource monitor at
Notes: Value of 0 disables the resource monitor
- group: system_info
name: imageset_build_id
expert: True
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Build id for the linux system image.
Notes: Relevant for determining uimage version when using DEV image,
otherwise this will be identical to the firmware build id. This is a read only setting.
- group: system_info
name: firmware_build_id
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Full build id for firmware version.
Notes: For user generated images, this will appear
the same as the command "git describe --dirty". This is a read only setting.
- group: system_info
name: firmware_version
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Firmware version of the receiver.
Notes: The git hash is removed from this version identifier. This is a read only setting.
- group: system_info
name: firmware_build_date
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Firmware build date.
Notes: This is a read only setting.
- group: system_info
name: loader_build_id
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build id for loader (uboot).
Notes: This is a read only setting
- group: system_info
name: loader_build_date
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build date for boot loader (uboot).
Notes: This is a read only setting.
- group: system_info
name: hw_version
expert: True
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Hardware version number.
Notes: This is a read only setting that corresponds to the version number printed on the oem module hardware version sticker.
- group: system_info
name: hw_revision
expert: True
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Hardware revision of the receiver.
Notes: This is a read only setting that refers to the product family of the hardware.
- group: system_info
name: hw_variant
expert: True
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Hardware Product Variant
Notes: This is a read only setting that corresponds to the variant of the current hardware revision that is connected to the console.
- group: system_info
name: product_id
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: Product ID
Notes: This is a read only setting that displays the product id of the device.
- group: system_info
name: build_variant
expert: true
type: string
units: N/A
default value: 'release'
readonly: True
enumerated possible values:
Description: The build variant type for the current firmware.
Notes: This is a read only setting.
- group: system_info
name: sbp_sender_id
expert: false
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: The SBP sender ID for any messages sent by the device.
Notes: ID value is equal to the lower 16 bits of the UUID. This is a read only setting.
- group: system_info
name: serial_number
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: The serial number of the receiver.
Notes: This number should match the number on the barcode on the board and cannot be modified.
- group: system_info
name: pfwp_build_id
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build id for real-time GNSS firmware (piksi_firmware).
Notes: This is a read only setting.
- group: system_info
name: pfwp_build_date
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build date for real-time GNSS firmware (piksi_firmware).
Notes: This is a read only setting.
- group: system_info
name: nap_build_id
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build id for SwiftNap FPGA bitstream.
Notes: This is a read only setting.
- group: system_info
name: nap_build_date
expert: true
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: build date for SwiftNap FPGA bitstream.
Notes: This is a read only setting.
- group: system_info
name: nap_channels
expert: true
type: string
units: N/A
default value: '40'
readonly: True
enumerated possible values:
Description: Number of channels in SwiftNap FPGA.
Notes: This is a read only setting.
- group: system_info
name: mac_address
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: The MAC address of the receiver.
Notes: This is a read only setting.
- group: system_info
name: uuid
expert: False
type: string
units: N/A
default value: N/A
readonly: True
enumerated possible values:
Description: The UUID of the receiver.
Notes: The UUID is a Universally Unique IDentifier for this receiver.
The lower 16 bits of the UUID are used for the SBP Sender ID. This is a read only setting.
- group: system_info
name: uptime_s
expert: False
type: integer
units: s
default value: ''
readonly: True
enumerated possible values:
Description: Device uptime measured from power up / reset.
Notes:
- group: system_monitor
name: heartbeat_period_milliseconds
expert: true
type: integer
units: ms
default value: '1000'
readonly: false
enumerated possible values:
Description: Period for sending the SBP_HEARTBEAT messages.
Notes:
- group: system_monitor
name: spectrum_analyzer
expert: true
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable spectrum analyzer.
Notes: This setting enables the on-device spectrum analyzer and associated SBP output.
The spectrum analyzer is available from the "Advanced" tab of the console.
- group: system_monitor
name: watchdog
expert: true
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable hardware watchdog timer to reset the receiver if it locks up for.
any reason
Notes: You must reset the receiver for this change to take effect.
- group: tls_client0
name: mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for TLS client 0. The client will initiate a connection with the server and establish bi-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
The connection is bi-directional so these modes behave the same as the UART modes.
- group: tls_client0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port. Does not effect which incoming messages are listened to.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: tls_client0
name: address
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: IP address and port for TLS client 0 to connect to.
Notes: The address setting is defined according to the convention "hostname:port".
For example, it should match the format 192.168.0.222:55555 or xxxxx.net:2101 .
- group: tcp_client0
name: mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for TCP client 0. The client will initiate a connection with the server and establish bi-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
The connection is bi-directional so these modes behave the same as the UART modes.
- group: tcp_client0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port. Does not effect which incoming messages are listened to.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: tcp_client0
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: tcp_client0
name: address
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: IP address and port for TCP client 0 to connect to.
Notes: The address setting is defined according to the convention "hostname:port".
For example, it should match the format 192.168.0.222:55555 or xxxxx.net:2101 .
- group: tcp_client1
name: mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for TCP client 1. The client will initiate a connection with the server and establish bi-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
The connection is bi-directional so these modes behave the same as the UART modes.
- group: tcp_client1
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port. Does not effect which incoming messages are listened to.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: tcp_client1
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: tcp_client1
name: address
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: IP address and port for TCP client 1 to connect to.
Notes: The address setting is defined according to the convention "hostname:port".
For example, it should match the format 192.168.0.222:55555 or xxxxx.net:2101 .
- group: tcp_server0
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for TCP server 0. The server will listen for incoming client connections and establish a bi-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
The connection is bi-directional so these modes behave the same as the UART modes.
- group: tcp_server0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port. Does not effect which incoming messages are listened to.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: tcp_server0
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: tcp_server0
name: port
expert: false
type: integer
units: N/A
default value: '55555'
readonly: false
Description: Port for TCP server 0 to listen on.
Notes:
- group: tcp_server1
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for TCP server 1. The server will listen for incoming client connections and establish a bi-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
The connection is bi-directional so these modes behave the same as the UART modes.
- group: tcp_server1
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port. Does not effect which incoming messages are listened to.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: tcp_server1
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: tcp_server1
name: port
expert: false
type: integer
units: N/A
default value: '55556'
readonly: false
Description: Port for TCP server 1 to listen on.
Notes:
- group: track
name: elevation_mask
expert: true
type: float
units: degrees
default value: '0'
readonly: false
enumerated possible values:
Description: Tracking elevation mask.
Notes: Satellites must be above the horizon by at least this angle before they
will be tracked.
- group: track
name: send_trk_detailed
expert: true
type: boolean
default value: false
readonly: false
Description: send detailed tracking state message.
Notes:
- group: track
name: mode
expert: true
type: enum
default value: rover
readonly: false
enumerated possible values: rover,base station
Description: Set the tracking loop configuration
Notes: Base station profile should only be used in situations where the receiver is kept static. Degraded performance will be seen if the receiver is moving with base station profile enabled.
- group: track
name: iq_output_mask
expert: true
type: integer
units: N/A
default value: 0
readonly: false
enumerated possible values:
Description: Output raw I/Q correlations.
Notes: Bitmask of channel IDs (not PRNs)
- group: track
name: max_pll_integration_time_ms
expert: true
type: integer
units: N/A
default value: '20'
readonly: false
enumerated possible values:
Description: Controls maximum possible integration time for a measurement.
Notes: This can be used to configure the sensitivity and dynamic tracking modes permitted to be used by receiver.
Lower values provide lower sensitivity and noisier phase measurements but better performance in dynamic conditions.
- group: uart0
name: baudrate
expert: false
type: enum
units: bps
default value: '115200'
readonly: false
enumerated possible values: 1200,2400,4800,9600,19200,38400,57600,115200,230400,460800,921600
Description: The Baud rate for the UART 0.
Notes: The maximum baud rate supported by the USB to RS232 adapter cable provided in the Piksi Multi / Duro kits is 230400.
- group: uart0
name: flow_control
expert: false
type: enum
units: NA
default value: 'None'
readonly: false
enumerated possible values: None,RTS/CTS
Description: Enable hardware flow control (RTS/CTS).
Notes:
- group: uart0
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UART0.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: uart0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '72,74,117,65535'
readonly: false
Description: Configure which messages should be sent on the port.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For uart1,
the default value is optimal for logging and communication with the console.
- group: uart0
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: uart1
name: baudrate
expert: false
type: enum
units: bps
default value: '115200'
readonly: false
enumerated possible values: 1200,2400,4800,9600,19200,38400,57600,115200,230400,460800,921600
Description: The Baud rate for the UART 1.
Notes: The maximum baud rate supported by the USB to RS232 adapter cable provided in the Piksi Multi / Duro kits is 230400.
- group: uart1
name: flow_control
expert: false
type: enum
units: NA
default value: 'None'
readonly: false
enumerated possible values: None,RTS/CTS
Description: Enable hardware flow control (RTS/CTS).
Notes:
- group: uart1
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UART 1.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: uart1
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent on the port.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For uart1,
the default value is optimal for logging and communication with the console.
- group: uart1
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the port. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: udp_client0
name: mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN, RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UDP client 0. The client will send packets to a server for uni-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" has no effect for UDP clients.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: udp_client0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent to the server.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: udp_client0
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the server. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: udp_client0
name: address
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: IP address for UDP client 0.
Notes: The address setting is defined according to the convention "hostname:port".
For example, it should match the format 192.168.0.222:55555 or xxxxx.net:2101 .
- group: udp_client0
name: multicast_ttl
expert: true
type: integer
units: N/A
default value: '1'
readonly: false
Description: Multicast Time To Live property. Range [1..255].
Notes:
- group: udp_client1
name: mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UDP client 1. The client will send packets to a server for uni-directional communications.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" has no effect for UDP clients.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: udp_client1
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: '23,65,72,74,81,97,117,134,136,137,138,139, 144,149,163,165,166,167,171,175,181, 185,187,188,189,190,257,258,259,520,522, 524,526,527,528,1025,2304/50,2305,2306/50, 30583,65280,65282,65535'
readonly: false
Description: Configure which messages should be sent to the server.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: udp_client1
name: enabled_emp_messages
expert: false
type: string
units: N/A
default value: '50,51,52/5,53/50,54/50,55/5'
readonly: false
Description: Configure which AAR S-9103 EMP messages should be sent to the server. This setting is used only if EMP OUT mode is selected.
Notes: The enabled emp messages settings is a list of message IDs and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent at their default rates. If not blank, a comma separated list of EMP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each ID. For example, an entry of 50/10 would provide message with ID 50 at 1/10th the normal rate.
- group: udp_client1
name: address
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: IP address for UDP client 1.
Notes: The address setting is defined according to the convention "hostname:port".
For example, it should match the format 192.168.0.222:55555 or xxxxx.net:2101 .
- group: udp_client1
name: multicast_ttl
expert: true
type: integer
units: N/A
default value: '1'
readonly: false
Description: Multicast Time To Live property. Range [1..255].
Notes:
- group: udp_server0
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UDP server 0. The server will listen for incoming packets from a client for uni-directional communications.
Notes: |
"SBP" configures the interface to receive incoming SBP messages.
"NMEA OUT" has no effect for a UDP server.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not receive any other messages.
"RTCMv3 OUT" has no effect for a UDP server.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: udp_server0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: 'blank - all messages are enabled'
readonly: false
Description: Configure which messages should be sent on the port.
Notes: Has no effect for a UDP server.
- group: udp_server0
name: port
expert: false
type: integer
units: N/A
default value: '55557'
readonly: false
Description: Port for UDP server 0 to listen to.
Notes:
- group: udp_server1
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for UDP server 1. The server will listen for incoming packets from a client for uni-directional communications.
Notes: |
"SBP" configures the interface to receive incoming SBP messages.
"NMEA OUT" has no effect for a UDP server.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not receive any other messages.
"RTCMv3 OUT" has no effect for a UDP server.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: udp_server1
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: ''
readonly: false
Description: Configure which messages should be sent on the port.
Notes: Has no effect for a UDP server.
- group: udp_server1
name: port
expert: false
type: integer
units: N/A
default value: '55558'
readonly: false
Description: Port for UDP server 1 to listen to.
Notes:
- group: user
name: string1
expert: false
type: string
default value: ''
readonly: false
Description: User string 1. Maximum 200 characters.
units: N/A
Notes:
- group: user
name: string2
expert: false
type: string
default value: ''
readonly: false
Description: User string 2. Maximum 200 characters.
units: N/A
Notes:
- group: user
name: string3
expert: false
type: string
default value: ''
readonly: false
Description: User string 3. Maximum 200 characters.
units: N/A
Notes:
- group: usb0
name: enabled_sbp_messages
expert: false
type: string
units: N/A
default value: 'blank - all messages are enabled'
readonly: false
Description: Configure which messages should be sent on the port.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For uart1,
the default value is optimal for logging and communication with the console.
- group: usb0
name: mode
expert: false
type: enum
units: N/A
default value: 'SBP'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for USB0.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: can0
name: mode
expert: true
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT,Disabled
Description: Communication protocol for CAN client 0. The client will send packets to a CAN bus.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: can0
name: enabled_sbp_messages
expert: true
type: string
units: N/A
default value: '72,74,117,522,527'
readonly: false
Description: Configure which messages should be sent to the server.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: can1
name: mode
expert: true
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: SBP,NMEA OUT,RTCMv3 IN,RTCMv3 OUT,EMP OUT
Description: Communication protocol for CAN client 0. The client will send packets to a CAN bus.
Notes: |
"SBP" configures the interface to transmit messages specified in the 'enabled_sbp_messages' setting.
"NMEA OUT" configures the interface to transmit the GGA, RMC, GLL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
"RTCMv3 IN" configures the interface to receive RTK corrections in RTCMv3 format. The interface will receive 1002, 1004, 1005, 1006, 1010, 1012, 1033, 1230 and MSM4-7 RTCMv3 messages and will not transmit or receive any other messages.
"RTCMv3 OUT" configures the interface to transmit RTCMv3 messages.
"EMP OUT" configures the interface to transmit messages specified in the 'enabled emp messages' setting.
- group: can1
name: enabled_sbp_messages
expert: true
type: string
units: N/A
default value: '72,74,117,522,527'
readonly: false
Description: Configure which messages should be sent to the server.
Notes: The enabled sbp messages settings is a list of message types
and rate divisors that will be sent out of the interface. If left blank, all
messages will be sent. If not blank, a comma separated list of
SBP message IDs in base 10 integer format should be provided. Optionally,
a divisor can be specified after the / character for each id. For example, an entry of
3456/10 would provide message with ID 3456 at 1/10th the normal rate. For Ethernet,
the default value is optimal for logging and communication with the console.
- group: can1
name: termination
expert: true
type: boolean
units: N/A
default value: 'false'
readonly: false
Description: Configure status of CAN termination resistor on Duro.
Notes: This setting toggles the 120 ohm termination resistor
for the CAN interface available on the AUX connector of Duro.
It should only appear on Duro devices.
- group: csac
name: telemetry_enabled
expert: false
type: boolean
units: N/A
default value: 'false'
readonly: false
Description: Enables or disables the CSAC daemon which can communicate with Microsemi timing devices on UART0.
- group: cn0_est
name: pri2sec_threshold
type: float
expert: true
Description: Cn0 threshold to transition to 2nd stage tracking.
readonly: false
- group: cn0_est
name: sec2pri_threshold
type: float
expert: true
Description: Cn0 threshold to transition to out of 2nd stage tracking.
readonly: false
- group: l1ca_track
name: show_unconfirmed
expert: true
type: boolean
Description: Show unconfirmed tracking channels in tracking state.
readonly: false
- group: l1ca_track
name: xcorr_cof
expert: true
type: float
Description: cross correlation coefficient.
readonly: false
- group: l1ca_track
name: xcorr_delta
expert: true
type: float
Description: cross correlation delta.
readonly: false
- group: l1ca_track
name: xcorr_time
expert: true
type: float
Description: cross correlation time.
readonly: false
- group: glo_l1of_track
name: show_unconfirmed
expert: true
type: boolean
Description: Show unconfirmed tracking channels in tracking state.
readonly: false
- group: glo_l1of_track
name: xcorr_cof
expert: true
type: float
Description: cross correlation coefficient.
readonly: false
- group: glo_l1of_track
name: xcorr_delta
expert: true
type: float
Description: cross correlation delta.
readonly: false
- group: glo_l1of_track
name: xcorr_time
expert: true
type: float
Description: cross correlation time.
readonly: false
- group: l2c_track
name: xcorr_cof
expert: true
type: float
Description: cross correlation coefficient.
readonly: false
- group: l2c_track
name: xcorr_delta
expert: true
type: float
Description: cross correlation delta.
readonly: false
- group: l2c_track
name: xcorr_time
expert: true
type: float
Description: cross correlation time.
readonly: false
- group: l2c_track
name: show_unconfirmed
expert: true
type: bool
Description: Show unconfirmed tracking channels in tracking state.
readonly: false
- group: glo_l2of_track
name: show_unconfirmed
expert: true
type: boolean
Description: Show unconfirmed tracking channels in tracking state.
readonly: false
- group: glo_l2of_track
name: xcorr_cof
expert: true
type: float
Description: cross correlation coefficient.
readonly: false
- group: glo_l2of_track
name: xcorr_delta
expert: true
type: float
Description: cross correlation delta.
readonly: false
- group: glo_l2of_track
name: xcorr_time
expert: true
type: float
Description: cross correlation time.
readonly: false