@@ -123,6 +123,9 @@ const uint32_t UBLOX_CFG_HW_ANT_CFG_RECOVER = 0x10a30035; // Automatic reco
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const uint32_t UBLOX_CFG_HW_ANT_SUP_SWITCH_PIN = 0x20a30036 ; // ANT1 PIO number
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const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_PIN = 0x20a30037 ; // ANT0 PIO number
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const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_PIN = 0x20a30038 ; // ANT2 PIO number
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+ const uint32_t UBLOX_CFG_HW_ANT_ON_SHORT_US = 0x30a3003c ; // Delay in microseconds before antenna is turned on after short detection
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+ const uint32_t UBLOX_CFG_HW_SENS_WOM_MODE = 0x20a30063 ; // Wake on Motion mode
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+ const uint32_t UBLOX_CFG_HW_SENS_WOM_THLD = 0x20a30064 ; // Wake on Motion threshold
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const uint32_t UBLOX_CFG_HW_ANT_SUP_ENGINE = 0x20a30054 ; // Antenna supervisor engine selection
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const uint32_t UBLOX_CFG_HW_ANT_SUP_SHORT_THR = 0x20a30055 ; // Antenna supervisor MADC engine short detection threshold
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const uint32_t UBLOX_CFG_HW_ANT_SUP_OPEN_THR = 0x20a30056 ; // Antenna supervisor MADC engine open detection threshold
@@ -181,6 +184,7 @@ const uint32_t UBLOX_CFG_LOGFILTER_POSITION_THRS = 0x40de0008; // Positio
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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const uint32_t UBLOX_CFG_MOT_GNSSSPEED_THRS = 0x20250038 ; // GNSS speed threshold below which platform is considered as stationary (a.k.a. static hold threshold)
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const uint32_t UBLOX_CFG_MOT_GNSSDIST_THRS = 0x3025003b ; // Distance above which GNSS-based stationary motion is exit (a.k.a. static hold distance threshold)
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+ const uint32_t UBLOX_CFG_MOT_IMU_FILT_WINDOW = 0x30250016 // Averaging window for IMU measurements in noisy setups in milliseconds
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// CFG-MSGOUT: Message output configuration
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -984,17 +988,23 @@ const uint32_t UBLOX_CFG_SBAS_USE_TESTMODE = 0x10360002; // Use SBAS data when
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const uint32_t UBLOX_CFG_SBAS_USE_RANGING = 0x10360003 ; // Use SBAS GEOs as a ranging source (for navigation)
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const uint32_t UBLOX_CFG_SBAS_USE_DIFFCORR = 0x10360004 ; // Use SBAS differential corrections
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const uint32_t UBLOX_CFG_SBAS_USE_INTEGRITY = 0x10360005 ; // Use SBAS integrity information
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+ const uint32_t UBLOX_CFG_SBS_ACCEPT_NOT_IN_PRNMASK = 0x30360008 ; // Accept corrections from SBAS SV, even if notself included in PRN MASK
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+ const uint32_t UBLOX_CFG_SBAS_USE_IONOONLY = 0x10360007 ; // Use SBAS ionospheric corrections only
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const uint32_t UBLOX_CFG_SBAS_PRNSCANMASK = 0x50360006 ; // SBAS PRN search configuration
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// CFG-SEC: Security configuration (ZED-F9R)
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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const uint32_t UBLOX_CFG_SEC_CFG_LOCK = 0x10f60009 ; // Configuration lockdown
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const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP1 = 0x30f6000a ; // Configuration lockdown exempted group 1
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const uint32_t UBLOX_CFG_SEC_CFG_LOCK_UNLOCKGRP2 = 0x30f6000b ; // Configuration lockdown exempted group 2
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+ const uint32_t UBLOX_CFG_JAMDET_SENSITIVITY_HI = 0x10f60051 ; // High sensitivity for jamming detection
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// CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R)
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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- const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001 ; // Use ADR/UDR sensor fusion
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+ const uint32_t UBLOX_CFG_SFCORE_USE_SF = 0x10080001 ; // Use ADR/UDR sensor fusion
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+ const uint32_t UBLOX_SFCORE_IMU2CRP_LA_X = 0x30080002 ; // X coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame
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+ const uint32_t UBLOX_SFCORE_IMU2CRP_LA_Y = 0x30080003 ; // Y coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame
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+ const uint32_t UBLOX_SFCORE_IMU2CRP_LA_Z = 0x30080004 ; // Z coordinate in centimeters of IMU-to-CRP lever-arm in the installation frame
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// CFG-SFIMU: Sensor fusion (SF) inertial measurement unit (IMU) configuration (ZED-F9R)
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1010,6 +1020,9 @@ const uint32_t UBLOX_CFG_SFIMU_ACCEL_ACCURACY = 0x30060018; // Accelerome
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const uint32_t UBLOX_CFG_SFIMU_IMU_EN = 0x1006001d ; // IMU enabled
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const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SCL_PIO = 0x2006001e ; // SCL PIO of the IMU I2C
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const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SDA_PIO = 0x2006001f ; // SDA PIO of the IMU I2C
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+ const uint32_t UBLOX_CFG_IMU2ANT_LA_X = 0x30060020 ; // X coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame
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+ const uint32_t UBLOX_CFG_IMU2ANT_LA_Y = 0x30060021 ; // Y coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame
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+ const uint32_t UBLOX_CFG_IMU2ANT_LA_Z = 0x30060022 ; // Z coordinate in centimeters of IMU-to-antenna lever-arm in the installation frame
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const uint32_t UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA = 0x10060027 ; // Enable automatic IMU-mount alignment
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const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_YAW = 0x4006002d ; // User-defined IMU-mount yaw angle [0, 360]
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const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_PITCH = 0x3006002e ; // User-defined IMU-mount pitch angle [-90, 90]
@@ -1032,6 +1045,10 @@ const uint32_t UBLOX_CFG_SFODO_SPEED_BAND = 0x3007000e; // Speed sensor d
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const uint32_t UBLOX_CFG_SFODO_USE_WT_PIN = 0x1007000f ; // Wheel tick signal enabled
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const uint32_t UBLOX_CFG_SFODO_DIR_PINPOL = 0x10070010 ; // Wheel tick direction pin polarity
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const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSW = 0x10070011 ; // Disable automatic use of wheel tick or speed data received over the software interface
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+ const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_X = 0x30070012 ; // X coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame
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+ const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Y = 0x30070013 ; // Y coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame
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+ const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Z = 0x30070014 ; // Z coordinate in centimeters of IMU-to-VRP lever-arm in the installation frame
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+ const uint32_t UBLOX_SFODO_DIS_DIR_INFO = 0x1007001c ; // Disable direction information in the odometer data
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// CFG-SIGNAL: Satellite systems (GNSS) signal configuration
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//-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
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