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Copy file name to clipboardExpand all lines: docs/menu_gnss.md
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@@ -23,16 +23,8 @@ The SparkFun RTK product line is immensely configurable. The RTK device will, by
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The GNSS Configuration menu allows a user to change the report rate, dynamic model, and select which constellations should be used for fix calculations.
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<figuremarkdown>
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<figcaptionmarkdown>
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RTK Everywhere main menu
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</figcaption>
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</figure>
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Pressing any key will show the *Main Menu*. From the main menu, pressing 1 will bring up the *GNSS Receiver* configuration menu.
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<figuremarkdown>
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<figcaptionmarkdown>
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GNSS menu showing measurement rates and dynamic model
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</figcaption>
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## Min SV Elevation and C/N0
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<figuremarkdown>
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<figcaptionmarkdown>
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GNSS menu showing Minimum SV Elevation and C/N0
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</figcaption>
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## Constellations Menu
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<figuremarkdown>
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<figcaptionmarkdown>
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Enable or disable the constellations used for fixes
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</figcaption>
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<figcaptionmarkdown>
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Setting the baud rates of the two available external ports
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</figcaption>
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</figure>
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<figuremarkdown>
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<figcaptionmarkdown>
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Baud rate configuration of Radio and Data ports
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</figcaption>
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</figure>
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## Output GNSS Data over USB
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The RADIO and DATA ports vary between RTK devices:
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* The RTK Facet mosaic L-Band has both RADIO and DATA ports.
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* The RTK Torch does not have a RADIO or DATA port, but can output NMEA over USB.
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* The RTK Postcard has both RADIO and DATA ports.
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* The RTK EVK has only a RADIO port.
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<figuremarkdown>
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<figcaptionmarkdown>
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Set output to GNSS data over USB Serial
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RADIO and DATA ports on the RTK Postacrd
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</figcaption>
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</figure>
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Enabling **Output GNSS data to USB serial** will pipe all GNSS output (generally NMEA but also RTCM) to the USB serial connection. This permits a wired connection to be made on devices, such as the RTK Torch, that have only one external port (USB).
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## Radio Port
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On RTK Facet mosaic, data can be output on the _USB1_ USB COM port.
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Available on devices that have an external **RADIO**port.
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!!! note
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To exit this mode, press **+++** to open the configuration menu.
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The **RADIO** port is connected directly to GNSS UART. Depending on the platform, the port is set to 57600bps to match the [Serial Telemetry Radios](https://www.sparkfun.com/products/19032) that are recommended to be used with the RTK Facet (it is a plug-and-play solution). This can be set from 4800bps to 921600bps.
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Additionally, correction may be *sent* to the device over USB. RTCM corrections received over USB will follow the [Corrections Priority table](menu_corrections_priorities.md).
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The default for the RTK Postcard is 115200bps.
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## Data Port
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<figuremarkdown>
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<figcaptionmarkdown>
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Example NMEA output over USB
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DATA port connected to a SparkFun USB C to Serial adapter
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</figcaption>
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</figure>
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## Radio Port
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The **DATA** port can be configured from 4800bps to 921600bps. The default depends on the GNSS model: e.g. 460800bps on LG290P, 230400 on other models. The default rate was chosen to support applications where a large number of messages are enabled and a large amount of data is sent. If you need to decrease the baud rate to 115200bps or other on the ZED-F9P, be sure to monitor the MON-COMM message within u-center for buffer overruns. A baud rate of 115200bps and the NMEA+RXM default configuration at 4Hz *will* cause buffer overruns.
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Available on devices that have an external **RADIO** port.
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<figuremarkdown>
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The **RADIO** port is connected directly to GNSS UART. By default, the port is set to 57600bps to match the [Serial Telemetry Radios](https://www.sparkfun.com/products/19032) that are recommended to be used with the RTK Facet (it is a plug-and-play solution). This can be set from 4800bps to 921600bps.
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<figcaptionmarkdown>
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Monitoring the COM ports on the ZED-F9P
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</figcaption>
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</figure>
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## Mux Channel
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If you must run the data port at lower speeds, and you need to enable a large number of messages and/or increase the fix frequency beyond 4Hz, be sure to verify that UART1 usage stays below 90%. The image above shows the UART1 becoming overwhelmed because the ZED cannot transmit at 115200bps fast enough.
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Available on devices that have a built-in multiplexer on the **DATA** port.
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Most applications do not need to plug anything into the **DATA** port. Most users will get their NMEA position data over Bluetooth. However, this port can be useful for sending position data to an embedded microcontroller or single-board computer. The pinout is 3.3V / TX / RX / GND. **3.3V** is provided by this connector to power a remote device if needed. While the port is capable of sourcing up to 600mA, we do not recommend more than 300mA. This port should not be connected to a power source.
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The **DATA** port on the RTK Facet is very flexible. Internally the **DATA** connector is connected to a digital mux allowing one of four software-selectable setups. By default, the port will be connected to the GNSS UART and output any messages via serial.
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### Postcard USB Ports
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-**GNSS TX Out/RX In** - The TX pin outputs any enabled messages (NMEA, RTCM and binary). If supported, the RX pin can receive RTCM for RTK and can also receive configuration commands.
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-**PPS OUT/Event Trigger In** - The TX pin outputs the pulse-per-second signal that is accurate to typically 30ns RMS. The RX pin is connected to the EXTINT pin on the ZED-F9P or EVENTA on the mosaic-X5, allowing events to be measured with incredibly accurate nano-second resolution. See the [Pulse Per Second and External Trigger](#pulse-per-second-and-external-trigger) section below for more information.
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-**I2C SDA/SCL** - The TX pin operates as SCL, RX pin as SDA on the I2C bus. This allows additional sensors to be connected to the I2C bus, typically sharing it with the GNSS and OLED. This is useful for custom applications where you are using your own firmware.
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-**ESP32 DAC Out/ADC In** - The TX pin operates as a DAC-capable GPIO on the ESP32. The RX pin operates as an ADC-capable input on the ESP32. This is useful for custom applications where you are using your own firmware. These pins have no function with the standard RTK Everywhere firmware.
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## Data Port
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The DATA port on the RTK Postcard is the USB C connector. This connection creates two serial ports. **SERIAL-A** is used for Serial Configuration. **SERIAL-B** is connected to the DATA port of the LG290P to receive NMEA and other data directly.
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<figuremarkdown>
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<figcaptionmarkdown>
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</figcaption>
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</figure>
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## Output GNSS Data over USB
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Enabling **Output GNSS data to USB serial** will pipe all GNSS output (generally NMEA but also RTCM) to the USB serial connection. This permits a wired connection to be made on devices, such as the RTK Torch, that have only one external port (USB).
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!!! note
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To exit this mode, press **+++** to open the configuration menu.
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The **DATA** port can be configured from 4800bps to 921600bps. The default depends on the GNSS model: e.g. 460800bps on LG290P; 230400 on other models. The default rate was chosen to support applications where a large number of messages are enabled and a large amount of data is sent. If you need to decrease the baud rate to 115200bps or other on the ZED-F9P, be sure to monitor the MON-COMM message within u-center for buffer overruns. A baud rate of 115200bps and the NMEA+RXM default configuration at 4Hz *will* cause buffer overruns.
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On RTK Facet mosaic, data can be output on the _USB1_ USB COM port.
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Additionally, corrections may be *sent* to the device over USB. RTCM corrections received over USB will follow the [Corrections Priority table](menu_corrections_priorities.md).
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<figuremarkdown>
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<figcaptionmarkdown>
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Monitoring the COM ports on the ZED-F9P
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Example NMEA output over USB
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</figcaption>
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</figure>
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If you must run the data port at lower speeds, and you need to enable a large number of messages and/or increase the fix frequency beyond 4Hz, be sure to verify that UART1 usage stays below 90%. The image above shows the UART1 becoming overwhelmed because the ZED cannot transmit at 115200bps fast enough.
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## Limit RADIO Port Output to RTCM
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Most applications do not need to plug anything into the **DATA** port. Most users will get their NMEA position data over Bluetooth. However, this port can be useful for sending position data to an embedded microcontroller or single-board computer. The pinout is 3.3V / TX / RX / GND. **3.3V** is provided by this connector to power a remote device if needed. While the port is capable of sourcing up to 600mA, we do not recommend more than 300mA. This port should not be connected to a power source.
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Enabling this option will turn off all data output except for the minimum RTCM messages necessary for RTK work. This is helpful in situations where a telemetry radio is used for connecting a Rover to a Base. Extra NMEA and binary data can tax a radio link and may cause the link to become intermittent or fail.
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## Allow Incoming Corrections on COM/UART
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Disable this to block corrections on the given port.
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If a GNSS receiver gets corrections from multiple sources (WiFi, Bluetooth, serial, etc) it can lead to unpredictable outcomes. To avoid this, RTK Everywhere firmware includes a sophisticated 'corrections controller' to give priority to the various sources, discarding any lower priority corrections sources that are detected. See the [Corrections Priority](menu_corrections_priorities.md) section for more information. Because the RTK Everywhere firmware cannot directly filter out corrections from a direct serial connection, this option allows a user to disable that correction source directly.
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## Mux Channel
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Available on devices that have a built-in multiplexer on the **DATA** port.
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The **DATA** port on the RTK Facet is very flexible. Internally the **DATA** connector is connected to a digital mux allowing one of four software-selectable setups. By default, the port will be connected to the GNSS UART and output any messages via serial.
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-**GNSS TX Out/RX In** - The TX pin outputs any enabled messages (NMEA, RTCM and binary). If supported, the RX pin can receive RTCM for RTK and can also receive configuration commands.
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-**PPS OUT/Event Trigger In** - The TX pin outputs the pulse-per-second signal that is accurate to typically 30ns RMS. The RX pin is connected to the EXTINT pin on the ZED-F9P or EVENTA on the mosaic-X5, allowing events to be measured with incredibly accurate nano-second resolution. See the [Pulse Per Second and External Trigger](#pulse-per-second-and-external-trigger) section below for more information.
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-**I2C SDA/SCL** - The TX pin operates as SCL, RX pin as SDA on the I2C bus. This allows additional sensors to be connected to the I2C bus, typically sharing it with the GNSS and OLED. This is useful for custom applications where you are using your own firmware.
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-**ESP32 DAC Out/ADC In** - The TX pin operates as a DAC-capable GPIO on the ESP32. The RX pin operates as an ADC-capable input on the ESP32. This is useful for custom applications where you are using your own firmware. These pins have no function with the standard RTK Everywhere firmware.
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### Pulse Per Second and External Trigger
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<figuremarkdown>
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<figcaptionmarkdown>
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Configuring the External Pulse and External Events over WiFi
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