ZED-F9K - Integration manual
3.2.7.2 Configuration
You can configure the priority navigation mode output using the CFG-RATE-NAV_PRIO configuration
key.
If a high priority navigation rate has been configured with CFG-RATE-NAV_PRIO, it is
strongly recommended to check (and maybe reduce) the number of enabled output
messages. Interface bandwidth constraints may be a limiting factor.
As mentioned in the table above, the allowed range for the priority navigation mode is 0-30 Hz.
When not zero, the receiver outputs navigation data as a set of messages with two priority levels:
1.
Priority navigation mode: the navigation solution data is computed and output with high rate
and low latency.
2.
Non-priority navigation mode: the navigation data is computed and output with low rate and
high latency.
When zero, the receiver outputs the navigation data as a set of messages with the same priority
level.
3.3 Geofencing
3.3.1 Introduction
Figure 8: Geofence
The geofencing feature allows for the configuration of up to four circular areas (geofences) on the
Earth's surface. The receiver will then evaluate for each of these areas whether the current position
lies within the area or not and signal the state via UBX messaging and PIO toggling.
3.3.2 Interface
Geofencing can be configured using the CFG-GEOFENCE-* configuration group. The geofence
evaluation is active whenever there is at least one geofence configured.
The current state of each geofence plus the combined state is output in UBX-NAV-GEOFENCE with
every navigation epoch.
3.3.3 Geofence state evaluation
With every navigation epoch the receiver will evaluate the current solution's position versus the
configured geofences. There are three possible outcomes for each geofence:
•
Inside
- The position is inside the geofence with the configured confidence level
•
Outside
- The position lies outside of the geofence with the configured confidence level
UBX-20046189 - R01
3 Receiver functionality
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C1-Public
Early production information
