ZED-F9K - Integration manual
•
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
•
Unknown
- There is no valid position solution or the position uncertainty does not allow for
unambiguous state evaluation
The GEOFENCE_STAT pin is always set to high level when the combine geofence state is unknown.
The low level can either represent the inside state or the outside state according to the value set in
the CFG-GEOFENCE-PINPOL configuration item. If the receiver is in software backup or in a reset,
the pin will go to high accordingly.
The CFG-GEOFENCE-PIN configuration item refers to a PIO and not a physical device pin.
The PIO number must be set so that it is mapped to the assigned geofence state device pin.
The ZED-F9K high precision receiver is assigned PIO3 that is assigned to module pin 19.
3.5.9 RTK_STAT interface
The ZED-F9K provides an RTK_STAT pin that provides an indication of the RTK positioning status.
It can be used to confirm if a valid stream of RTCM messages is being received. As valid RTCM
messages we only consider the RTCM messages that are supported and used by the receiver.
In general, the RTK_STAT level can be interpreted as follows: Alternating (blinking) pin level,
indicates that a valid stream of RTCM messages is being received and utilized but no RTK fixed
mode has been achieved. An active low pin level indicates that RTK fixed mode has been achieved.
Otherwise, the pin level is high.
The RTK_STAT pin status can be mapped to the
carrSoln
field of the UBX-NAV-PVT and
interpreted as follows:
• An active low pin level indicates that RTK fixed mode has been achieved
• Alternating (blinking) pin level, indicates that a valid stream of RTCM messages is being
received and utilized but no RTK fixed mode has been achieved
• An active high pin level indicates that no carrier phase solution is available
3.6 Antenna supervisor
An active antenna supervisor provides the means to check the antenna for open and short circuits
and to shut off the antenna supply if a short circuit is detected. Once enabled, the active antenna
supervisor produces status messages, reporting in NMEA and/or UBX protocol.
The antenna supervisor can be configured through the CFG-HW-ANT_* configuration items. The
current configuration of the active antenna supervisor can also be checked by polling the related
CFG-HW_ANT_* configuration items.
The current active antenna status can be determined by polling the UBX-MON-RF message. If an
antenna is connected, the initial state after power-up is “Active Antenna OK" in the UBX-MON-RF
message in the u-center "Message View".
An active antenna supervisor circuit is connected to the ANT_DET, ANT_OFF, ANT_SHORT_N
pins. For an example the open circuit detection circuit using ANT_DET, "high" = Antenna detected
(antenna consumes current); "low" = Antenna not detected (no current drawn).
The following schematic details the required circuit and the sections following it explain how to
enable and monitor each feature:
UBX-20046189 - R01
3 Receiver functionality
Page 44 of 105
C1-Public
Early production information
