EVK-M8L User Guide
UBX-20028627 - R01
Setting up
Page 17 of 33
C1-Public
Figure 6: u-center showing how to enable Automatic IMU-mount Alignment with UBX-CFG-ESFALG
If you know the IMU-mount Misalignment Angles, enter those values into the UBX-CFG-ESFALG
dialog shown in Figure 6. Make sure the “Automatic IMU-mount Alignment” is unselected. Click the
Send button. For more information, refer to the u-blox 8 / u-blox M8 Receiver Description including
Protocol Specification [5].
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Automatically determined IMU-mount Alignment angles do not survive a cold start (either by
command or loss of the battery backup supply). If it is important that automatically determined
angles continue to be used after the next cold start, follow the procedure in section 4.3.2.3.
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If the user reverts to factory defaults with UBX-CFG-CFG command, the UBX-CFG-ESFALG with
correct configuration values (yaw, pitch, roll) shall be issued again. For example, in the basic use
case when the EVK-M8L is mounted flat (label side up) and X-axis on the label is pointing forward,
the user should configure it in UBX-CFG-ESFALG as (yaw, pitch, roll) = (0,0,0).
4.3.2.3
Saving the configuration permanently
If, for example, automatically determined IMU mount angles should be used after the next cold start,
they can be saved in the receiver’s non-volatile memory and will be re-used until the automatic
alignment feature is next enabled. Proceed as follows:
When configuration is indicated as completed in the UBX-ESF-STATUS and UBX-ESF-ALG
windows, copy the angles from UBX-ESF-ALG display to the UBX-CFG-ESFALG dialog. Unselect
the “Automatic IMU-mount Alignment” in UBX-CFG-ESFALG dialog and click the Send button.
Save the configuration as described below.
The entire current configuration of the receiver (including configuration data and all ADR
parameters) can be saved to BBR and non-volatile memory (flash) by sending UBX-CFG-CFG
command (see Figure 7 below).
