EVK-F9DR - User guide
UBX-23007618 - R01
Getting started
Page 10 of 33
C1-Public
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Refer to the ZED-F9K documentation ([1], [2]) for a full description of the receiver configuration.
3.2
ADR setup (optional)
To evaluate the ADR performance and features of the LAP firmware, include the following steps in the
setup.
3.2.1
Providing odometer input
ADR requires odometer input from the vehicle, that is, wheel ticks or speed, and direction. The
following options are available for supplying the odometer input to the receiver:
•
Hardware interface: wheel tick and direction pins.
•
Software interface: UBX-ESF-MEAS messages.
•
CAN interface: CAN_H and CAN_L pins.
Only one of the options above may be used at a time. Make the following connections based on the
selected option:
A.
If using the hardware interface, connect the Wheel Tick and FWD pins to the corresponding
pins of the outputting sensor
B.
If using the software interface, connect a serial interface (USB/UART) to the data provider
C.
If using the CAN interface, connect the CAN high and CAN low signals of the CAN bus to the
CAN_H and CAN_L pins in the front connector.
Refer to the ZED-F9K documentation ([1], [2]) for more information about providing odometer data.
If using the configurable CAN interface, refer to chapter 0.
3.2.2
Configuring the device for ADR
The receiver can be configured with the UBX-CFG-VALSET messages. Consult the ZED-F9K
documentation ([1], [2]) for more information about the configuration.
Configure the odometer sensor input depending on the used sensor:
A.
If the wheel tick and direction pins on the front connector are used, enable the use of the wheel
tick pin by setting the value for key ID CFG-SFODO-USE_WT_PIN to 1.
B.
If using the CAN interface or the software interface,
disable
the wheel tick pin
. Set the value
for key ID CFG-SFODO-USE_WT_PIN to 0. See chapter 0 for instructions on configuring the
CAN interface.
3.3
Calibrating the receiver
Before the receiver can operate in sensor fusion mode, it needs to gather calibration information from
the movements of the vehicle. Although the calibration process is eventually completed during normal
driving, it can be considerably accelerated by doing a calibration drive prior to the actual testing.
Follow these steps to perform the accelerated calibration procedure:
1.
Drive to an open area, such as a parking lot, with good GNSS signal conditions.
2.
With the car stationary, power on the EVK and wait for a valid 3D GNSS fix.
3.
Remain stationary until the IMU status in ESF-STATUS shows “
INITIALIZED
”.
4.
Drive a figure-of-eight pattern until the alignment status in ESF-ALG shows “
COARSE
”.
The progress of the calibration can be monitored in u-center with the UBX-ESF-ALG and UBX-
ESF-STATUS messages.
5.
Drive straight at a min speed of 40 km/h until the INS status in the ESF-STATUS shows
“
INITIALIZED
”.
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