LEA-6 / NEO-6 / MAX-6 - Hardware Integration Manual
UBX-14054794
Production Information
Appendix
Page 70 of 85
B.2
Software migration
B.2.1
Software migration from ANTARIS
4 or u-blox 5 to a u-blox 6 GPS receiver
Software migration from ANTARIS
4 or u-blox 5 to a u-blox 6 GPS receiver is a straightforward procedure.
Nevertheless there are some differences to be considered with u-blox 5 firmware version 5.00. Like its ANTARIS
4 and u-blox 5 predecessors, u-blox 6 technology supports UBX and NMEA protocol messages. Backward
compatibility has been maintained as far as possible. New messages have been introduced for new functions.
Only minor differences have to be expected in the UBX-NAV and UBX-AID classes of the UBX protocol and for
the standard NMEA messages such as
GGA, GLL, GSA, GSV, RMC, VTG
and
ZDA
.
ANTARIS
4
u-blox6
Remarks
UBX-CFG-NAV2
UBX-CFG-NAV5
UBX-CFG-NAV2 has been replaced by UBX-CFG-NAV5. The new message has
additional features.
The default dynamic platform is “Portable”. This platform is rather generic
and allows the receiver to be operated in a wide dynamic range covering
pedestrians, cars as well as commercial aircrafts. Automotive applications
such as first-mount navigation systems may better utilize the “Automotive”
platform, which is better geared to the dynamics of land vehicles but is only
of limited use in airborne and high-dynamics environments.
UBX-CFG-NAV5 does not support following features:
Almanac Navigation
Navigation Input filters
UBX-CFG-NAV5 has a message length of 36 Bytes (40 Bytes for UBX-CFG-
NAV2)
UBX-CFG-NAV5 FixMode is set by default to “Auto 3D/2D” as for ANTARIS4.
Check the
u-blox 6 Receiver Description including Protocol Specification
if this mode needs to be changed.
UBX-CFG-MSG
UBX-CFG-MSG
No support for multiple configurations in one UBX-CFG-MSG command
UBX-CFG-RXM
N/A
Contrary to ANTARIS 4, u-blox6 does not need selecting GPS acquisition
sensitivity mode (Fast, Normal, High Sens and Auto mode) since the
acquisition engine is powerful enough to search all satellite in one go.
FixNow mode is not available anymore. Contact your local u-blox support
team should you need further information.
PUBX,01
N/A
Other UBX or NMEA messages can be used to replace this message
UBX-NAV-POSUTM
N/A
UBX-CFG-TP
UBX-CFG-TP
u-blox 6 maintains this message for backwards compatibility only. For new
designs use UBX-CFG-TP5.
UBX-CFG-TP5
This is a new u-blox 6 message, for information see
u-blox 6 Receiver
Description including Protocol Specification
UBX-CFG-ANT
UBX-CFG-ANT
Antenna Open Circuit Detection: The default setting for LEA-4S and LEA-4A
was “enabled”. With all LEA-6 modules the default setting is “disabled”.
Automatic Short Circuit Recovery: With ANTARIS 4 this was “disabled” by
default. With u-blox 6 the default setting is “enabled”.
UBX-CFG-RATE
UBX-CFG- RATE
Set to 1 with u-blox 6
UBX-CFG-TMODE
UBX-CFG-TMODE
With u-blox 6 FW 6.02 and above it is no longer necessary to configure the
number of satellites in UBX-CFG-NAV to 1 to enable the timing mode. This is
performed automatically.
UBX-MON-HW
UBX-MON-HW
Message length has changed as the number of pins is different with u-blox6.
0s Leap second by default
FW 6.02 and FW7.0x: 15 s
Leap second by default
UBX-CFG-RATE
UBX-CFG-RATE
Disable SBAS services to achieve 4Hz navigation
UBX-NAV- EKFSTATUS
UBX-NAV- EKFSTATUS
This message is only provided for backwards compatibility and should not be
utilized for future designs. Instead, the messages ESF-STATUS and ESF-MEAS
should be used.
For u-blox 6 firmware the gyroscope value (gyroMean) is only output if the
gyroscope is used in the navigation solution. This message is only available on
LEA-4R and LEA-6R GPS Receivers.
Table 29: Main differences between ANTARIS 4 and u-blox 6 software for migration
