CFGINS: Configure Integrated Navigation
Applicable to: UM621 series, UM681A
Read Integrated Navigation Configuration
| Syntax | $CFGINS |
|---|---|
| Example | $CFGINS |
| Description | Read the integrated navigation configuration. The receiver outputs the CFGINS message after receiving the command. |
| Input/Output | Input |
| No parameter |
Set/Output Integrated Navigation Configuration
| Syntax | $CFGINS,mode,ImusrcType,OdosrcType,MapsrcType | |
|---|---|---|
| Example | $CFGINS,1,1,1,1 | |
| Description | Set or output the integrated navigation mode and IMU input. | |
| Input/Output | Input/Output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| mode | UINT (Optional) | Mode configuration: 0 - Disable the integrated navigation function. The NMEA messages only output the GNSS positioning results. 1 - Vehicle-mounted mode (single-engine) 2 - Vehicle-mounted mode (dual-engine) 5 - Two-wheeled mode (only supported by the firmware for two-wheeled vehicles; can be queried) 9 - Reserved |
| ImusrcType | UINT (Optional) | 0 - Disable IMU input 1 - Built-in IMU chip input |
| OdosrcType | UINT (Optional) | 0 - Disable the odometer’s signal input 1 - Input from the built-in odometer pulse counter 2 - Odometer signal input via an external port* |
| MapsrcType | UINT (Optional) | 0 - Disable Map input 1 - Use the external port to input the map-matching information |
*. Supported by the specific firmware. ↩