ZED-F9R-Integration manual
PL values Description
UBX-NAV-PL.plPosHorizOrient Orientation of semi-major axis w.r.t North (clockwise)
Table 20: Position PL values
If the PL coordinate frame is set to invalid (UBX-NAV-PL.plPosFrame = 0), then the PL values shall
not be used. If the PL validity flag is cleared (UBX-NAV-PL.plValid =0), the PL values shall not be used.
Both much be checked.
Only if the PL is set to valid (UBX-NAV-PL.plPosValid), the PL values (UBX-NAV-PL.plPos1/2/3 and
UBX-NAV-PL.plPosHorizOrient) can be used and are reliable with respect to the target misleading
information risk.
3.6 Communication interfaces
u-blox receivers are equipped with a communication interface which is multi-protocol capable. The
interface ports can be used to transmit GNSS measurements, monitor status information and
configure the receiver.
A protocol (e.g. UBX, NMEA) can be assigned to several ports simultaneously, each configured with
individual settings (e.g. baud rate, message rates, etc.). More than one protocol (e.g. UBX protocol
and NMEA) can be assigned to a single port (multi-protocol capability), which is particularly useful
for debugging purposes.
The ZED-F9R provides UART1, UART2, SPI, I2C and USB interfaces for communication with a
host CPU. The interfaces are configured via the configuration methods described in the applicable
interface description [2].
The following table shows the port numbers reported in the UBX-MON-COMMS messages.
Port no. UBX-MON-COMMS portId Electrical interface
0 0x0000 I2C
1 0x0100 UART1
2 0x0201 UART2
3 0x0300 USB
4 0x0400 SPI
Table 21: Port number assignment
It is important to isolate interface pins when VCC is removed. They can be allowed to float or
they can be connected to a high impedance.
Example isolation circuit is shown below.
UBX-20039643 - R06
3 Receiver functionality Page 49 of 119
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