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Below, are excerpts for a few of the PQTM messages from the GNSS Protocol Specification manual. Users will find these useful for configuring their LG290P GNSS module as an RTK base station or rover.
???+ info "Documentation" A full list of PQTM messages (proprietary NMEA messages defined by Quectel) supported by LG290P, is provided in section 2.3. PQTM Messages of the GNSS Protocol Specification manual. This protocol is used to configure or read the settings for the LG290P GNSS module.
??? abstract "List of Proprietary Quectel Messages" <center> | Message | Type Mode | Message Description | | :---------------------------------- | :----------: | :----------------------------------------------- | | PQTMVER | Output | Outputs the firmware version | | PQTMCOLD | Input | Performs a cold start | | PQTMWARM | Input | Performs a warm start | | PQTMHOT | Input | Performs a hot start | | PQTMSRR | Input | Performs a system reset and reboots the receiver | | PQTMUNIQID | Output | Queries the module unique ID | | [PQTMSAVEPAR](#pqtmsavepar) | Input | Saves the configurations into NVM | | [PQTMRESTOREPAR](#pqtmrestorepar) | Input | Restores the parameters configured by all commands to their default values | | PQTMVERNO | Output | Queries the firmware version | | [PQTMCFGUART](#pqtmcfguart) | Input/Output | Sets/gets the UART interface | | PQTMCFGPPS | Input/Output | Sets/gets the PPS feature | | [PQTMCFGPROT](#pqtmcfgprot) | Input/Output | Sets/gets the input and output protocol for a specified port | | PQTMCFGNMEADP | Input/Output | Sets/gets the decimal places of standard NMEA messages | | PQTMEPE | Output | Outputs the estimated position error | | PQTMCFGMSGRATE | Input/Output | Sets/gets the message output rate on the current interface | | PQTMVEL | Output | Outputs the velocity information | | PQTMCFGGEOFENCE | Input/Output | Sets/gets geofence feature | | PQTMGEOFENCESTATUS | Output | Outputs the geofence status | | PQTMGNSSSTART | Input | Starts GNSS engine | | PQTMGNSSSTOP | Input | Stops GNSS engine | | PQTMTXT | Output | Outputs short text messages | | [PQTMCFGSVIN](#pqtmcfgsvin) | Input/Output | Sets/gets the Survey-in feature | | PQTMSVINSTATUS | Output | Outputs the Survey-in status | | PQTMPVT | Output | Outputs the PVT (GNSS only) result | | [PQTMCFGRCVRMODE](#pqtmcfgrcvrmode) | Input/Output | Sets/gets the receiver working mode | | PQTMDEBUGON | Input | Enables debug log output | | PQTMDEBUGOFF | Input | Disables debug log output | | PQTMCFGFIXRATE | Input/Output | Sets/gets the fix interval | | [PQTMCFGRTK](#pqtmcfgrtk) | Input/Output | Sets/gets the RTK mode | | PQTMCFGCNST | Input/Output | Sets/gets the constellation configuration | | PQTMDOP | Output | Outputs dilution of precision | | PQTMPL | Output | Outputs protection level information | | PQTMCFGODO | Input/Output | Sets/gets the odometer feature | | PQTMRESETODO | Input | Resets the accumulated distance recorded by the odometer | | PQTMODO | Output | Outputs the odometer information | | PQTMCFGSIGNAL | Input/Output | Sets/gets GNSS signal mask | | PQTMCFGSAT | Input/Output | Sets/gets GNSS satellite mask | | PQTMCFGRSID | Input/Output | Sets/gets the reference station ID | | PQTMCFGRTCM | Input/Output | Sets/gets RTCM | </center> : Saves the current configurations into NVM of the LG290P
``` $PQTMSAVEPAR*<Checksum><CR><LF> ``` ??? example Save the current settings to non-volatile memory of the LG290P. ``` $PQTMSAVEPAR*5A ``` If there are no errors, users will receive the following response: ``` $PQTMSAVEPAR,OK*72 ``` : Restores the parameters configured by all commands to their default values; this command takes effect after restarting the LG290P
``` $PQTMRESTOREPAR*<Checksum><CR><LF> ``` ??? example Restore all the settings of the LG290P to their factory defaults ``` $PQTMRESTOREPAR*13 ``` If there are no errors, users will receive the following response: ``` $PQTMRESTOREPAR,OK*3B ``` : Configures the serial protocol setting for the UART interfaces
- Current UART interface: ``` $PQTMCFGUART,W,<BaudRate>[,<DataBit>,<Parity>,<StopBit>,<FlowCtrl>]*<Checksum><CR><LF> ``` - A specific UART interface: ``` $PQTMCFGUART,W,<Index>,<BaudRate>[,<DataBit>,<Parity>,<StopBit>,<FlowCtrl>]*<Checksum><CR><LF> ``` **Parameters:** <table markdown> <tr markdown> <th>Field</th> <td markdown>`<Index>`</td> <td markdown>`<BaudRate>`</td> <td markdown>`<DataBit>`</td> <td markdown>`<Parity>`</td> <td markdown>`<StopBit>`</td> <td markdown>`<FlowCtrl>`</td> </tr> <tr markdown> <th>Description</th> <td markdown> **UART Interface** <ul markdown> <li markdown>`1` = UART1</li> <li markdown>`2` = UART2</li> <li markdown>`3` = UART3</li> </ul> </td> <td markdown> **Baud Rate** (bps) <ul markdown> <li markdown>`9600`</li> <li markdown>`115200`</li> <li markdown>`230400`</li> <li markdown>==`460800`==</li> <li markdown>`921600`</li> </ul> </td> <td markdown> **Number of Data Bits** <ul markdown> <li markdown>==`8` = 8 bits==</li> </ul> </td> <td markdown> **Parity** <ul markdown> <li markdown>==`0` = No parity==</li> <li markdown>`1` = Odd parity</li> <li markdown>`2` = Even parity</li> <li markdown>`3` = Mark</li> <li markdown>`4` = Space</li> </ul> </td> <td markdown> **Number of Stop Bit**(s) <ul markdown> <li markdown>==`1` = 1 stop bit==</li> <li markdown>`2` = 2 stop bits</li> </ul> </td> <td markdown> **Flow Control** <ul markdown> <li markdown>==`0` = None==</li> </ul> </td> </tr> </table> ???+ tip "Baud Rate" For ports utilized in conjunction with either the BlueSMiRF or radio transceivers, we recommend reducing the baud rate to 115200bps or lower to avoid overflowing the buffers of the transceiver's serial port. ??? example "Configure the Settings" !!! abstract inline end "Example Settings" - Port: `UART1` - Baud Rate: 115200bps - Data Bits: 8 - Parity: No - Stop Bits: 1 - Flow Control: None Configure the baud rate of the current UART interface to 115200bps: ``` $PQTMCFGUART,W,115200*18 ``` Configure the baud rate of `UART1` to 115200bps: ``` $PQTMCFGUART,W,1,115200*05 ``` Configure all parameters of the current UART interface: ``` $PQTMCFGUART,W,115200,8,0,1,0*11 ``` Configure all parameters of `UART1`: ``` $PQTMCFGUART,W,1,115200,8,0,1,0*0C ``` If there are no errors, users will receive the following response: ``` $PQTMCFGUART,OK*60 ``` ??? example "Retrieve the Settings" !!! abstract inline end "Example Settings" - Port: `UART1` - Baud Rate: 115200bps - Data Bits: 8 - Parity: No - Stop Bits: 1 - Flow Control: None Get the configuration on the current UART interface: ``` $PQTMCFGUART,R*36 ``` Get the configuration on UART1: ``` $PQTMCFGUART,R,1*2B ``` If there are no errors, users will receive the following response: ``` $PQTMCFGUART,OK,1,115200,8,0,1,0*5F ``` : Configures the input/output protocol on a specified port
``` $PQTMCFGPROT,W,<PortType>,<PortID>,<InputProt>,<OutputProt>*<Checksum><CR><LF> ``` **Parameters:** <table markdown> <tr markdown> <th>Field</th> <td markdown>`<PortType>`</td> <td markdown>`<PortID>`</td> <td markdown>`<InputProt>`</td> <td markdown>`<OutputProt>`</td> </tr> <tr markdown> <th>Description</th> <td markdown> **Port Type** <ul markdown> <li markdown>==`1` = UART==</li> </ul> </td> <td markdown> **Port ID** <ul markdown> <li markdown>`1` = UART1</li> <li markdown>`2` = UART2</li> <li markdown>`3` = UART3</li> </ul> </td> <td colspan="2" markdown> **Input/Output Protocols** (`HEX`: 32-bit) <ul markdown> <li markdown>==Bit `0` = NMEA==</li> <li markdown>==Bit `2` = RTCM3==</li> </ul> The **default** protocols are NMEA and RTCM3:<br> ==**HEX:** `00000005`==<br> **BIN:** `0000 0000 0000 0000 0000 0000 0000 0101` </td> </tr> </table> ??? example "Configure the Settings" !!! abstract inline end "Example Settings" - Port: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Configure the configuration on UART1: ``` $PQTMCFGPROT,W,1,1,00000005,00000005*38 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGPROT,OK*6B ``` ??? example "Retrieve the Settings" !!! abstract inline end "Example Settings" - Port: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Get the configuration on UART1: ``` $PQTMCFGPROT,R,1,1*3D ``` If there are no errors, users will receive the following response: ``` $PQTMCFGPROT,OK,1,1,00000005,00000005*6B ``` : Configures a base station's position either by survey-in mode or fixed mode
``` $PQTMCFGSVIN,W,<Mode>,<CFG_CNT>,<3D_AccLimit>,<ECEF_X>,<ECEF_Y>,<ECEF_Z>*<Checksum><CR><LF> ``` **Parameters:** <table markdown> <tr markdown> <th>Field</th> <td markdown>`<Mode>`</td> <td markdown>`<CFG_CNT>`</td> <td markdown>`<3D_AccLimit>`</td> <td markdown>`<ECEF_X>` `<ECEF_Y>` `<ECEF_Z>`</td> </tr> <tr markdown> <th>Description</th> <td markdown> **Receiver Mode** <ul markdown> <li markdown>==`0` = Disable==</li> <li markdown>`1` = Survey-in mode</li> <li markdown>`2` = Fixed mode<br>*(Position is configured in ECEF coordinates)*</li> </ul> </td> <td markdown> **Survey-in Mode**<br> Minimum positioning time *(seconds)* <ul markdown> <li markdown>Range: `0`-`86400`</li> <li markdown>==**Default:** `0`==</li> </ul> </td> <td markdown> **Survey-in Mode**<br> 3D positioning accuracy *(meters)* <ul markdown> <li markdown>`0` = No limit</li> <li markdown>==**Default:** `0.0`==</li> </ul> </td> <td markdown> **Fixed Mode**<br> WGS84 ECEF X,Y,Z coordinates *(meters)* <ul markdown> <li markdown>==**Default:** `0.0000`==</li> </ul> </td> </tr> </table> ???+ info "RTK Base Station Modes" In order to operate as a base station, the LG290P GNSS module requires an accurate position of its antenna. This can be either defined in [ECEF coordinates](https://en.wikipedia.org/wiki/Earth-centered%2C_Earth-fixed_coordinate_system) or acquired through a self-survey process. 1. ==Survey-In Mode:== The base station's location is established based on a weighted mean of recent solutions of its position. The `<CFG_CNT>` and `<3D_AccLimit>` parameters define the shortest amount of time that the position gets surveyed and the maximum standard deviation of the estimated position. 1. ==Fixed Mode:== The base station's position is provided in [ECEF coordinates](https://en.wikipedia.org/wiki/Earth-centered%2C_Earth-fixed_coordinate_system). !!! note Any error in the base station's location will translate directly into an error in the rover's position. ??? example "Configure the Settings" !!! abstract inline end "Example Settings" - Mode: Survey-in mode - Survey Time: 3600 seconds - 3D Accuracy: 1.2m - ECEF Coordinates: - X: -2519265.0514m - Y: 4849534.9045m - Z: 3277834.6432m Configure the configuration on UART1: ``` $PQTMCFGSVIN,W,1,3600,1.2,-2519265.0514,4849534.9045,3277834.6432*01 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGSVIN,OK*70 ``` ??? example "Retrieve the Settings" !!! abstract inline end "Example Settings" - Mode: Survey-in mode - Survey Time: 3600 seconds - 3D Accuracy: 1.2m - ECEF Coordinates: - X: -2519265.0514m - Y: 4849534.9045m - Z: 3277834.6432m Get the configuration on UART1: ``` $PQTMCFGSVIN,R*26 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGSVIN,OK,1,3600,1.2,-2519265.0514,4849534.9045,3277834.6432*52 ``` : Configures the mode that the receiver is operating in
``` $PQTMCFGRCVRMODE,W,<Mode>*<Checksum><CR><LF> ``` **Parameters:** <table markdown> <tr markdown> <th>Field</th> <td markdown>`<Mode>`</td> </tr> <tr markdown> <th>Description</th> <td markdown> **Operation mode** <ul markdown> <li markdown>`0` = Unknown</li> <li markdown> **`1` = Rover**<br> When set to this mode, the receiver will restore to default NMEA message output state. </li> <li markdown>`2` = Base Station<br> When set to this mode, the receiver will automatically disable NMEA message output and enable RTCM `MSM4` and RTCMv3 `1005` message output. </li> </ul> </td> </tr> </table> !!! note After switching the module‘s working mode, save the configuration and then reset the module. Otherwise, it will continue to operate in the original mode. ??? example "Configure the Settings" !!! abstract inline end "Example Settings" - Port ID: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Configure the configuration on UART1: ``` $PQTMCFGRCVRMODE,W,2*29 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGRCVRMODE,OK*64 ``` ??? example "Retrieve the Settings" !!! abstract inline end "Example Settings" - Port ID: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Get the configuration on UART1: ``` $PQTMCFGRCVRMODE,R*32 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGRCVRMODE,OK,2*7A ``` : Configures the operation settings of the RTK mode
``` $PQTMCFGRTK,W,<DiffMode>,<RelMode>*<Checksum><CR><LF> ``` **Parameters:** <table markdown> <tr markdown> <th>Field</th> <td markdown>`<DiffMode>`</td> <td markdown>`<RelMode>`</td> </tr> <tr markdown> <th>Description</th> <td markdown> **Differential Mode** <ul markdown> <li markdown>`0` = Disable RTK/RTD feature *(Differential data is not used)*</li> <li markdown>**`1` = Auto mode**</li> <li markdown>`2` = RTD only mode *(Only pseudoranges is used)*</li> </ul> </td> <td markdown> **Absolute/Relative Mode** <ul markdown> <li markdown>**`1` = Absolute mode, ensure absolute position accuracy**</li> <li markdown>`2` = Relative mode, ensure relative position accuracy</li> </ul> This field only takes effect when `<DiffMode>` = `1` and the module enters the RTK only mode. </td> </tr> </table> ??? example "Configure the Settings" !!! abstract inline end "Example Settings" - Port ID: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Configure the configuration on UART1: ``` $PQTMCFGRTK,W,1,1*6C ``` If there are no errors, users will receive the following response: ``` $PQTMCFGRTK,OK*3F ``` ??? example "Retrieve the Settings" !!! abstract inline end "Example Settings" - Port ID: `UART1` - Input Protocol: NMEA & RTCM3 - Input Protocol: NMEA & RTCM3 Get the configuration on UART1: ``` $PQTMCFGRTK,R*69 ``` If there are no errors, users will receive the following response: ``` $PQTMCFGRTK,OK,1,1*3F ``` 