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GNSS SDK
Commands Manual
GNSS Module Series
Rev. GNSS_SDK_Commands_Manual_V1.4
Date: 2017-07-21
www.quectel.com
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GNSS Module Series
GNSS SDK Commands Manual
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GNSS Module Series
Added the current supported SDK commands in
Table 1.
1. Added the following new commands:
PQECEF, PQODO, PQPZ90, PQGLP,
PQVEL.
2. Added L76 and L76-L in Table 1.
3. Added the Chapter 3: Appendix References.
1. Added L26 in Table 1.
2. Improved the function of PQODO to enable
initial distance setting.
1. Updated notes for PQODO in Chapter 2.8
2. Added the following new commands:
PQJAM (Chapter 2.12)
PQRLM (Chapter 2.13)
PQGEO (Chapter 2.14)
PQPREC (Chapter 2.15)
PQGBS (Chapter 2.16)
GNSS SDK Commands Manual
About the Document
History
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GNSS Module Series
GNSS SDK Commands Manual
Contents
About the Document ................................................................................................................................... 2
Contents ....................................................................................................................................................... 3
Table Index ................................................................................................................................................... 4
1 Introduction .......................................................................................................................................... 5
2 Quectel NMEA Packet Protocol .......................................................................................................... 7
2.1. Quectel NMEA Packet Format .................................................................................................. 7
2.2. PQBAUD Change NMEA Port Default Baud Rate ................................................................. 8
2.3. POEPE Enable/Disable PQEPE Sentence Output ................................................................ 8
2.4. PQ1PPS Set the Type and Pulse Width of 1PPS Output ....................................................... 9
2.5. PQFLP Set the Module into FLP Mode ................................................................................ 10
2.6. PQTXT Enable/Disable GPTXT Sentence Output ............................................................... 11
2.7. PQECEF Enable/Disable ECEFPOSVEL Sentence Output ................................................ 12
2.8. PQODO Start/Stop Odometer Reading ................................................................................ 13
2.9. PQPZ90 Enable/Disable Switching from WGS84 to PZ-90.11 ............................................ 14
2.10. PQGLP Set the Module into GLP Mode ............................................................................... 15
2.11. PQVEL Enable/Disable 3 Ways Velocity Sentence Output .................................................. 16
2.12. PQJAM Enable/Disable Jamming Detection Function ......................................................... 17
2.13. PQRLM Enable/Disable Return Link Message Output......................................................... 18
2.14. PQGEO Configure Parameters of Geo-fence ...................................................................... 20
2.15. PQPREC Configure Parameter Precision in NMEA Sentences ........................................... 23
2.16. PQGBS Enable/Disable GBS Sentence Output ................................................................... 24
3 Appendix References ........................................................................................................................ 26
3.1. Related Documents ................................................................................................................. 26
3.2. Terms and Abbreviations ......................................................................................................... 26
3.3. Datum Sentence Definition ...................................................................................................... 27
3.4. GBS Sentence Definition ......................................................................................................... 28
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GNSS Module Series
GNSS SDK Commands Manual
Table Index
TABLE 1: CURRENT SUPPORTED SDK COMMANDS ..................................................................................... 5
TABLE 2: RELATED DOCUMENTS .................................................................................................................. 26
TABLE 3: TERMS AND ABBREVIATIONS ........................................................................................................ 26
TABLE 4: DATUM SENTENCE DEFINITION .................................................................................................... 27
TABLE 5: GBS SENTENCE DEFINITION ......................................................................................................... 28
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GNSS Module Series
Change NMEA Port Default Baud Rate
Enable/Disable PQEPE Sentence Output
Set the Type and Pulse Width of 1PPS
Output
Set the Module into FLP (Fitness Low
Power) Mode
Enable/Disable GPTXT Sentence Output
Enable/Disable ECEFPOSVEL Sentence
Output
Start/Stop Odometer Reading
Enable/Disable Switching from WGS84 to
PZ-90.11
Set the Module into GLP (GNSS Low
Power) Mode
Enable/Disable 3 Ways Velocity Sentence
Output
Enable/Disable Jamming Detection
Function
Enable/Disable Return Link Message
Output
Configure Parameters of Geo-fence
GNSS SDK Commands Manual
1 Introduction
Quectel GNSS modules support SDK commands which are defined and developed by Quectel. This
document describes these SDK commands. The configuration parameters saved by SDK commands will
still exist in flash even after upgrading the modules’ firmware.
This document is applicable to Quectel L70, L80, L76, L76-L, L86 and L26 modules. Their supported SDK
commands are shown in the table below:
Table 1: Current Supported SDK Commands
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GNSS Module Series
1. Y means supported; N means not supported.
2. For more details about the usage of PQFLP and PQGLP commands, please refer to document [1].
Configure Parameter Precision in NMEA
Sentences
Enable/Disable GBS Sentence Output
GNSS SDK Commands Manual
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GNSS Module Series
The maximum length of each packet is restricted to 255 bytes.
GNSS SDK Commands Manual
2 Quectel NMEA Packet Protocol
This chapter introduces the Quectel NMEA packet protocol which is a set of extension messages of the
standard NMEA packet protocol. These messages are used to control and configure Quectel L70, L80,
L76, L76-L, L86 and L26 modules.
The structure of Quectel NMEA packet is shown as below:
2.1. Quectel NMEA Packet Format
Packet Contents:
Preamble: One byte character.
‘$’
TalkerID: Two bytes character string.
“PQ“
PktType: 1-10 bytes character string.
An identifier used to tell the decoder how to decode the packet.
DataField: The DataFileld has variable lengths depending on the packet type.
A command symbol ‘,’ must be inserted ahead of each data filed to help the decoder
process the DataField.
* : 1 byte character.
The star symbol is used to mark the end of DataField.
CHK1, CHK2: Two bytes character string.
CHK1 and CHK2 are the check sum of the data between Preamble and ‘*’.
CR, LF: Two bytes binary data.
The two bytes are used to identify the end of a packet.
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GNSS Module Series
1. The command will be effective immediately after setting.
2. Parameter is automatically saved.
3. If the baud rate is changed, then there is no response returned in the current baud rate.
PQBAUD Change NMEA Port Default Baud Rate
Write Command
$PQBAUD,W,<baudrate>*Checksum<C
R><LF>
Response
$PQBAUD,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQBAUD,W,ERROR*Checksum<CR><LF>
<baudrate> NMEA port baud rate, default value is 9600bps, and can be set to 4800bps,
14400bps, 19200bps, 38400bps, 57600bps and 115200bps
PQEPE Enable/Disable PQEPE Sentence Output
Write Command
$PQEPE,W,<mode>,<save>*Checksu
m<CR><LF>
Response
$PQEPE,W,OK*Checksum<CR><LF>
If there is any error, response:
$PQEPE,W,ERROR*Checksum<CR><LF>
$PQEPE,<EPE_hori>,<EPE_vert>*Checksum<CR><LF>
Parameter
<EPE_hori> Estimated horizontal position error
GNSS SDK Commands Manual
2.2. PQBAUD Change NMEA Port Default Baud Rate
Parameter
Example
$PQBAUD,W,115200*43 //Change NMEA port default baud rate to 115200bps
$PQBAUD,W,OK*40 //Set OK
2.3. POEPE Enable/Disable PQEPE Sentence Output
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