Author
Date
Topic
Release Note
ZED-F9P FW 1.00 HPG 1.13
UBX-20019211
Mårten Ström
25 May 2020
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Copyright© u-blox AG.
Contents
1 General information 1
1.1 Scope 1
1.2 Related documentation 1
2 Released firmware image 2
2.1 Related software 2
3 Message interface 2
3.1 UBX protocol 2
3.2 NMEA protocol 2
3.3 Interface changes 3
New messages 3
Modified messages 4
Removed messages 4
4 Firmware changes 4
4.1 New features 4
4.2 Improvements 4
4.3 Firmware known limitations 5
1 General information
1.1 Scope
This Release Note applies to ZED-F9P module firmware version 1.00 HPG 1.13.
The document covers the changes in the ZED-F9P firmware compared to firmware version 1.00
HPG 1.12. Please refer to release notes [4], [5], [6] and [7] for a full description.
1.2 Related documentation
[1] u-blox ZED-F9P Interface Description, UBX-18010854
[2] u-blox ZED-F9P Data Sheet, UBX-17051259
[3] u-blox ZED-F9P Integration Manual, UBX-18010802
[4] u-blox ZED-F9P Release Note FW 1.00 HPG 1.00, UBX-18052237
[5] u-blox ZED-F9P Release Note FW 1.00 HPG 1.10, UBX-18070245
[6] u-blox ZED-F9P Release Note FW 1.00 HPG 1.11, UBX-19004753
[7] u-blox ZED-F9P Release Note FW 1.00 HPG 1.12, UBX-19026698
UBX-20019211 1/5
ZED-F9P FW 1.00 HPG 1.13
Released firmware image for u-blox ZED-F9P
File
UBX_F9_100_HPG_113_ZED_F9P.7e6e899c5597acddf2f5f2f70fdf5fbe.bin
Firmware version
EXT CORE 1.00 (f10c36)
FWVER=HPG 1.13
ROM base support
ROM 1.02 - ROM BASE 0x118B2060
ROM 1.01 - ROM BASE 0xDD3FE36C
ROM 0.40 - ROM BASE 0xCAAF619C
2 Released firmware image
2.1 Related software
It is recommended to use u-center GNSS evaluation software version 20.06 (or later) with the
released product.
3 Message interface
3.1 UBX protocol
This firmware supports UBX protocol version 27.12.
3.2 NMEA protocol
This firmware adds support for NMEA version 4.11. Five NMEA standards are supported. The
default NMEA version is 4.10, and, alternatively, versions 4.11, 4.0, 2.3, and 2.1 can be enabled.
The main differences between NMEA 4.11 and NMEA 4.10 are the talker ID, system ID and
signal ID introduced for QZSS and BeiDou.
For BeiDou, the talker ID, system ID and signal ID used by u-blox for version 4.10 were
aligned to those specified in the new NMEA 4.11, except for the BeiDou B2I signal ID. The
signal ID for BeiDou B2I in NMEA version 4.11 is set to ‘11’.
For QZSS, the specific talker ID (‘GQ’) and system ID (‘5’) are introduced. The signal ID
remains unchanged.
UBX-20019211 2/5
ZED-F9P FW 1.00 HPG 1.13
Message / Configuration item
Description / Comment
NMEA-GQQ
Poll standard message for QZSS (talker ID GQ)
NMEA-RLM
Galileo Return Link Message (RLM)
CFG-RTCM-DF003_OUT
Configuration item to set the reference station ID RTCM data
field (DF003) for output RTCM messages
CFG-RTCM-DF003_IN
CFG-RTCM-DF003_IN_FILTER
Configuration items to filter out input RTCM messages based
on their reference station ID RTCM data field (DF003)
CFG-NMEA-FILT_QZSS
Disable reporting of QZSS
CFG_NMEA_PROTVER
CFG_NMEA_PROTVER_V411 added for enabling NMEA 4.11
UBX-MON-SPAN
Message reporting signal info to be used as a basic spectrum
analyzer
UBX-NAV-SBAS
SBAS-related output message
UBX-CFG-SBAS
SBAS-related (deprecated) configuration message
CFG-NMEA-FILT_SBAS
CFG-SIGNAL-SBAS-*
CFG-SBAS-*
SBAS-related configuration items
UBX-NAV-SLAS
SLAS-related output message
UBX-NAV-TIMEQZSS
QZSS time solution
CFG-SIGNAL-QZSS_L1S_ENA
Configuration item to enable QZSS L1S support
CFG-QZSS-USE_SLAS_*
SLAS-related configuration items
CFG-BDS-USE_PRN_1_TO_5
Enable BeiDou geostationary satellites
3.3 Interface changes
New messages
UBX-20019211 3/5
ZED-F9P FW 1.00 HPG 1.13
Message / Configuration item
Description / Comment
UBX-RXM-RTCM
RTCM reference station ID reported. If the RTCM message
has no reference station ID, it is reported as not available.
New
msgUsed
flag to indicate if an input RTCM message was
used or not.
UBX-NAV-STATUS
Added
carrSoln
flag to indicate RTK status
UBX-TIM-TP
New flag to indicate if the reported quantization error is valid
Message / Configuration item
Description / Comment
CFG-NAVSPG-USE_PPP
Use Precise Point Positioning (PPP feature not supported on
HPG or HDG products)
Modified messages
Removed messages
4 Firmware changes
4.1 New features
BeiDou geostationary satellites (Space Vehicles ID 1 to 5) are supported. The use of these
satellites can be enabled using the CFG-BDS-USE_PRN_1_TO_5 configuration key. Default
configuration is false.
SBAS support is added. SBAS (WAAS, EGNOS, MSAS, GAGAN) corrections are used when
no RTCM corrections are available. SBAS is enabled in the default configuration.
SLAS (QZSS L1S) support is added. SLAS corrections are used when no RTCM corrections
are available. SLAS corrections take precedence over SBAS corrections. The use of SLAS
correction is disabled in the default configuration.
Added NMEA version 4.11 support.
4.2 Improvements
Improved RTK and receiver performance.
Increased navigation update rate for the moving base setup.
In a moving base setup the RTCM MSM4 message can replace RTCM MSM7. In addition, the
proprietary RTCM MT 4072.1 is no longer needed. Changing from MSM7 to MSM4 does not
compromise performance, and is therefore recommended as this will lower the load on the
communication channel.
Extended support for legacy base stations in RTCM MT1033. It is still recommended that
third party base stations are configured to output Message MT1230 instead of MT1033, if
available.
NMEA and RTCM output on UART2 is available regardless of UART1 configuration.
Improved USB and I2C interface robustness.
Message UBX-CFG-VALGET returns NAK for unsupported configuration items.
UBX-20019211 4/5
ZED-F9P FW 1.00 HPG 1.13
Survey-in can be restarted by setting CFG-TMODE-MODE to DISABLED, and then back to
SURVEY-IN.
Fixed SBAS/RTCM/SLAS correction flags in UBX-NAV-SAT message.
RTC reset mechanism
4.3 Firmware known limitations
A receiver moving at very slow speed (<10 cm/s) does not update the heading information in
UBX-NAV-PVT. The velocity vectors can be used reliably.
The Geofence status pin is only available in the default pin configuration.
If the receiver is configured to output RTCM messages on several ports, the ports must have
the same RTCM configuration, otherwise the MSM multiple message bit might not be set
correctly.
No support for RTCM MT MSM 1131-1137 (NavIC). If the receiver is fed a correction stream
ending with a NavIC MSM message, the receiver will not be able to get into differential mode.
Time pulse can only be synced to GNSS. Configuration items and relevant flag cannot be set
to false (CFG-TP-SYNC_GNSS_TP1, UBX -CFG-TP5).
UBX-20019211 5/5
ZED-F9P FW 1.00 HPG 1.13
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