Instruction manual

Command Response Formats Page 138
Command
Example: Set mode to CPD, reverse vector processing, rover
$PASHS,CPD,MOD,RBR
$PASHQ,CPD,MOD
The accompanying query command is $PASHQ,CPD,MOD. This command requests
information about current CPD mode. The port for the message output may be
specified in this command. If the port is not specified, the message is output to the
port from which this command was received. The command structure is
$PASHQ,CPD,MOD,c1*crc where C1 is the port, A, B, or C.
$PASHR,CPD,MOD
The response message is in the form
$PASHR,CPD,MOD,s0,s1,c2,f3,d4,d5,s6,s7,f8,s9,d10,s11,s12,f9*crc
where the fields are as described in Table 4.91.
Table 4.91: CPD MOD Message Structure
Field Description
s0 Mode
BAS = base
ROV = rover
RBB =
RBR =
OFF = off
s1 CPD mode: FST = fast OFF = off
c2 Port A or B
f3 CPD update period 1 through 5 seconds
d4 A priori rover dynamics 0 through 3
d5 A priori multipath information 0 through 4
s6 DBEN type: RCA, RP1, RP2, RPC
s7 DBEN smooth: SMS = on NSM = off
f8 DBEN transmission period 0 through 999.0
s9 Base position to use: ETD = XIT =
d10 PBS transmission period 0, 10, 30, 100, 300
s11 Solution to output: CPD, RAW, RBP
s12 CPD autodifferential mode/disabled: AUT = enabled OFF = off
f9 Ambiguity fixing parameter 1 through 5
*crc Checksum