Specifications

Command/Response Formats 209
Commands
MTP: Multipath
$PASHS,CPD,MTP,d1
This command sets the multipath parameter, where d1 is a code that describes the mul-
ti-path environment. This command is relevant for ROVER mode or RVP BASE mode
only. Default is medium (2).
Example: Set multipath parameter to high.
$PASHS,CPD,MTP,3 <enter>
OBN: Vector Solution Information
$PASHQ,OBN
This command queries the OBN message. The OBN message contains information
about the vector solution accumulated from the beginning of the static site
occupation. It is only relevant when the rover dynamics are set to static.
Example: Query OBN data to the current port
$PASHQ,OBN <enter>
$PASHR,OBN
The response message is in binary format and is in the form:
$PASHR,OBN,<OBEN structure> <enter>
d11 BPS transmission period or broadcast interval 0,10,30,100,300
s12 Which solution to output ‘CPD’, ‘RAW’, ‘RBP’
f13 Ambiguity fixing confidence level 99.0, 95.0, 99.0, 99.9
Table 6.143: MTP Parameter Table
Parameter Description
d1 Multipath. One of the following values:
0 - no multipath (zero baseline)
1 - Low (open field)
2 - Medium (default)
3 - high (water surface, buildings)
4 - Severe (forest, urban canyon)
Table 6.142: CPD,MOD Message Structure (continued)
Parameter Description Range