Specifications
Command/Response Formats 215
Commands
PRT: Port Output Setting
$PASHS,CPD,PRT,c
This command sets the port to output DBEN and BPS messages, where c is the desired
port. This is only relevant to BASE or RVP ROVER mode. Default port is B.
Example: Output DBEN and BPS messages to port C.
$PASHS,CPD,PRT,C <enter>
RST: Reset CPD
$PASHS,CPD,RST
Reset the PNAV processing (Kalman filter reset). This command is relevant for ROV-
ER mode or RVP BASE mode only.
Example: Reset the PNAV Kalman Filter
$PASHS,CPD,RST <enter>
STS: CPD Solution Status
$PASHQ,CPD,STS,c
This command queries the CPD Solution Status message, where c is the optional out-
put port. This message contains information about the current CPD/PNAV Processing
status.
Example: Query solution status to port D.
$PASHQ,CPD,STS,D <enter>
$PASHR,CPD,STS
The response message is in the form:
$PASHR,CPD,STS,f1,f2*cc <enter>
Table 6.150: CPD,STS Message Structure
Field Description Range Units
f1 RMS phase residual 0.00 - 0.100 meter
f2 Ambiguity Fixing Contrast Ratio 0.00 - 99999.99
*cc Checksum