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					UBLOX COMMAND GUIDE
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PURPOSE

This is an attempt to document, or at least make sense of, the commands which are (or could be) sent to the UBLOX devices on startup and shutdown.
The commands come from many sources, and the comments are an attempt at explanation. It's a mish-mash, possibly best ignored.

The definitive document on what the format is is here:
https://www.u-blox.com/sites/default/files/products/documents/u-blox8-M8_ReceiverDescrProtSpec_%28UBX-13003221%29_Public.pdf?utm_source=en/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf

ISSUES

1. the samples ubx_m8t_glo_raw_1hz.cmd and similar seem to turn on/off GLO/BDS, but leave GPS untouched. Why?
2. the samples ubx_m8t_glo_raw_1hz.cmd and similar seem to use flags=65537 (0x10001), but others use 0x01. Why?

LET'S GO ...

# Set sample rate low while configuring receiver
# Sample rate 1 Hz (measRate=1000, navRate=1, timeRef=1 (GSPTime))

!UBX CFG-RATE 1000 1 1




These are from ubx_m8t_glo_raw_1hz.cmd

# GNSS System Configuration (sgsVer=0, numTrkChTw=32, numTrkChUse=32, numConfigBlocks=1, gnssId=3 (BeiDou), resTrkCh=16, maxtrkCh=16, reserved1=0, flags=1 (enable) [Q: why aren't the flags set?]
!UBX CFG-GNSS 0 32 32 1 3 16 16 0 0
#
# GNSS System Configuration (sgsVer=0, numTrkChTw=32, numTrkChUse=32, numConfigBlocks=1, gnssId=6 (Glonass), resTrkCh=16, maxtrkCh=16, reserved1=0, flags=1 (enable) [Q: why aren't the flags set?]
!UBX CFG-GNSS 0 32 32 1 6 16 16 0 1
#
# Message rate msgClass=3, msgId=15 (Multi-GNSS raw measurement data) rates = 0 1 0 1 0 0
# turn on UBX RXM-RAWX messages on USB and UART
!UBX CFG-MSG 2 21 0 1 0 1 0 0
#
# Message rate msgClass=3, msgId=19 (UBX NAV STATUS) rates = 0 1 0 1 0 0
# turn on UBX RXM-SFRBX messages on USB and UART
!UBX CFG-MSG 2 19 0 0 0 1 0 0
@
#
# Message rate msgClass=3, msgId=15 (Multi-GNSS raw measurement data) rates = 0 0 0 0 0 0
!UBX CFG-MSG 2 21 0 0 0 0 0 0
#
# Message rate msgClass=3, msgId=19 (UBX NAV STATUS) rates = 0 0 0 0 0 0
# turn off UBX RXM-SFRBX messages on all ports
!UBX CFG-MSG 2 19 0 0 0 0 0 0








# Configure GPS and GLONASS satellites
# GNSS System Configuration (sgsVer=0, numTrkChTw=32, numTrkChUse=32, numConfigBlocks=1, gnssId=0 (GPS), resTrkCh=10, maxtrkCh=32, reserved1=0, flags=1 (enable) [Q: why aren't the flags set?]
!UBX CFG-GNSS 0 32 32 1 0 10 32 0 1
# GNSS System Configuration (sgsVer=0, numTrkChTw=32, numTrkChUse=32, numConfigBlocks=1, gnssId=6 (GLONASS), resTrkCh=8, maxtrkCh=16, reserved1=0, flags=1 (enable) [Q: why aren't the flags set?]
!UBX CFG-GNSS 0 32 32 1 6 8 16 0 1

# Set up raw data out
# Message rate msgClass=3, msgId=15 (UNDOCUMENTED) rates = 0 1 0 1 0 0 (RS232 port and USB port at 1s intervals)
# https://github.com/tomojitakasu/RTKLIB/issues/101 says this is "TRK-MEAS"
!UBX CFG-MSG 3 15 0 1 0 1 0 0
# Message rate msgClass=3, msgId=16 (UNDOCUMENTED) rates  0 1 0 1 0 0 (RS232 port and USB port at 1s intervals)
# https://github.com/tomojitakasu/RTKLIB/issues/101 says this is "TRK-SRFBX"
!UBX CFG-MSG 3 16 0 1 0 1 0 0
# Message rate msgClass=1, msgId=32 (UBX-NAV-TIMEGPS) rates = 0 1 0 1 0 0 (RS232 port and USB port at 1s intervals)
!UBX CFG-MSG 1 32 0 1 0 1 0 0

# change NAV5 mode to stationary (mask=1, dynModel=2 (stationary) fixMode=0, fixedAlt=0, fixedAltVar=0, minElev=0, drLimit=0, pDop=0, tDop=0, pAcc=0, tAcc=0, staticHoldThresh=0, dgnSsTimeout=0, cnoThreshNumSVs=0, cnoThresh=0, reserved1=0, staticHoldMaxDist=0, utcStandard=0,
# change NAV5 stationary mode to stationary
!UBX CFG-NAV5 1 2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
# change NAV5 stationary mode to pedestrian
!UBX CFG-NAV5 1 3 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

# turn off extra messages default messages
# Turn off NMEA GGA
!UBX CFG-MSG 240 0 0 0 0 0 0 0
# Turn off NMEA GLL
!UBX CFG-MSG 240 1 0 0 0 0 0 0
# Turn off NMEA GSA
!UBX CFG-MSG 240 2 0 0 0 0 0 0
# Turn off NMEA GSV
!UBX CFG-MSG 240 3 0 0 0 0 0 0
# Turn off NMEA RMC
!UBX CFG-MSG 240 4 0 0 0 0 0 0
# Turn off NMEA VTG
!UBX CFG-MSG 240 5 0 0 0 0 0 0
# Turn off NMEA ZDA
!UBX CFG-MSG 240 8 0 0 0 0 0 0
# UBX NAV STATUS (0x01 0x03)
!UBX CFG-MSG 1 3 0 0 0 0 0 0
!UBX CFG-MSG 1 3 0 0 0 0 0 0
# UBX NAV SOL Navigation Solution Information (0x01 0x06)
!UBX CFG-MSG 1 6 0 0 0 0 0 0
# UBX NAV VELNED Velocity Solution in NED (0x01 0x12)
!UBX CFG-MSG 1 18 0 0 0 0 0 0
# UBX-NAV-CLOCK Clock Solution (0x01 0x22)
!UBX CFG-MSG 1 34 0 0 0 0 0 0
# UBX-NAV-SVINFO Space Vehicle Information (0x01 0x30)
!UBX CFG-MSG 1 48 0 0 0 0 0 0





# turn on UBX TIM TM2 messages on USB and UART
!UBX CFG-MSG 13 3 0 1 0 1 0 0

# GNSS system settings
# set GPS 8-16 channels
!UBX CFG-GNSS 0 32 32 1 0 8 16 0 1 0 1 1
# set SBAS 1-3 channels
!UBX CFG-GNSS 0 32 32 1 1 1 3 0 1 0 1 1
# set Galileo 0 channels off
!UBX CFG-GNSS 0 32 32 1 2 0 0 0 0 0 0 1
# set BeiDou 8-16 channels off
!UBX CFG-GNSS 0 32 32 1 3 8 16 0 0 0 1 1
# set IMES 0-8 channels off
!UBX CFG-GNSS 0 32 32 1 4 0 8 0 0 0 1 1
# set QZSS 0-3 channels
!UBX CFG-GNSS 0 32 32 1 5 0 3 0 1 0 1 1
# set GLONASS 8-14 channels
!UBX CFG-GNSS 0 32 32 1 6 8 14 0 1 0 1 1

# turn off extra messages default messages
# NMEA GGA
!UBX CFG-MSG 240 0 0 0 0 0 0 0
# NMEA GLL
!UBX CFG-MSG 240 1 0 0 0 0 0 0
# NMEA GSA
!UBX CFG-MSG 240 2 0 0 0 0 0 0
# NMEA GSV
!UBX CFG-MSG 240 3 0 0 0 0 0 0
# NMEA RMC
!UBX CFG-MSG 240 4 0 0 0 0 0 0
# NMEA VTG
!UBX CFG-MSG 240 5 0 0 0 0 0 0
# NMEA ZDA
!UBX CFG-MSG 240 8 0 0 0 0 0 0
!UBX CFG-MSG 1 3 0 0 0 0 0 0
!UBX CFG-MSG 1 3 0 0 0 0 0 0
!UBX CFG-MSG 1 6 0 0 0 0 0 0
!UBX CFG-MSG 1 18 0 0 0 0 0 0
!UBX CFG-MSG 1 34 0 0 0 0 0 0
!UBX CFG-MSG 1 48 0 0 0 0 0 0
!UBX CFG-MSG 3 15 0 0 0 0 0 0
!UBX CFG-MSG 3 16 0 0 0 0 0 0
!UBX CFG-MSG 12 16 0 0 0 0 0 0
!UBX CFG-MSG 12 49 0 0 0 0 0 0
!UBX CFG-MSG 12 52 0 0 0 0 0 0
!UBX CFG-MSG 04 02 0 0 0 0 0 0
!UBX CFG-MSG 10 38 0 0 0 0 0 0

# Set sample rate to 5 Hz for data collection
!UBX CFG-RATE 200 1 1



@
# Set sample rate back to 1 Hz on exit.
!UBX CFG-RATE 1000 1 1