{ "comment": "Version number cannot be changed", "configs": [ { "crc_type": 32, "sections": [ { "leafs": [ { "bm_upd_valid_bit": 0, "leaf_comment": "Serial IO type, UART by default", "leaf_data_length": 1, "leaf_name": "IO Type", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3,4,5,6", "leaf_value_text": "UART0,I2C,UART1,UART2,SPI_CAN,SPI,SPI1" }, { "bm_upd_valid_bit": 1, "leaf_comment": "RF band select, SF for single and DF for dual frequency band", "leaf_data_length": 1, "leaf_name": "RF Band", "leaf_type": "enum", "leaf_value": 2, "leaf_value_list": "1,2", "leaf_value_text": "SF,DF" }, { "bm_upd_valid_bit": 2, "leaf_comment": "Working voltage, 0.9V by default", "leaf_data_length": 1, "leaf_name": "Voltage", "leaf_type": "enum", "leaf_value": 9, "leaf_value_list": "8,9", "leaf_value_text": "0.8V,0.9V" }, { "bm_upd_valid_bit": 4, "leaf_comment": "Serial IO baudrate", "leaf_data_length": 4, "leaf_name": "Baudrate", "leaf_type": "enum", "leaf_value": 230400, "leaf_value_list": "4800,9600,19200,38400,57600,115200,230400,460800,921600,1000000,2000000", "leaf_value_text": "4800,9600,19200,38400,57600,115200,230400,460800,921600,1000000,2000000" }, { "leaf_comment": "Save all config items of current page to Flash", "leaf_data_length": 1, "leaf_name": "SaveToFlash", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1", "leaf_value_text": "No,Yes" }, { "bm_upd_valid_bit": 23, "leaf_comment": "Secondary Serial IO select", "leaf_data_length": 1, "leaf_name": "Secondary UartID", "leaf_type": "enum", "leaf_value": 2, "leaf_value_list": "0,1,2", "leaf_value_text": "0,1,2" }, { "bm_upd_valid_bit": 24, "leaf_comment": "Secondary Serial IO baudrate", "leaf_data_length": 4, "leaf_name": "Secondary Uart Baudrate", "leaf_type": "enum", "leaf_value": 115200, "leaf_value_list": "9600,115200,460800,1000000,2000000", "leaf_value_text": "9600,115200,460800,1000000,2000000" }, { "leafs": [ { "bm_upd_valid_bit": 26, "leaf_comment": "PPS output IO type, GPIO11 by default", "leaf_data_length": 1, "leaf_name": "PPS IO Type", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "GPIO11,GPIO10" }, { "leaf_comment": "PPS pulse edge type, Rising Edge by default", "leaf_data_length": 1, "leaf_name": "PPS Pulse Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "Rising Edge,Falling Edge" }, { "leaf_comment": "PPS output type, Ouput When Time Accurate by default", "leaf_data_length": 1, "leaf_name": "PPS Output Type", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,3,2", "leaf_value_text": "Accurate Time,Always,Coarse Time,Disabled" }, { "leaf_comment": "PPS pulse interval(unit:ms), 1000ms by default", "leaf_data_length": 4, "leaf_name": "PPS Pulse Interval (ms)", "leaf_type": "number", "leaf_value": 1000, "leaf_value_max": "100000" }, { "leaf_comment": "PPS pulse width(unit:us), 200ms by default", "leaf_data_length": 4, "leaf_name": "PPS Pulse Width (us)", "leaf_type": "number", "leaf_value": 700000, "leaf_value_max": "100000000" }, { "leaf_comment": "PPS cable delay(unit:ns), 0ns by default", "leaf_data_length": 2, "leaf_name": "PPS Cable Delay (ns)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "32767" }, { "leaf_comment": "PPS Reserved", "leaf_data_length": 8, "leaf_name": "PPS Reserved", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0", "leaf_value_text": "Invalid" } ], "section_data_length": 21, "section_name": "PPS Config" }, { "bm_upd_valid_bit": 30, "leaf_comment": "GNSS GPIO CFG bitmask", "leaf_data_length": 4, "leaf_name": "GPIO CFG", "leaf_type": "bitmask", "leaf_value": "0x0", "leaf_value_list": "0,4,14,18,19", "leaf_value_text": "GPIO_0,GPIO_4,GPIO_14,GPIO_18,GPIO_19" }, { "bm_upd_valid_bit": 34, "leaf_comment": "CUS DBG CFG ", "leaf_data_length": 1, "leaf_name": "DBG MODE", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,3", "leaf_value_text": "2M_DBG,NMEA_ONLY,CUS_DBG" }, { "bm_upd_valid_bit": 38, "leaf_comment": "Master or slave cfg for dual ant, disable by default", "leaf_data_length": 1, "leaf_name": "Enable Master or Slave", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "DISABLE,MASTER,SLAVE" }, { "bm_upd_valid_bit": 41, "leaf_comment": "Power Supply CFG ", "leaf_data_length": 1, "leaf_name": "Power Supply Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DCDC,LDO" }, { "bm_upd_valid_bit": 42, "leaf_comment": "Power Manage Level CFG ", "leaf_data_length": 1, "leaf_name": "Power Manage Level", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "Balanced,Full Power,Low Power" }, { "bm_upd_valid_bit": 48, "leaf_comment": "ID Number In Customization", "leaf_data_length": 1, "leaf_name": "Customization Number", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "254" }, { "bm_upd_valid_bit": 59, "leaf_comment": "Mode of Static Time Service", "leaf_data_length": 1, "leaf_name": "Static Time Service Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "Disable,Normal Static Mode,Set Position Mode,Single Sat Mode" }, { "bm_upd_valid_bit": 60, "leaf_comment": "Set Longitude (WGS84) in Degree", "leaf_data_length": 8, "leaf_name": "Longitude in Degree", "leaf_type": "double", "leaf_value": 0, "leaf_value_max": "180.01" }, { "bm_upd_valid_bit": 60, "leaf_comment": "Set Latitude (WGS84) in Degree", "leaf_data_length": 8, "leaf_name": "Latitude in Degree", "leaf_type": "double", "leaf_value": 0, "leaf_value_max": "90.01" }, { "bm_upd_valid_bit": 60, "leaf_comment": "Set Height (WGS84) in Meter", "leaf_data_length": 8, "leaf_name": "Hight in Meter", "leaf_type": "double", "leaf_value": 0, "leaf_value_max": "1000000000000.0" }, { "bm_upd_valid_bit": 66, "leaf_comment": "Set Antenna Height (WGS84) in Meter", "leaf_data_length": 8, "leaf_name": "Antenna Hight in Meter", "leaf_type": "double", "leaf_value": 0, "leaf_value_max": "7.0" }, { "bm_upd_valid_bit": 67, "leaf_comment": "use imformation in flash to achieve fast fix", "leaf_data_length": 1, "leaf_name": "Flash Aiding", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "ENABLE,Disable" }, { "bm_upd_valid_bit": 74, "leaf_comment": "Ext_lna_ldo On/Off Ctrl", "leaf_data_length": 1, "leaf_name": "EXT_LNA_LDO Ctrl", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "ON,OFF" }, { "bm_upd_valid_bit": 77, "leaf_comment": "high precision time stamping ctrl, use gpio2 as input ext-stamping signal", "leaf_data_length": 1, "leaf_name": "High Precision Time Stamping", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "Disable,ENABLE" }, { "bm_upd_valid_bit": 101, "leaf_comment": "Master or slave cfg for Tri-freq, disable by default", "leaf_data_length": 1, "leaf_name": "Tri-freq master or Slave", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "DISABLE,MASTER,SLAVE" }, { "bm_upd_valid_bit": 102, "leaf_comment": "Uart1 IO select, select IO12 by default", "leaf_data_length": 1, "leaf_name": "Uart1 IO select", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "IO12,IO2" }, { "bm_upd_valid_bit": 117, "leaf_comment": "Uart1 IO Pos select, select IO8 by default", "leaf_data_length": 1, "leaf_name": "I2C IO POS", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "IO8,IO7" }, { "bm_upd_valid_bit": 119, "leaf_comment": "Ext_lna_ldo output voltage", "leaf_data_length": 1, "leaf_name": "EXT_LNA_LDO Voltage", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3,4,5,6,7", "leaf_value_text": "2.8V,2.9V,3.0V,3.1V,1.7V,1.8V,1.9V,2.7V" }, { "bm_upd_valid_bit": 120, "leaf_comment": "Rtc period wakeup en", "leaf_data_length": 1, "leaf_name": "RTC_PERIOD_WAKEUPEN", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "leafs": [ { "bm_upd_valid_bit": 121, "leaf_comment": "uart output time count", "leaf_data_length": 2, "leaf_name": "OUTPUT TIMECNT", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "0xFFFF" }, { "leaf_comment": "uart output packect size", "leaf_data_length": 2, "leaf_name": "OUTPUT PACKECT SIZE", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "0xFFFF" } ], "section_data_length": 4, "section_name": "UARTOUTPUT Config" }, { "bm_upd_valid_bit": 129, "leaf_comment": "External Buck ON/OFF switch, OFF by default", "leaf_data_length": 1, "leaf_name": "EBUCK ENA", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "OFF,ON" }, { "bm_upd_valid_bit": 130, "leaf_comment": "Master or slave cfg for functional safety, disable by default", "leaf_data_length": 1, "leaf_name": "FS Master or Slave", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "DISABLE,MASTER,SLAVE" } ], "section_data_length": 200, "section_name": "System Parameters" }, { "leafs": [ { "bm_upd_valid_bit": 3, "leaf_comment": "GNSS receiver working rate in Hz", "leaf_data_length": 1, "leaf_name": "Working Rate", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,2,5,10,20", "leaf_value_text": "1,2,5,10,20" }, { "bm_upd_valid_bit": 5, "leaf_comment": "GNSS constellation signal bitmask", "leaf_data_length": 4, "leaf_name": "Constellation Signal", "leaf_type": "bitmask", "leaf_value": "0x73FF", "leaf_value_list": "0,1,2,3,4,5,6,7,8,9,12,13,14,15,16,17", "leaf_value_text": "GPSL1,GPSL5,BDSB1I,BDSB2A,BDSB2B,BDSB1C,GLOG1,GALE1,GALE5A,GALE5B,SBASL1,IRSL5,BD2B2I,GPSL2C,GLOG2,BDSB3I" }, { "bm_upd_valid_bit": 6, "leaf_comment": "Measurement output mode (Uart0 or Uart1)", "leaf_data_length": 1, "leaf_name": "Measurement Mode", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2,3,4", "leaf_value_text": "Default,FastMode(Uart0),SlowMode(Uart0),FastMode(Uart1),SlowMode(Uart1)" }, { "bm_upd_valid_bit": 7, "leaf_comment": "Measurement output rate in Hz", "leaf_data_length": 1, "leaf_name": "Measurement Output Rate", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,2,5,10,20", "leaf_value_text": "1,2,5,10,20" }, { "bm_upd_valid_bit": 8, "leaf_comment": "Measurement aligned time system, GPS Time by default", "leaf_data_length": 1, "leaf_name": "Measurement Time System", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "GPST,BDST,GLOT,GALT" }, { "bm_upd_valid_bit": 9, "leaf_comment": "Receiver aligned time system, GPS Time by default", "leaf_data_length": 1, "leaf_name": "Receiver Time System", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "GPST,BDST,GLOT,GALT" }, { "bm_upd_valid_bit": 10, "leaf_comment": "PPS aligned time system, GPS Time by default", "leaf_data_length": 1, "leaf_name": "PPS Time System", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "GPST,BDST,GLOT,GALT" }, { "bm_upd_valid_bit": 11, "leaf_comment": "Preset minimum GPS week number of NAV message", "leaf_data_length": 2, "leaf_name": "Min GPS Week", "leaf_type": "number", "leaf_value": 1564, "leaf_value_max": "0xFFFF" }, { "bm_upd_valid_bit": 14, "leaf_comment": "Output NMEA message bitmask", "leaf_data_length": 4, "leaf_name": "Output NMEA Message", "leaf_type": "bitmask", "leaf_value": "0x27", "leaf_value_list": "0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,30,31", "leaf_value_text": "GGA,GSA,GSV,VTG,CNR,RMC,CLK,POL,THS,ANT,JAM,INS,GST,GLL,AID,MSM,GMP,ODO,GPA,GFA,ZDA,RSF,GAM,GXB,OLY,DTM,GBS,GNS,GRS,DRS" }, { "bm_upd_valid_bit": 15, "leaf_comment": "Output POLARIS message bitmask", "leaf_data_length": 4, "leaf_name": "Output POLARIS Message", "leaf_type": "bitmask", "leaf_value": "0x0", "leaf_value_list": "0,1,2,3,4,5,6,7,8,9,10,11", "leaf_value_text": "PVT,SVINFO,COV,SOL,POSLLH,STATUS,VELNED,DOP,SAT,BKPVT,TIME_GPS,HPPOSLLH" }, { "bm_upd_valid_bit": 16, "leaf_comment": "RTCM measurement output", "leaf_data_length": 1, "leaf_name": "Output RTCM MSM Version", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "2,1,3,0", "leaf_value_text": "MSM3,MSM4,MSM5,MSM7" }, { "bm_upd_valid_bit": 22, "leaf_comment": "RTCM EPH output repeat interval, should NOT exceed 36000 sec", "leaf_data_length": 4, "leaf_name": "Output RTCM EPH Time Interval", "leaf_type": "number", "leaf_value": 300, "leaf_value_max": "36000" }, { "bm_upd_valid_bit": 28, "leaf_comment": "Auto: GP/BD/GL/GA for single system, GN for combined system, Force-GN/P: Always GN/P except GSV sentence", "leaf_data_length": 1, "leaf_name": "NMEA Talker ID", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "Auto,Force-GN,Force-GP,Force-BD" }, { "bm_upd_valid_bit": 31, "leaf_comment": "0:Enable,1:Disable,2:Only Print when strat/stop", "leaf_data_length": 1, "leaf_name": "Version Print", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2", "leaf_value_text": "ENABLE,DISABLE,ONCE" }, { "bm_upd_valid_bit": 37, "leaf_comment": "Disable Request AGNSS, default 0 NOT Disable", "leaf_data_length": 1, "leaf_name": "Request AGNSS", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1", "leaf_value_text": "ENABLE,DISABLE" }, { "bm_upd_valid_bit": 46, "leaf_comment": "Default Disable", "leaf_data_length": 1, "leaf_name": "Enable Long Ephemeris", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "DISABLE,ENABLE,DISABLE+EE,ENABLE+EE" }, { "bm_upd_valid_bit": 49, "leaf_comment": "Output RTCM message bitmask", "leaf_data_length": 4, "leaf_name": "Output RTCM Message", "leaf_type": "bitmask", "leaf_value": "0x3", "leaf_value_list": "0,1,2,3,4,7,8,9,10,11", "leaf_value_text": "MEAS,EPH,ION,SBS,GEO,JT_PNT,JT_WARN,JT_MEAS,JT_EPH,RNM" }, { "bm_upd_valid_bit": 56, "leaf_comment": "ASCII Command, OFF:not support, NOCS/ADDCS:support and not add/add checksum", "leaf_data_length": 1, "leaf_name": "ASCII Command", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2", "leaf_value_text": "OFF,NOCS,ADDCS" }, { "bm_upd_valid_bit": 58, "leaf_comment": "NMEA lat/lon output frac digital, default 7", "leaf_data_length": 1, "leaf_name": "NMEA LL FRAC DIGT", "leaf_type": "enum", "leaf_value": 7, "leaf_value_list": "4,5,6,7", "leaf_value_text": "DIGT4,DIGT5,DIGT6,DIGT7" }, { "bm_upd_valid_bit": 61, "leaf_comment": "NMEA output uartid select mask, default 0", "leaf_data_length": 1, "leaf_name": "NMEA OUTPUT MASK", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3,4,5", "leaf_value_text": "uart0,uart0,uart1,uart10,uart2,uart20" }, { "bm_upd_valid_bit": 65, "leaf_comment": "NMEA output interpolation multiplier, default 0", "leaf_data_length": 1, "leaf_name": "Interpolation Multiplier", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "0,1" }, { "bm_upd_valid_bit": 79, "leaf_comment": "Miscellaneous settings of NMEA output", "leaf_data_length": 4, "leaf_name": "NMEA Misc", "leaf_type": "bitmask", "leaf_value": "0x80020001", "leaf_value_list": "0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31", "leaf_value_text": "EXT_RTK_SV_USE,H_PITCH,GSV_5S,BM3,IO19_LNA,ZDA_YEAR,BMA2,BMA4,BMA3,BDSGB,GSVONE,ELE_FILTER,OUT_INVAILD_TIME,FAST_FIX_AGNSS,PO_IRSDATA,IRSGI,NO_LOAD_FLASH,ANTENNA_B,MSBS,MGPS,MBDS,MGLO,MGAL,MIRS,MQZS,TP5,GSVNUM,FAST_TTFF,FAST_FIX,COLD_TIME,DELAY_HOLD,CRAIM" }, { "bm_upd_valid_bit": 81, "leaf_comment": "NMEA height output frac digital, default 3", "leaf_data_length": 1, "leaf_name": "NMEA Height FRAC DIGT", "leaf_type": "enum", "leaf_value": 3, "leaf_value_list": "1,2,3,4", "leaf_value_text": "DIGT1,DIGT2,DIGT3,DIGT4" }, { "bm_upd_valid_bit": 82, "leaf_comment": "NMEA utc time second output frac digital, default 2", "leaf_data_length": 1, "leaf_name": "NMEA UTC FRAC DIGT", "leaf_type": "enum", "leaf_value": 2, "leaf_value_list": "2,3", "leaf_value_text": "DIGT2,DIGT3" }, { "bm_upd_valid_bit": 83, "leaf_comment": "NMEA dop output frac digital, default 1", "leaf_data_length": 1, "leaf_name": "NMEA DOP FRAC DIGT", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,2,3", "leaf_value_text": "DIGT1,DIGT2,DIGT3" }, { "bm_upd_valid_bit": 84, "leaf_comment": "NMEA velocity output frac digital, default 2", "leaf_data_length": 1, "leaf_name": "NMEA VEL FRAC DIGT", "leaf_type": "enum", "leaf_value": 2, "leaf_value_list": "1,2,3", "leaf_value_text": "DIGT1,DIGT2,DIGT3" }, { "bm_upd_valid_bit": 86, "leaf_comment": "RTCM MSM measurement output repeat time interval in second, 0 for Auto", "leaf_data_length": 1, "leaf_name": "Output RTCM MSM Time Interval", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "250" }, { "bm_upd_valid_bit": 87, "leaf_comment": "RTCM station 100X output repeat time interval in second, set to value >= 1", "leaf_data_length": 1, "leaf_name": "Output RTCM 100X Time Interval", "leaf_type": "number", "leaf_value": 10, "leaf_value_max": "250" }, { "leafs": [ { "bm_upd_valid_bit": 90, "leaf_comment": "GGA output order, default 0", "leaf_data_length": 1, "leaf_name": "GGA Order(1-128)", "leaf_type": "number", "leaf_value": 1, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 91, "leaf_comment": "GSA output order, default 0", "leaf_data_length": 1, "leaf_name": "GSA Order(1-128)", "leaf_type": "number", "leaf_value": 5, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 92, "leaf_comment": "GSV output order, default 0", "leaf_data_length": 1, "leaf_name": "GSV Order(1-128)", "leaf_type": "number", "leaf_value": 6, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 93, "leaf_comment": "VTG output order, default 0", "leaf_data_length": 1, "leaf_name": "VTG Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 94, "leaf_comment": "RMC output order, default 0", "leaf_data_length": 1, "leaf_name": "RMC Order(1-128)", "leaf_type": "number", "leaf_value": 2, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 95, "leaf_comment": "GST output order, default 0", "leaf_data_length": 1, "leaf_name": "GST Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 96, "leaf_comment": "GLL output order, default 0", "leaf_data_length": 1, "leaf_name": "GLL Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 97, "leaf_comment": "GMP output order, default 0", "leaf_data_length": 1, "leaf_name": "GMP Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 98, "leaf_comment": "GFA output order, default 0", "leaf_data_length": 1, "leaf_name": "GFA Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 99, "leaf_comment": "ZDA output order, default 0", "leaf_data_length": 1, "leaf_name": "ZDA Order(1-128)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "leaf_comment": "Order Reserved, default 0", "leaf_data_length": 5, "leaf_name": "Order Reserved(1-128)", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0", "leaf_value_text": "Invalid" } ], "section_data_length": 15, "section_name": "Nmea Output Order" }, { "leafs": [ { "bm_upd_valid_bit": 106, "leaf_comment": "GGA output rate, default 0", "leaf_data_length": 1, "leaf_name": "GGA Rate", "leaf_type": "enum", "leaf_value": 10, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 107, "leaf_comment": "GSA output rate, default 0", "leaf_data_length": 1, "leaf_name": "GSA Rate", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 108, "leaf_comment": "GSV output rate, default 0", "leaf_data_length": 1, "leaf_name": "GSV Rate", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 109, "leaf_comment": "VTG output rate, default 0", "leaf_data_length": 1, "leaf_name": "VTG Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 110, "leaf_comment": "RMC output rate, default 0", "leaf_data_length": 1, "leaf_name": "RMC Rate", "leaf_type": "enum", "leaf_value": 10, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 111, "leaf_comment": "GST output rate, default 0", "leaf_data_length": 1, "leaf_name": "GST Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 112, "leaf_comment": "GLL output rate, default 0", "leaf_data_length": 1, "leaf_name": "GLL Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 113, "leaf_comment": "GMP output rate, default 0", "leaf_data_length": 1, "leaf_name": "GMP Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 114, "leaf_comment": "GFA output rate, default 0", "leaf_data_length": 1, "leaf_name": "GFA Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "bm_upd_valid_bit": 115, "leaf_comment": "ZDA output rate, default 0", "leaf_data_length": 1, "leaf_name": "ZDA Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,5,10,20,50,100,200", "leaf_value_text": "0,0.1Hz,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz" }, { "leaf_comment": "Rate Reserved, default 0", "leaf_data_length": 5, "leaf_name": "Rate Reserved", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0", "leaf_value_text": "Invalid" } ], "section_data_length": 15, "section_name": "Nmea Output Rate" }, { "bm_upd_valid_bit": 118, "leaf_comment": "Miscellaneous settings of NMEA output", "leaf_data_length": 4, "leaf_name": "NMEA Misc Plus", "leaf_type": "bitmask", "leaf_value": "0x20", "leaf_value_list": "0,1,2,3,4,5,6,7,8,9,10,11,12,13,14", "leaf_value_text": "BM1,HOPT,SAT_EXT,B1C_SIG,GSV_NMSG,LOW_LAT,BDS_SIM_MODE,BM7,BDS_PRN,GSA_AUTO,GSV_NOSIG,RMC_NOV,BMA1,PSBS,GSA_NOSYS" }, { "bm_upd_valid_bit": 122, "leaf_comment": "RTCM output uartid select mask, default 0", "leaf_data_length": 1, "leaf_name": "RTCM OUTPUT MASK", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3,4,5", "leaf_value_text": "uart0,uart0,uart1,uart10,uart2,uart20" }, { "bm_upd_valid_bit": 132, "leaf_comment": "default Disable", "leaf_data_length": 1, "leaf_name": "Save Point Enable", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "Disable,ENABLE" }, { "bm_upd_valid_bit": 133, "leaf_comment": "Save Point Mode, default pos_mode", "leaf_data_length": 1, "leaf_name": "Save Point Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "Pos_mode,Time_mode" }, { "bm_upd_valid_bit": 134, "leaf_comment": "Save Point Mode Time interval, should NOT exceed 60000 sec", "leaf_data_length": 2, "leaf_name": "Record Time Interval", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "60000" }, { "bm_upd_valid_bit": 135, "leaf_comment": "Save Point Mode Pos interval, should NOT exceed 3000 m", "leaf_data_length": 2, "leaf_name": "Record Pos Interval", "leaf_type": "number", "leaf_value": 3000, "leaf_value_max": "3000" }, { "bm_upd_valid_bit": 136, "leaf_comment": "Save Point Mode Vel Threshold, should NOT exceed 3000 m/s", "leaf_data_length": 2, "leaf_name": "Record Vel Threshold", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "3000" }, { "bm_upd_valid_bit": 137, "leaf_comment": "Output NMEA PLUS message bitmask", "leaf_data_length": 4, "leaf_name": "Output NMEA PLUS Message", "leaf_type": "bitmask", "leaf_value": "0x0", "leaf_value_list": "0,1", "leaf_value_text": "DESBI,SPEED" } ], "section_data_length": 200, "section_name": "Receiver Parameters" }, { "leafs": [ { "bm_upd_valid_bit": 12, "leaf_comment": "Maximum positioning mode in use", "leaf_data_length": 1, "leaf_name": "Position Mode", "leaf_type": "enum", "leaf_value": 4, "leaf_value_list": "1,2,3,4,7", "leaf_value_text": "SPS,SBS,RTD,RTK,DUALANT" }, { "bm_upd_valid_bit": 13, "leaf_comment": "Preset receiver dynamic mode, AUTO by default", "leaf_data_length": 1, "leaf_name": "Receiver Mode", "leaf_type": "enum", "leaf_value": 12, "leaf_value_list": "0,1,4,8,9,10,11,12", "leaf_value_text": "AUTO,STATIC,DRIVE,FLIGHT,BADGE,WEARABLE,BIKE,BASE" }, { "bm_upd_valid_bit": 17, "leaf_comment": "Detect static mode, enable by default", "leaf_data_length": 1, "leaf_name": "Detect Static", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,10,2,3,4,5,6,7,8,9", "leaf_value_text": "ENABLE,DISABLE,<0m/s,<0.1m/s,<0.2m/s,<0.4m/s,<0.6m/s,<0.8m/s,<1.0m/s,<1.5m/s,<2.0m/s" }, { "bm_upd_valid_bit": 18, "leaf_comment": "Set minimum CNR for all GNSS signals, should NOT exceed 40 dB", "leaf_data_length": 1, "leaf_name": "Min Cnr (Global)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "40" }, { "bm_upd_valid_bit": 19, "leaf_comment": "Set minimum elevation for all GNSS satellites, should NOT exceed 60 degree", "leaf_data_length": 1, "leaf_name": "Min Elevation (Global)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "60" }, { "bm_upd_valid_bit": 25, "leaf_comment": "Might affect first fix accuracy. AIDING: enabled when time aiding, FULL-TIME: enabled all the time", "leaf_data_length": 1, "leaf_name": "Fast Fix Mode", "leaf_type": "enum", "leaf_value": 2, "leaf_value_list": "0,1,2", "leaf_value_text": "DISABLE,AIDING,FULL-TIME" }, { "bm_upd_valid_bit": 27, "leaf_comment": "Set TTFF Delay, should NOT exceed 10s", "leaf_data_length": 1, "leaf_name": "TTFF Delay (Sec)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10" }, { "bm_upd_valid_bit": 32, "leaf_comment": "Enable Pos Accu Opt or Not", "leaf_data_length": 1, "leaf_name": "Pos Accu Opt", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "bm_upd_valid_bit": 33, "leaf_comment": "Enable Pos Accu Opt or Not", "leaf_data_length": 1, "leaf_name": "Pos Accu Threshold (0.1m)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "100" }, { "bm_upd_valid_bit": 35, "leaf_comment": "Set CNR Good Threshold", "leaf_data_length": 1, "leaf_name": "Cnr Good Th ", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "50" }, { "bm_upd_valid_bit": 36, "leaf_comment": "Sats Num (CNR>Cnr Good Th) Threshold", "leaf_data_length": 1, "leaf_name": "Sats Num Th", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "100" }, { "bm_upd_valid_bit": 39, "leaf_comment": "Weak signal mode", "leaf_data_length": 1, "leaf_name": "Weak Signal Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "AUTO,FIX_PRIORITY,ACCURACY_PRIORITY" }, { "bm_upd_valid_bit": 40, "leaf_comment": "Dual antenna, baseline length should be in centimeter-level accuracy; 0: invalid", "leaf_data_length": 2, "leaf_name": "Dual Ant Baseline Length (mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "1000" }, { "bm_upd_valid_bit": 43, "leaf_comment": "Set minimum sats num for all GNSS signals, 0: invalid", "leaf_data_length": 1, "leaf_name": "Min NSV (Global)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "16" }, { "bm_upd_valid_bit": 44, "leaf_comment": "Set Position Horizental Protection Level Max, 0: invalid", "leaf_data_length": 1, "leaf_name": "Horizental Protection Level(m)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "255" }, { "bm_upd_valid_bit": 45, "leaf_comment": "Ser Position Vertical Accu Protection Level, 0: invalid", "leaf_data_length": 1, "leaf_name": "Vertical Protection Level(m)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "255" }, { "bm_upd_valid_bit": 47, "leaf_comment": "Tunnel Fix Priority, Disable 0", "leaf_data_length": 1, "leaf_name": "Tunnel Fix Priority", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "bm_upd_valid_bit": 64, "leaf_comment": "RTK ambiguity fix method, suggest High Precision mode for vehicle and High Availability mode for walking", "leaf_data_length": 1, "leaf_name": "RTK Fix Mode", "leaf_type": "enum", "leaf_value": 6, "leaf_value_list": "4,6", "leaf_value_text": "High Precision,High Availability" }, { "bm_upd_valid_bit": 68, "leaf_comment": "Sats Num Threshold", "leaf_data_length": 1, "leaf_name": "Limit Meas Th", "leaf_type": "number", "leaf_value": 35, "leaf_value_max": "64" }, { "bm_upd_valid_bit": 69, "leaf_comment": "Control sat info msg number, 0:no limit", "leaf_data_length": 1, "leaf_name": "Limit SVinfo Th", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "254" }, { "bm_upd_valid_bit": 72, "leaf_comment": "Dual Ant reference azimuth, [0.0, 360.0)", "leaf_data_length": 4, "leaf_name": "Dual Ant Ref Azimuth(deg)", "leaf_type": "float", "leaf_value": 0, "leaf_value_max": "360.01" }, { "bm_upd_valid_bit": 73, "leaf_comment": "Dual Ant solution mode", "leaf_data_length": 1, "leaf_name": "Dual Ant Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "Default,Mode1,Mode2" }, { "bm_upd_valid_bit": 75, "leaf_comment": "Ionospheric Delay Reduce Mode", "leaf_data_length": 1, "leaf_name": "Iono Delay Reduce Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "SBAS+IF,IF,SBAS,DISABLE" }, { "bm_upd_valid_bit": 76, "leaf_comment": "Special Mode", "leaf_data_length": 1, "leaf_name": "Special Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "Disable,Enhance,Adaptive" }, { "bm_upd_valid_bit": 78, "leaf_comment": "Relative Accuracy Mode", "leaf_data_length": 1, "leaf_name": "Relative Accuracy Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "bm_upd_valid_bit": 80, "leaf_comment": "CNR Smooth Seconds", "leaf_data_length": 4, "leaf_name": "CNR Down Smooth", "leaf_type": "float", "leaf_value": 0, "leaf_value_max": "20.01" }, { "bm_upd_valid_bit": 85, "leaf_comment": "Dual Ant timeout counter, 0:disable", "leaf_data_length": 1, "leaf_name": "Dual Ant Timeout", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "128" }, { "bm_upd_valid_bit": 88, "leaf_comment": "Max rtcm age to solve RTK solution, in sec, 0:invalid", "leaf_data_length": 2, "leaf_name": "RTK mode max age", "leaf_type": "number", "leaf_value": 125, "leaf_value_max": "3600" }, { "bm_upd_valid_bit": 89, "leaf_comment": "Max rtcm age to solve RTD solution, in sec, 0:invalid", "leaf_data_length": 2, "leaf_name": "RTD mode max age", "leaf_type": "number", "leaf_value": 305, "leaf_value_max": "3600" }, { "bm_upd_valid_bit": 100, "leaf_comment": "Main epoch delay time target is max_delay_target*0.1*t_diff, when t_diff is 1/rate_bb", "leaf_data_length": 1, "leaf_name": "Max Delay Target", "leaf_type": "number", "leaf_value": 10, "leaf_value_max": "15" }, { "bm_upd_valid_bit": 103, "leaf_comment": "RTK fix mode static enhancement", "leaf_data_length": 1, "leaf_name": "RTK Static Enhancement", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,0", "leaf_value_text": "ENABLE,DISABLE" }, { "bm_upd_valid_bit": 104, "leaf_comment": "Dual Ant Yaw Mode", "leaf_data_length": 1, "leaf_name": "Dual Ant Yaw Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "Mode0,Mode1,Mode2,Mode3" }, { "bm_upd_valid_bit": 104, "leaf_comment": "Dual Ant Roll Mode", "leaf_data_length": 1, "leaf_name": "Dual Ant Roll Mode", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "0,1,2,3", "leaf_value_text": "Mode0,Mode1,Mode2,Mode3" }, { "bm_upd_valid_bit": 105, "leaf_comment": "Dual antenna, yaw biased angle relative to the true North(0.1deg)", "leaf_data_length": 2, "leaf_name": "Dual Ant Yaw Bias", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "3600", "leaf_value_min": "-3600" }, { "bm_upd_valid_bit": 105, "leaf_comment": "Dual antenna, roll biased angle(0.1deg)", "leaf_data_length": 2, "leaf_name": "Dual Ant Roll Bias", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "3600", "leaf_value_min": "-3600" } ], "section_data_length": 200, "section_name": "Navigation Parameters" }, { "leafs": [ { "bm_upd_valid_bit": 20, "leaf_comment": "Set IMU device type", "leaf_data_length": 1, "leaf_name": "IMU Device Type", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3,4,5,6,7,8,9", "leaf_value_text": "UNKNOWN,BOSCH BMI270,INV ICM42680,ST LSM6DSR,INV ICM42688P,MURATA SCHA634-D03,ST LIS2DW12,INV ICM42607P,INV ICM42670P,BOSCH BMI325" }, { "bm_upd_valid_bit": 57, "leaf_comment": "Set IMU Data Rate in Hz", "leaf_data_length": 1, "leaf_name": "IMU Data Rate", "leaf_type": "enum", "leaf_value": 100, "leaf_value_list": "25,50,100", "leaf_value_text": "25,50,100" }, { "bm_upd_valid_bit": 21, "leaf_comment": "Set INS work mode", "leaf_data_length": 1, "leaf_name": "INS Work Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2,3", "leaf_value_text": "DISABLE,VDR,SDR,BDR" }, { "bm_upd_valid_bit": 71, "leaf_comment": "INS Alignment Mode bitmask", "leaf_data_length": 1, "leaf_name": "INS Alignment Mode", "leaf_type": "bitmask", "leaf_value": "0x1", "leaf_value_list": "0,1", "leaf_value_text": "IN-MOTION,START-UP" }, { "bm_upd_valid_bit": 29, "leaf_comment": "Set Sensor Data Mode", "leaf_data_length": 1, "leaf_name": "Sensor Data Mode", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1,2", "leaf_value_text": "INTERIOR,OUTPUT,EXTERIOR" }, { "bm_upd_valid_bit": 50, "leaf_comment": "IMU to GNSS antenna lever-arm forward", "leaf_data_length": 2, "leaf_name": "IMU to GNSS Lever-arm X(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 50, "leaf_comment": "IMU to GNSS antenna lever-arm rightward", "leaf_data_length": 2, "leaf_name": "IMU to GNSS Lever-arm Y(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 50, "leaf_comment": "IMU to GNSS antenna lever-arm downward", "leaf_data_length": 2, "leaf_name": "IMU to GNSS Lever-arm Z(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 51, "leaf_comment": "IMU to Vehicle Odometer lever-arm forward", "leaf_data_length": 2, "leaf_name": "IMU to Odometer Lever-arm X(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 51, "leaf_comment": "IMU to Vehicle Odometer lever-arm rightward", "leaf_data_length": 2, "leaf_name": "IMU to Odometer Lever-arm Y(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 51, "leaf_comment": "IMU to Vehicle Odometer lever-arm downward", "leaf_data_length": 2, "leaf_name": "IMU to Odometer Lever-arm Z(mm)", "leaf_type": "number", "leaf_value": 0, "leaf_value_max": "10000", "leaf_value_min": "-10000" }, { "bm_upd_valid_bit": 52, "leaf_comment": "Set IMU Mount Forward Axis", "leaf_data_length": 1, "leaf_name": "IMU Mount Forward Axis", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,-1,2,-2,3,-3", "leaf_value_text": "X,-X,Y,-Y,Z,-Z" }, { "bm_upd_valid_bit": 52, "leaf_comment": "Set IMU Mount Rightward Axis", "leaf_data_length": 1, "leaf_name": "IMU Mount Rightward Axis", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,-1,2,-2,3,-3", "leaf_value_text": "X,-X,Y,-Y,Z,-Z" }, { "bm_upd_valid_bit": 52, "leaf_comment": "Set IMU Mount Downward Axis", "leaf_data_length": 1, "leaf_name": "IMU Mount Downward Axis", "leaf_type": "enum", "leaf_value": 1, "leaf_value_list": "1,-1,2,-2,3,-3", "leaf_value_text": "X,-X,Y,-Y,Z,-Z" }, { "bm_upd_valid_bit": 53, "leaf_comment": "sey IMU Misalignment Roll", "leaf_data_length": 4, "leaf_name": "IMU Misalignment Roll(deg)", "leaf_type": "float", "leaf_value": 0, "leaf_value_max": "45.01", "leaf_value_min": "-45.01" }, { "bm_upd_valid_bit": 53, "leaf_comment": "sey IMU Misalignment Pitch", "leaf_data_length": 4, "leaf_name": "IMU Misalignment Pitch(deg)", "leaf_type": "float", "leaf_value": 0, "leaf_value_max": "45.01", "leaf_value_min": "-45.01" }, { "bm_upd_valid_bit": 53, "leaf_comment": "sey IMU Misalignment Yaw", "leaf_data_length": 4, "leaf_name": "IMU Misalignment Yaw(deg)", "leaf_type": "float", "leaf_value": 0, "leaf_value_max": "45.01", "leaf_value_min": "-45.01" }, { "bm_upd_valid_bit": 116, "leaf_comment": "Set IMU CUS DEBUG", "leaf_data_length": 1, "leaf_name": "INS CUS DEBUG", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "bm_upd_valid_bit": 123, "leaf_comment": "IMU Module Auto-selection", "leaf_data_length": 1, "leaf_name": "IMU Module Auto-selection", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,1", "leaf_value_text": "DISABLE,ENABLE" }, { "bm_upd_valid_bit": 128, "leaf_comment": "AHRS output rate, default 0", "leaf_data_length": 2, "leaf_name": "AHRS Output Rate", "leaf_type": "enum", "leaf_value": 0, "leaf_value_list": "0,2,5,10,20,50,100,200,500,1000", "leaf_value_text": "0,0.2Hz,0.5Hz,1Hz,2Hz,5Hz,10Hz,20Hz,50Hz,100Hz" } ], "section_data_length": 200, "section_name": "IMU Parameters" } ], "total_length": 808, "version": "0x55002512" } ] }