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Oct 10, 2025
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Update GNSS Headers section of all Quectel boards #15

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147 changes: 115 additions & 32 deletions flex_boards/SparkPNT_GNSS_Flex_Module_LG290P-Tilt/docs/hardware_overview.md
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Expand Up @@ -249,6 +249,9 @@ One of the centerpieces of the GNSS Flex module, is the [LG290P GNSS module](./a
### Power Consumption
The power consumption of the LG290P GNSS module depends on the GNSS signals enabled and the positioning mode.


<div class="grid" markdown>

<article style="text-align: center;" markdown>

| Mode | Power (mW) | Current (mA) |
Expand All @@ -259,6 +262,26 @@ The power consumption of the LG290P GNSS module depends on the GNSS signals enab

</article>


<div markdown>

!!! info "Power Modes"

**Acquisition:**
: Module searches for satellites and to determine visible satellites, coarse frequency, and the code phase of satellite signals

**Tracking:**
: Once acquisition is completed, the module tracks satellites and demodulates the navigation data from specific satellites

**Backup Mode:**
: Reduces power consumption. Only backup domain is active and keeps track of time.

</div>

</div>



### Frequency Bands
The LG290P module is a multi-band, multi-constellation GNSS receiver. Below, is a chart illustrating the frequency bands utilized by all the global navigation satellite systems; along with a list of the frequency bands and GNSS systems supported by the LG290P GNSS module.

Expand Down Expand Up @@ -647,14 +670,32 @@ Below, are the features that are available from the IM19 attitude module.


??? info "UART Protocols"
By default, these UART ports are configured to transmit and receive `NMEA 0183` and/or `RTCM 3.x` messages. These messages are generally used for transmitting PNT data; and providing or receiving RTK corrections, respectively. Quectel also implements a system of proprietary messages (`PQTM`) for users to configure the LG290P that follows a data format similar to the `NMEA` protocol. The expected structure of these proprietary messages is shown below:
### UART Protocols
By default, these UART ports are configured to transmit and receive `NMEA 0183`, `RTCM 3.x`, and/or `QGC` messages. These messages are generally used for transmitting PNT data; providing or receiving RTK corrections; and receiving PPP data, respectively. Quectel also implements a system of proprietary messages (`PQTM`) for users to configure the LG290P that follows a data format similar to the `NMEA` protocol. The expected structure of these proprietary messages is shown below:


<div class="grid" markdown>

<div markdown>

<figure markdown>
[![NMEA data structure](./assets/img/hookup_guide/nmea_protocol.png){ width="600" }](./assets/img/hookup_guide/nmea_protocol.png "Click to enlarge")
<figcaption markdown>The data structure of Quectel messages for the `NMEA` protocol.</figcaption>
<figcaption markdown>The data structure of Quectel messages for the `NMEA` and `PQTM` protocols.</figcaption>
</figure>

</div>


<div markdown>

<figure markdown>
[![QGC data structure](./assets/img/hookup_guide/qgc_protocol.png){ width="600" }](./assets/img/hookup_guide/qgc_protocol.png "Click to enlarge")
<figcaption markdown>The data structure of Quectel messages for the `QGC` protocol.</figcaption>
</figure>

</div>

</div>


=== "NMEA"
Expand All @@ -672,6 +713,12 @@ Below, are the features that are available from the IM19 attitude module.
| GSA | Output | GNSS DOP and Active Satellites |
| VTG | Output | Course Over Ground & Ground Speed |
| GLL | Output | Geographic Position – Latitude/Longitude |
| GBS | Output | GNSS Satellite Fault Detection |
| GNS | Output | GNSS Fix Data |
| GST | Output | GNSS Pseudorange Error Statistics |
| ZDA | Output | UTC Time & Date |
| HDT | Output | True Vessel Heading |
| THS | Output | True, Heading, and Status |

</article>

Expand All @@ -686,50 +733,82 @@ Below, are the features that are available from the IM19 attitude module.
| Message | Type Mode | Message Description |
| :----------------- | :----------: | :----------------------------------------------- |
| PQTMVER | Output | Outputs the firmware version |
| PQTMCOLD | Input | Performs a cold start |
| PQTMWARM | Input | Performs a warm start |
| PQTMHOT | Input | Performs a hot start |
| PQTMSRR | Input | Performs a system reset and reboots the receiver |
| PQTMUNIQID | Output | Queries the module unique ID |
| PQTMSAVEPAR | Input | Saves the configurations into NVM |
| PQTMRESTOREPAR | Input | Restores the parameters configured by all commands to their default values |
| PQTMVERNO | Output | Queries the firmware version |
| PQTMCFGUART | Input/Output | Sets/gets the UART interface |
| PQTMCFGPPS | Input/Output | Sets/gets the PPS feature |
| PQTMCFGPROT | Input/Output | Sets/gets the input and output protocol for a specified port |
| PQTMCFGNMEADP | Input/Output | Sets/gets the decimal places of standard NMEA messages |
| PQTMCOLD | Command | Performs a cold start |
| PQTMWARM | Command | Performs a warm start |
| PQTMHOT | Command | Performs a hot start |
| PQTMSRR | Command | Performs a system reset and reboots the receiver |
| PQTMUNIQID | Command | Queries the module unique ID |
| PQTMSAVEPAR | Command | Saves the configurations into NVM |
| PQTMRESTOREPAR | Command | Restores the parameters configured by all commands to their default values |
| PQTMVERNO | Command | Queries the firmware version |
| PQTMCFGUART | Set/Get | Sets/gets the UART interface |
| PQTMCFGPPS | Set/Get | Sets/gets the PPS feature |
| PQTMCFGPROT | Set/Get | Sets/gets the input and output protocol for a specified port |
| PQTMCFGNMEADP | Set/Get | Sets/gets the decimal places of standard NMEA messages |
| PQTMEPE | Output | Outputs the estimated position error |
| PQTMCFGMSGRATE | Input/Output | Sets/gets the message output rate on the current interface |
| PQTMCFGMSGRATE | Set/Get | Sets/gets the message output rate on the current interface |
| PQTMVEL | Output | Outputs the velocity information |
| PQTMCFGGEOFENCE | Input/Output | Sets/gets geofence feature |
| PQTMCFGGEOFENCE | Set/Get | Sets/gets geofence feature |
| PQTMGEOFENCESTATUS | Output | Outputs the geofence status |
| PQTMGNSSSTART | Input | Starts GNSS engine |
| PQTMGNSSSTOP | Input | Stops GNSS engine |
| PQTMGNSSSTART | Command | Starts GNSS engine |
| PQTMGNSSSTOP | Command | Stops GNSS engine |
| PQTMTXT | Output | Outputs short text messages |
| PQTMCFGSVIN | Input/Output | Sets/gets the Survey-in feature |
| PQTMCFGSVIN | Set/Get | Sets/gets the Survey-in feature |
| PQTMSVINSTATUS | Output | Outputs the Survey-in status |
| PQTMPVT | Output | Outputs the PVT (GNSS only) result |
| PQTMCFGRCVRMODE | Input/Output | Sets/gets the receiver working mode |
| PQTMDEBUGON | Input | Enables debug log output |
| PQTMDEBUGOFF | Input | Disables debug log output |
| PQTMCFGFIXRATE | Input/Output | Sets/gets the fix interval |
| PQTMCFGRTK | Input/Output | Sets/gets the RTK mode |
| PQTMCFGCNST | Input/Output | Sets/gets the constellation configuration |
| PQTMCFGRCVRMODE | Set/Get | Sets/gets the receiver working mode |
| PQTMDEBUGON | Command | Enables debug log output |
| PQTMDEBUGOFF | Command | Disables debug log output |
| PQTMCFGFIXRATE | Set/Get | Sets/gets the fix interval |
| PQTMCFGRTK | Set/Get | Sets/gets the RTK mode |
| PQTMCFGCNST | Set/Get | Sets/gets the constellation configuration |
| PQTMDOP | Output | Outputs dilution of precision |
| PQTMPL | Output | Outputs protection level information |
| PQTMCFGODO | Input/Output | Sets/gets the odometer feature |
| PQTMRESETODO | Input | Resets the accumulated distance recorded by the odometer |
| PQTMCFGODO | Set/Get | Sets/gets the odometer feature |
| PQTMRESETODO | Command | Resets the accumulated distance recorded by the odometer |
| PQTMODO | Output | Outputs the odometer information |
| PQTMCFGSIGNAL | Input/Output | Sets/gets GNSS signal mask |
| PQTMCFGSAT | Input/Output | Sets/gets GNSS satellite mask |
| PQTMCFGRSID | Input/Output | Sets/gets the reference station ID |
| PQTMCFGRTCM | Input/Output | Sets/gets RTCM |
| PQTMCFGSIGNAL | Set/Get | Sets/gets GNSS signal mask |
| PQTMCFGSAT | Set/Get | Sets/gets GNSS satellite mask |
| PQTMCFGRSID | Set/Get | Sets/gets the reference station ID |
| PQTMCFGRTCM | Set/Get | Sets/gets RTCM |
| PQTMCFGSBAS | Set/Get | Configures SBAS |
| PQTMCFGNMEATID | Set/Get | Configures the NMEA Talker ID |
| PQTMTAR | Output | Outputs the time and attitude |
| PQTMCFGBLD | Set/Get | Configures the baseline distance |
| PQTMCFGRTKSRCTYPE | Set/Get | Configures RTK differential source type |
| PQTMSN | Command | Reads the SN of module |
| PQTMCFGANTINF | Set/Get | Configures the antenna information |
| PQTMCFGANTDELTA | Set/Get | Configures the delta between antennas |
| PQTMCFGSIGGRP | Set/Get | Configures the GNSS signal group |
| PQTMCFGSIGNAL2 | Set/Get | Configures GNSS signal mask for second antenna |
| PQTMCFGGEOSEP | Set/Get | Configures geoidal separation |
| PQTMCFGCNRTHD | Set/Get | Configures the CNR threshold for position engine |
| PQTMCFGELETHD | Set/Get | Configures the elevation threshold for position engine |
| PQTMNAV | Output | Outputs the navigation information |
| PQTMEOE | Output | Outputs the end of epoch information |
| PQTMCFGWN | Set/Get | Configures the reference start week number |
| PQTMANTENNASTATUS | Output | Reports the antenna status |

</article>


=== "QGC"
A full list of QGC messages (proprietary protocol defined by Quectel) supported by LG290P, is provided in section **3. QGC Protocol** of the [GNSS Protocol Specification](./assets/component_documentation/quectel_lg290p03lgx80p03_gnss_protocol_specification_v1-1.pdf) manual. This protocol is used to output the PPP raw data.

??? abstract "List of Proprietary Quectel Messages"
<article style="text-align: center;" markdown>

| GQC Message Name | Message Group | Message Number | Type | Description |
| :--------- | :--: | :--: | :----: | :--------------------------------- |
| RAW-PPPB2B | 0x0A | 0xB2 | Output | BDS PPPB2B binary raw messages |
| RAW-QZSSL6 | 0x0A | 0xB6 | Output | QZSSL6 binary raw messages |
| RAW-HASE6 | 0x0A | 0xE6 | Output | Galileo HASE6 binary raw messages |

</article>


=== "RTCM"
A full list of compatible `RTCM v3` messages, is provided in section **3. RTCM Protocol** of the [GNSS Protocol Specification](./assets/component_documentation/quectel_lg290p03lgx80p03_gnss_protocol_specification_v1-1.pdf) manual. This protocol is used for transferring GNSS raw measurement data, as detailed by the [Radio Technical Commission for Maritime Services](https://www.rtcm.org/) organization.
A full list of compatible `RTCM v3` messages, is provided in section **4. RTCM Protocol** of the [GNSS Protocol Specification](./assets/component_documentation/quectel_lg290p03lgx80p03_gnss_protocol_specification_v1-1.pdf) manual. This protocol is used for transferring GNSS raw measurement data, as detailed by the [Radio Technical Commission for Maritime Services](https://www.rtcm.org/) organization.


??? abstract "List of Supported RTCMv3 *(MSM)* Messages"
Expand Down Expand Up @@ -890,6 +969,10 @@ Below, are the features that are available from the IM19 attitude module.
</figure>


!!! tip "Use Case"
Users could use this pin in conjunction with the PPS signal to synchronize two modules with each other.


=== "Reset"
This pin can be used to reset both the LG290P GNSS module and IM19 attitude module. Driving the pin `LOW` for at least 100ms triggers a restart of both modules.

Expand Down
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