Navcom technology Onyx Product manual

P/N: 96-312008-3001

Onyx Technical Reference Manual Rev. A

Table of Contents

Table of Contents......................................................................................................................ii

List of Tables............................................................................................................................xi

List of Figures........................................................................................................................xvi

Notices.....................................................................................................................................17

Copyright ............................................................................................................................................17

NavCom and Deere & Company Relationship...................................................................................17

Trademarks ........................................................................................................................................17

User Notice.........................................................................................................................................17

Software License Agreement .............................................................................................................17

Revision History......................................................................................................................19

Use of This Document............................................................................................................22

Related Documents................................................................................................................................22

Onyx Integration Guide P/N 96-310041-3001....................................................................................22

StarUtil 5000 User Guide P/N 96-310029-3001.................................................................................22

RINEXUtil User Guide P/N 96-310021-2101.....................................................................................22

Technical Reference Manual P/N 96-312008-3001...........................................................................22

NavCom Release Notes.....................................................................................................................22

Related Standards..................................................................................................................................23

ICD-GPS-200 .....................................................................................................................................23

RTCM-SC-104....................................................................................................................................23

CMR, CMR+.......................................................................................................................................23

NMEA-0183........................................................................................................................................23

QZSS 23

Publicly Operated SBAS Signals........................................................................................................23

RTCA/DO-229D .............................................................................................................................23

WAAS (Wide Area Augmentation System)....................................................................................23

EGNOS (European Geostationary Navigation Overlay Service)...................................................23

MSAS (MTSAT Satellite-based Augmentation System)................................................................23

GAGAN (GPS Aided Geo Augmented Navigation) .......................................................................23

Fundamental Onyx Message Block Formats ........................................................................24

Message Application..............................................................................................................................24

Software Ensemble................................................................................................................................24

Message Query......................................................................................................................................24

Onyx ASCII Input Commands................................................................................................................24

ASCII Message Organization.............................................................................................................24

ASCII Input Command Parsing Rules................................................................................................25

Command Mnemonic Parsing........................................................................................................25

Argument String Parsing................................................................................................................25

Optional CRC Field (*CRC) ...........................................................................................................26

Parser Pseudocode........................................................................................................................26

Examples of ASCII Input Commands and Responses.......................................................................26

Onyx Output Messages..........................................................................................................................27

Binary Output Message Organization ................................................................................................28

Message Updates & Software Revisions...............................................................................................30

Factory Default Profile............................................................................................................................31

Profile Functionality................................................................................................................................32

NMEA Messages Overview ...................................................................................................................32

GPS Week Number................................................................................................................................34

GPS Time...............................................................................................................................................35

System Control & Response Commands..............................................................................36

1Onyx Input Commands Detailed Formats......................................................................36

1.1 1PPS (ASCII) ............................................................................................................................36

1.2 2DNAVMODE (ASCII)...............................................................................................................37

1.3 3RDPARTYRTKGLONASS ......................................................................................................38

1.4 3RDPARTYRTKX .....................................................................................................................39

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1.5 ALM1B.......................................................................................................................................40

1.6 ANTALIGN (ASCII) ...................................................................................................................41

1.7 ANTENNAHEIGHT (ASCII).......................................................................................................42

1.8 ANTENNAINFO (ASCII)............................................................................................................43

1.9 ANTLIST....................................................................................................................................44

1.10 ANTPOWER..............................................................................................................................45

1.11 ANTREMOTE............................................................................................................................46

1.12 ANTSWAP.................................................................................................................................47

1.13 ARLENGTHCONSTR (ASCII)...................................................................................................48

1.14 AUTOSCHEDULEDTM.............................................................................................................49

1.15 BOOTLOADA (ASCII)...............................................................................................................50

1.16 BOOTLOADB............................................................................................................................51

1.16.1 Bootload Input File Format.....................................................................................................51

1.16.1.1 SF-5050 S0 Record Format..........................................................................................51

1.16.2 BOOTLOADB Message Body General Format .....................................................................52

1.16.2.1 Function Type...............................................................................................................52

1.16.2.2 Pass or Fail...................................................................................................................53

1.16.2.3 Valid Count ...................................................................................................................53

1.16.2.4 Address.........................................................................................................................53

1.16.2.5 Data ..............................................................................................................................54

1.16.3 BootloadB SubID Message Format.......................................................................................54

1.16.3.1 SubID NB_PingCmd Message Format.........................................................................54

1.16.3.2 SubID NB_PingRep Message Format..........................................................................55

1.16.3.3 SubID NB_BaudCmd Message Format........................................................................55

1.16.3.4 SubID NB_BaudRep Message Format.........................................................................56

1.16.3.5 SubID NB_SetupCmd Message Format.......................................................................56

1.16.3.6 SubID NB_SetupRep Message Format........................................................................57

1.16.3.7 SubID NB_LoadDataCmd Message Format ................................................................57

1.16.3.8 SubID NB_LoadDataRep Message Format .................................................................57

1.16.3.9 SubID NB_ChkCrcCmd Message Format....................................................................58

1.16.3.10 SubID NB_ChkCrcRep Message Format.................................................................58

1.16.3.11 SubID NB_ProgCmd Message Format....................................................................59

1.16.3.12 SubID NB_EraseRep Message Format...................................................................59

1.16.3.13 SubID NB_WriteFRep Message Format..................................................................60

1.16.3.14 SubID NB_Working Message Format......................................................................60

1.16.3.15 SubID NB_ResetCmd Message Format..................................................................60

1.16.3.16 SubID NB_ResetRep Message Format...................................................................60

1.16.4 GNSS Software Loading Sequence ......................................................................................61

1.17 BOOTLOADPIOB......................................................................................................................63

1.17.1 Message General Format......................................................................................................63

1.17.1.1 Function Type...............................................................................................................63

1.17.1.2 Pass or Fail...................................................................................................................64

1.17.1.3 Valid Count ...................................................................................................................64

1.17.1.4 Address.........................................................................................................................64

1.17.1.5 Data ..............................................................................................................................64

1.17.2 BOOTLOADPIOB SubID Message Format...........................................................................64

1.17.2.1 SubID NB_PingCmd Message Format........................................................................65

1.17.2.2 SubID NB_PingRep Message Format..........................................................................65

1.17.2.3 SubID NB_BaudCmd Message Format........................................................................65

1.17.2.4 SubID NB_BaudRep Message Format.........................................................................65

1.17.2.5 SubID NB_SetupCmd Message Format.......................................................................66

1.17.2.6 SubID NB_SetupRep Message Format........................................................................66

1.17.2.7 SubID NB_LoadDataCmd Message Format ................................................................66

1.17.2.8 SubID NB_LoadDataRep Message Format .................................................................67

1.17.2.9 SubID NB_ ChkCrcCmd Message Format...................................................................67

1.17.2.10 SubID NB_ChkCrcRep Message Format.................................................................68

1.17.2.11 SubID NB_ProgCmd Message Format....................................................................68

1.17.2.13 SubID NB_EraseRep Message Format...................................................................69

Onyx Technical Reference Manual Rev. A

1.17.2.14 SubID NB_WriteFRep Message Format..................................................................69

1.17.2.15 SubID NB_Working Message Format......................................................................69

1.17.2.16 SubID NB_ResetCmd Message Format..................................................................69

1.17.2.17 SubID NB_ResetRep Message................................................................................70

1.26.3 PIO Software Loading Sequence ........................................................................70

1.18 BTSET.......................................................................................................................................72

1.19 CANCELSFLICENSE................................................................................................................74

1.20 CHECKCRC..............................................................................................................................75

1.21 COLDSTART.............................................................................................................................76

1.22 CONFIGGFA.............................................................................................................................77

1.23 DATUM ASCII...........................................................................................................................78

1.36.1Reference Frame at Default State............................................................................................78

1.36.2 Reference Frame at Non-Default State...................................................................................78

1.23.4 Special Considerations for the RTCM and RTK-Based Solutions.........................................79

1.23.5 Command Format and Usage ...............................................................................................79

1.23.6 Ellipsoid Model.......................................................................................................................81

1.23.7 Transformation Models..........................................................................................................81

1.23.7.1 Three-Parameter Transformation.................................................................................81

1.23.7.2 Seven-Parameter Transformation ................................................................................82

1.23.7.3 Fourteen-Parameter Transformation............................................................................82

1.24 DEFINESFSAT (ASCII).............................................................................................................83

1.25 DNSOVERRIDE........................................................................................................................84

1.26 DYNAMICS (ASCII) ..................................................................................................................85

1.27 ENABLEALL..............................................................................................................................87

1.28 ENABLEGEOFENCE................................................................................................................88

1.29 ENABLERTCM2.3.....................................................................................................................89

1.30 ERASEALM...............................................................................................................................90

1.31 ERASEEPH...............................................................................................................................91

1.32 ETHCONFIG.............................................................................................................................92

1.33 ETHSTAT..................................................................................................................................93

1.34 ETHVCOM ................................................................................................................................94

1.34.1 ETHVCOM Application note ..................................................................................................96

1.34.2 ETHVCOM Setup and Configuration Example......................................................................97

1.35 EVENTLATCH...........................................................................................................................99

1.36 EVENTLATCHVOLTSEL........................................................................................................100

1.37 EXTRAPBASE ........................................................................................................................101

1.38 FIXBASELINE.........................................................................................................................102

1.39 FORCETALKERID..................................................................................................................103

1.40 FSCD.......................................................................................................................................104

1.41 FSCOPY..................................................................................................................................105

1.42 FSCWD...................................................................................................................................106

1.43 FSDELETE..............................................................................................................................107

1.44 FSDIR......................................................................................................................................108

1.45 FSDRIVE.................................................................................................................................109

1.46 FSFORMAT.............................................................................................................................110

1.47 FSLOAD..................................................................................................................................111

1.48 FSMKDIR................................................................................................................................113

1.49 FSRENAME ............................................................................................................................114

1.50 FSRMDIR................................................................................................................................115

1.51 FSSPACE................................................................................................................................116

1.52 FTPCONTROL........................................................................................................................117

1.53 FTPUSERS.............................................................................................................................118

1.54 GEOIDALMODEL ...................................................................................................................119

1.55 GGAMODE..............................................................................................................................122

1.56 GGM02STATUS .....................................................................................................................123

1.57 GLALM1B................................................................................................................................124

1.58 GNALM1B ...............................................................................................................................125

1.59 GPSALM1B.............................................................................................................................126

Onyx Technical Reference Manual Rev. A

1.60 GREETING..............................................................................................................................127

1.61 INCLINECONSTR...................................................................................................................128

1.62 INPUTSFLICENSE .................................................................................................................129

1.63 INPUTSWOPTION..................................................................................................................130

1.64 L1FALLBACK..........................................................................................................................131

1.65 LOADBULKB...........................................................................................................................132

1.66 LOGFILE .................................................................................................................................133

1.67 LOGFILEAUTOSTART...........................................................................................................134

1.68 LOGFILEBGDELETE..............................................................................................................135

1.69 LOGFILEBGENABLE..............................................................................................................136

1.70 LOGFILEBGSETTIMELIMIT...................................................................................................137

1.71 LOGFILEDRIVE......................................................................................................................138

1.72 LOGFILEDRIVEFULLSEL ......................................................................................................139

1.73 LOGFILENAME.......................................................................................................................140

1.74 LOGFILESTATUS...................................................................................................................141

1.75 LOGFILETIME.........................................................................................................................142

1.76 MPAUTOCONNECT...............................................................................................................143

1.77 MSGSTANDARD ....................................................................................................................144

1.78 NAVELEMASK........................................................................................................................145

1.79 NAVMEASUSE .......................................................................................................................146

1.80 NTRIPCLIENT.........................................................................................................................148

1.81 NTRIPCONFIG........................................................................................................................151

1.82 NTRIPSERVER.......................................................................................................................153

NTRIP Server Status Messages..........................................................................................153

1.83 NUMANTENNAS ....................................................................................................................155

1.84 OUTPUT..................................................................................................................................156

1.85 PACKB....................................................................................................................................159

1.85.1 Format..................................................................................................................................159

1.85.2 Port.......................................................................................................................................159

1.85.3 Correction Data....................................................................................................................159

1.85.4 Theory of Operation.............................................................................................................161

1.85.5 Limitations and Points of Interest.........................................................................................161

1.85.5.1 Header Format............................................................................................................161

1.85.5.2 Correction Data/Onyx Command Sequence..............................................................161

1.85.5.3 Error Handling.............................................................................................................161

1.87 PASSTHRU.............................................................................................................................162

1.88 PDOPLIMIT.............................................................................................................................164

1.89 PING........................................................................................................................................165

1.90 PORT ......................................................................................................................................166

1.91 POWERMODE........................................................................................................................167

1.92 PRDGPSMODE ......................................................................................................................168

1.93 PRDGPSTIMEOUT.................................................................................................................169

1.94 PROCESSRATE.....................................................................................................................170

1.95 PROFILE.................................................................................................................................171

1.96 RADIO.....................................................................................................................................173

1.97 RADIOVERSION.....................................................................................................................175

1.98 RAPIDRECOVERY.................................................................................................................176

1.99 REFNAME...............................................................................................................................177

1.100 REFSTNPOS ..........................................................................................................................178

1.101 RTKFIXMODE.........................................................................................................................179

1.102 RTKFLOATTIMEOUT .............................................................................................................180

1.103 RTKMODE ..............................................................................................................................181

1.104 RTKMULTIPATH.....................................................................................................................186

1.105 RTKNAVRESET......................................................................................................................187

1.106 RTKSYNCMODE ....................................................................................................................188

1.107 RTKTIMEOUT.........................................................................................................................189

1.108 SBASLIST...............................................................................................................................190

1.109 SELFSURVEY.........................................................................................................................191

Onyx Technical Reference Manual Rev. A

1.110 SERIALMODE.........................................................................................................................192

1.111 SETPOSITION........................................................................................................................193

1.112 SETSFALMSWITCHMODE....................................................................................................194

1.113 SETTIME.................................................................................................................................195

1.114 SETUTCOFFSET....................................................................................................................196

1.115 SFALMENABLENEW..............................................................................................................197

1.116 SFCORRSELECT...................................................................................................................198

1.117 SFNETPRIORITY ...................................................................................................................200

1.118 SFQUICKSTART ....................................................................................................................201

1.119 SHUTDOWN...........................................................................................................................203

1.120 SIMULATORSTART ...............................................................................................................205

1.121 SOLIDEARTHTIDE.................................................................................................................206

1.122 STARFIREALTSAT.................................................................................................................207

1.123 STARFIREMODE....................................................................................................................209

1.124 STDDEVMODE.......................................................................................................................210

1.125 TRACKELEVMASK.................................................................................................................211

1.126 TRACKINGMODE (ASCII)......................................................................................................212

1.127 UPTIME...................................................................................................................................214

1.129 USBMODE..............................................................................................................................215

1.130 USEPROFILE..........................................................................................................................217

1.131 USERANTTYPE......................................................................................................................219

1.133 USERANTTYPEB ...................................................................................................................223

1.134 VERSION................................................................................................................................224

1.135 WARMSTART (ASCII) ............................................................................................................226

1.136 WEBCONTROL.......................................................................................................................227

1.137 WEBLOADB............................................................................................................................228

1.137.1Message General Format....................................................................................................228

1.137.1.2 Function Type.........................................................................................................229

1.137.1.3 Pass or Fail.............................................................................................................229

1.137.1.4 Valid Count.............................................................................................................229

1.137.1.5 Address ..................................................................................................................229

1.137.1.6 Data........................................................................................................................229

1.137.2WEBLOADB SubID Message Format .................................................................................229

1.137.2.1 SubID WB_PingCmd Message Format..................................................................229

1.137.2.2 SubID WB_PingRep Message Format...................................................................230

1.137.2.3 SubID WB_SetupCmd Message Format ...............................................................230

1.137.2.4 SubID WB_SetupRep Message Format ................................................................230

1.137.2.5 SubID WB_LoadDataCmd Message Format.........................................................231

1.137.2.6 SubID WB_LoadDataRep Message Format..........................................................231

1.137.2.7 SubID WB_ ChkCrcCmd Message Format............................................................231

1.137.2.8 SubID WB_ChkCrcRep Message Format..............................................................232

1.137.2.9 SubID WB_WriteCmd Message Format ................................................................232

1.137.2.10 SubID WB_WriteRep Message Format .................................................................232

1.137.3PIO Webpage Loading Sequence .......................................................................................233

1.138 WEBUSERS............................................................................................................................234

1.139 WIFICLIENT............................................................................................................................236

1.140 WIFICONFIG...........................................................................................................................239

1.141 WIFICONTROL.......................................................................................................................240

1.142 WIFIPASSKEY........................................................................................................................242

1.144 WIFIVERSION.........................................................................................................................243

1.145 WRAPPEDRTK.......................................................................................................................244

1.145.1PackB Wrappter Format ......................................................................................................244

2Onyx Output Messages Detailed Formats...................................................................247

2.1 1PPSA (ASCII)........................................................................................................................247

2.2 ALM1B (Version 1)..................................................................................................................248

2.2.1 GPS Almanac ......................................................................................................................248

2.2.2 GLONASS Almanac.............................................................................................................248

2.2.3 SBAS Almanac ....................................................................................................................249

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2.3 BASEINFOA............................................................................................................................250

2.4 CHNLSTATUS1B (Version 3).................................................................................................251

2.4.1 Cooperative Tracking and StarFire CNØ.............................................................................251

2.4.2 StarFire Tracking Status......................................................................................................251

2.4.3 StarFire Satellite ID..............................................................................................................252

2.4.4 Start Type and Number of Satellites Visible........................................................................252

2.4.5 Position Status and Number of Satellites Tracked ..............................................................252

2.4.6 Almanac Available and Number of Satellite Blocks in This Message .................................252

2.4.8 Block per PRN .....................................................................................................................253

2.4.8.1 PRN ............................................................................................................................253

2.4.8.2 Constellation Type and Channel Block Count...........................................................253

2.4.8.3 Satellite azimuth and elevation...................................................................................253

2.4.9 Block per Channel................................................................................................................253

2.4.9.1 Channel Number.........................................................................................................254

2.4.9.2 Code Type and Allocation Mode ................................................................................254

2.4.9.3 Tracking Status and Loop Bandwidth.........................................................................257

2.4.9.4 CNo.............................................................................................................................258

2.5 EPHEM1B...............................................................................................................................259

2.5.1 GPS Ephemeris...................................................................................................................259

2.5.2 GLONASS Ephemeris .........................................................................................................259

2.5.3 Galileo Ephemeris................................................................................................................260

2.5.4 Beidou Ephemeris................................................................................................................260

2.5.5 QZSS Ephemeris.................................................................................................................261

2.5.6 SBAS Ephemeris.................................................................................................................261

2.6 EVENTLATCHA......................................................................................................................262

2.7 INPUTSFLICENSE .................................................................................................................263

2.8 MBRTK1B ...............................................................................................................................264

2.8.2 MBRTK Navigation Status...................................................................................................265

2.10 MEAS1B (Version 2)...............................................................................................................266

2.10.1 Satellite Block ......................................................................................................................266

2.10.2 Signal Block .........................................................................................................................266

2.10.3 PRN Slot Number ................................................................................................................267

2.10.4 Frequency Number ..............................................................................................................267

2.10.5 Code Type ...........................................................................................................................268

2.10.6 Invalid Measurement Field...................................................................................................268

2.10.7 Bit Alignment........................................................................................................................269

2.11 MSGCANCELCODESB ..........................................................................................................270

2.12 MSGCANCELHISTORYB.......................................................................................................271

2.12.1 Number of Cancel Histories.................................................................................................271

2.12.2 License Issue Date ..............................................................................................................271

2.12.3 License End Date.................................................................................................................271

2.12.4 Date of Cancellation.............................................................................................................271

2.12.5 Days Left (Unused Days).....................................................................................................271

2.12.6 Cancel Reason ....................................................................................................................272

2.12.7 Cancellation Source.............................................................................................................272

2.13 MSGPRODUCTINFO..............................................................................................................273

2.14 MSGVERSION........................................................................................................................274

2.15 NAVCONFIG1B.......................................................................................................................275

2.16 NCT5B.....................................................................................................................................277

2.17 NCT5C ....................................................................................................................................278

2.18 NCT62.....................................................................................................................................279

2.19 NCTBB....................................................................................................................................280

2.20 NCTBD and NCTBE................................................................................................................281

2.21 NCTCB....................................................................................................................................282

2.23 NCTCD and NCTE..................................................................................................................283

2.25 NEWSFALMREADY ...............................................................................................................284

2.27 NMEA Messages Overview ....................................................................................................285

2.29 NMEAALM (ASCII)..................................................................................................................287

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2.30 NMEADTM..............................................................................................................................288

2.31 NMEAGBS ..............................................................................................................................290

2.32 NMEAGFA...............................................................................................................................292

2.33 NMEAGGA..............................................................................................................................294

2.34 NMEAGLL ...............................................................................................................................296

2.35 NMEAGNS..............................................................................................................................297

2.36 NMEAGRS (ASCII) .................................................................................................................299

2.37 NMEAGSA ..............................................................................................................................301

2.38 NMEAGST (ASCII)..................................................................................................................302

2.39 NMEAGSV (ASCII) .................................................................................................................303

2.40 NMEAHDT...............................................................................................................................305

2.41 NMEAMLA...............................................................................................................................306

2.42 NMEARMC..............................................................................................................................307

2.43 NMEAROT (ASCII) .................................................................................................................309

2.44 NMEARRE (ASCII) .................................................................................................................310

2.45 NMEATTM...............................................................................................................................311

2.46 NMEAVTG...............................................................................................................................313

2.47 NMEAZDA...............................................................................................................................314

2.48 NMEAPNCTDTM....................................................................................................................315

2.49 NMEAPNCTGGA....................................................................................................................317

2.50 NMEAPNCTGST.....................................................................................................................320

2.51 NMEAPNCTMDE....................................................................................................................321

2.52 NMEAPNCTSET.....................................................................................................................322

2.53 NTRIPSTAT ............................................................................................................................323

2.54 PHASENAVSTATUS1B (Version 1) .......................................................................................324

2.55 PHASENAVSTATUS2B (Version 1) .......................................................................................326

2.56 PHASENAVSTATUS2B (Version 2) .......................................................................................327

2.57 POINTRADIUSDATAB............................................................................................................328

2.58 POWERSTAT..........................................................................................................................329

2.58.1 Battery Pack.........................................................................................................................329

2.58.2 Battery Temperature Ranges ..............................................................................................330

2.59 PSEUDORANGESTATSB......................................................................................................331

2.60 PVT1B (Version 2) ..................................................................................................................332

2.60.1 Navigation Solution Status...................................................................................................333

2.60.2 Latitude, Longitude, Height, and Geoid-Ellipsoid Separation..............................................334

2.60.3 Standard Deviations of Latitude, Longitude and Height ......................................................334

2.60.4 PDOP North, East, and Up..................................................................................................334

2.60.5 Velocity North, East, and Up................................................................................................335

2.60.6 Number of Satellites Tracked ..............................................................................................335

2.60.7 Navigation Solution Mode....................................................................................................335

2.60.8 Maximum dGPS Correction Age..........................................................................................337

2.60.9 dGPS Base Station ID .........................................................................................................337

2.60.10Figure of Merit......................................................................................................................337

2.60.11Failure Code ........................................................................................................................337

2.60.12Solid Earth Tides..................................................................................................................338

2.60.13Bit Mask of GNSS Satellite Constellation Usage.................................................................338

2.60.14Bit Mask of GNSS Satellites Used.......................................................................................339

2.60.15Additional Navigation Solution Status..................................................................................339

2.61 PVT3B.....................................................................................................................................340

2.62 QUICKSTARTPOSA...............................................................................................................342

2.63 RADIOSTAT............................................................................................................................343

2.64 RTKSTATUS1B (Version 1)....................................................................................................344

2.64.1 Bit mask of GNSS satellite constellation usage...................................................................345

2.65 SATSUSEDB (Binary).............................................................................................................346

2.66 SDCARD.................................................................................................................................349

2.67 SELFSURVEYSTATUS1A......................................................................................................351

2.68 SFLICENSEB..........................................................................................................................352

2.69 SFSATLIST1B (Binary)...........................................................................................................354

Onyx Technical Reference Manual Rev. A

2.70 SFSEARCHPOSB...................................................................................................................355

2.71 SFSTATUS1B.........................................................................................................................356

2.71.1 Current StarFire downlink beam indicator ...........................................................................356

2.71.2 Current StarFire signal status..............................................................................................357

2.71.3 Current StarFire signal strength (Eb/NØ) ............................................................................357

2.71.4 Good packet counts (percentage) .......................................................................................357

2.71.5 Idle packet counts (percentage) ..........................................................................................358

2.71.6 Re-synchronization counts...................................................................................................358

2.71.7 StarFire Hub ID’s and license status ...................................................................................358

2.71.8 External Hub ID....................................................................................................................358

2.72 STARFIREALM1B...................................................................................................................359

2.73 TXRXINFOA (ASCII)...............................................................................................................361

2.74 USERANTTYPEB ...................................................................................................................365

3Legacy Proprietary RTK Correction Messages...........................................................367

0x5b - RTK Correction Message - 4+12+(n*18) bytes.........................................................................368

0x5c - RTK Base Position - 25 bytes ...................................................................................................369

0x5e – RTK Base Raw Measurements - 4+12+(n*18) bytes...............................................................370

4Other Correction Output and Input Message Types...................................................371

4.1 RTCM 2.3 Output Messages...................................................................................................371

4.2 RTCM 2.3 Input Messages .....................................................................................................371

4.3 RTCM 3.0 Output Messages...................................................................................................372

4.4 RTCM 3.0 Input Messages .....................................................................................................373

ACRC Function/Data Parsing and Decoding..................................................................374

Onyx Pseudocode Message Parser.....................................................................................................375

Onyx Pseudocode for Coordinate Conversions...................................................................................378

BSoftware License Agreement .......................................................................................380

Software License Agreement for Deere & Company GNSS StarFire™ Receiver...............................380

CLogging Data to the SF-5050 SD Card .........................................................................385

SD CARD Formatting...........................................................................................................................385

SD Card Detection ...............................................................................................................................386

Scheduling Messages & Logging Data................................................................................................387

DUploading Unified Firmware Files Using StarUtil 5000...............................................390

EBase RTK Configuration...............................................................................................394

Overview ..............................................................................................................................................394

Hardware Requirements ......................................................................................................................394

Hardware Configuration .......................................................................................................................395

Antenna Installation..............................................................................................................................396

Update Profile (with Ethernet Port Base Station and Radio Settings) .................................................396

Additional Information ..........................................................................................................................400

Automatic Ethernet Connection........................................................................................................400

[ETHVCOM] Syntax .....................................................................................................................400

[ETHVCOM] Examples ................................................................................................................402

ETHVCOM Application Notes......................................................................................................402

Exercise .......................................................................................................................................403

Resetting the Ethernet Virtual Com Connection..........................................................................403

FMBRTK Commands and Responses............................................................................405

Setting Up the Moving Base Position...................................................................................................405

General Setup Commands...............................................................................................................406

MBRTK Output Streams...................................................................................................................407

MBRTK Port-Loading Requirement..................................................................................................407

GLoading Firmware Without StarUtil 5000.....................................................................409

BOOTLOADA (ASCII)..........................................................................................................................409

BOOTLOADB (Binary) .........................................................................................................................410

Message General Format ....................................................................................................................410

Function Type...................................................................................................................................410

Pass or Fail.......................................................................................................................................411

Valid Count.......................................................................................................................................411

Onyx Technical Reference Manual Rev. A

Address.............................................................................................................................................411

Data 412

BootloadB SubID Message Format......................................................................................................412

SubID NB_PingCmd Message Format.............................................................................................412

SubID NB_PingRep Message Format..............................................................................................412

SubID NB_BaudCmd Message Format ...........................................................................................413

SubID NB_BaudRep Message Format ............................................................................................413

SubID NB_SetupCmd Message Format ..........................................................................................414

SubID NB_SetupRep Message Format ...........................................................................................414

SubID NB_LoadDataCmd Message Format....................................................................................414

SubID NB_LoadDataRep Message Format.....................................................................................415

SubID NB_ ChkCrcCmd Message Format.......................................................................................415

SubID NB_ChkCrcRep Message Format.........................................................................................416

SubID NB_ProgCmd Message Format............................................................................................416

SubID NB_EraseRep Message Format ...........................................................................................417

SubID NB_WriteFRep Message Format..........................................................................................417

SubID NB_Working Message Format..............................................................................................417

SubID NB_ResetCmd Message Format ..........................................................................................418

SubID NB_ResetRep Message Format ...........................................................................................418

GNSS Software Loading Sequence.................................................................................................419

HWeb Server ....................................................................................................................421

Supported Browsers.........................................................................................................................421

Storage Location ..............................................................................................................................421

Account information..........................................................................................................................421

How to Access..................................................................................................................................422

How to Update..................................................................................................................................422

Limitations.........................................................................................................................................422

Web and Ftp Commands..................................................................................................................422

Onyx Technical Reference Manual Rev. A

List of Tables

Table 1: Basic Command Format Using Blanks as Delimiters...................................................25

Table 2: Basic Command Format Using Commas as Delimiters...............................................25

Table 3: Examples of Single Argument Command Inputs and Responses................................26

Table 4: Examples of Multiple Argument Command Inputs and Responses..............................27

Table 5: Data Type Abbreviations.............................................................................................28

Table 6: General Format of Onyx Binary Output Messages ......................................................28

Table 7: Standard Onyx Binary Header Format.........................................................................29

Table 8: Time Confidence Values.............................................................................................29

Table 9: Simplified Onyx Binary Header Format........................................................................29

Table 10: Factory Default Output Proprietary Messages and Responses..................................31

Table 11: Supported Standard NMEA Messages......................................................................34

Table 12: Supported Non-Standard NMEA Messages ..............................................................34

Table 13: ALM1B Binary message data....................................................................................40

Table 14: BOOTLOADA Bootloader1 Actions...........................................................................50

Table 15: BOOTLOADA Bootloader2 Actions...........................................................................50

Table 16: Software Info Structure Definition..............................................................................51

Table 17: BOOTLOADB Binary Message..................................................................................52

Table 18: BOOTLOADB Message Function SubID Enum Definition .........................................53

Table 19: BOOTLOADB and BootloadPIOB Message Error Codes ..........................................54

Table 20: SubID NB_PingCmd Format .....................................................................................54

Table 21: Software Type Enum.................................................................................................55

Table 22: SubID NB_PingRep Format ......................................................................................55

Table 23: SubID NB_BaudCmd Format ....................................................................................56

Table 24: SubID NB_BaudRep Format .....................................................................................56

Table 25: SubID NB_SetupCmd Format...................................................................................56

Table 26: SubID NB_SetupRep Format ....................................................................................57

Table 27: SubID NB_LoadDataCmd Format.............................................................................57

Table 28: SubID NB_ LoadDataRep Format.............................................................................58

Table 29: SubID NB_ChkCrcCmd Format.................................................................................58

Table 30: SubID NB_ChkCrcRep Format..................................................................................59

Table 31: SubID NB_ProgCmd Format.....................................................................................59

Table 32: SubID NB_EraseRep Format....................................................................................59

Table 33: SubID NB_WriteFRep Format...................................................................................60

Table 34: SubID NB_Working Format.......................................................................................60

Table 35: SubID NB_ResetCmd Format ...................................................................................60

Table 36: SubID NB_ResetRep Format ....................................................................................61

Table 37: BOOTLOADPIOB Binary Message ...........................................................................63

Table 38: BOOTLOADB Message Function SubID Enum Definition .........................................64

Table 39: SubID NB_PingCmd Format .....................................................................................65

Table 40: SubID NB_PingRep Format ......................................................................................65

Table 41: SubID NB_BaudCmd Format ....................................................................................65

Table 42: SubID NB_BaudRep Format .....................................................................................66

Table 43: SubID NB_SetupCmd Format...................................................................................66

Table 44: SubID NB_SetupRep Format ....................................................................................66

Table 45: SubID NB_LoadDataCmd Format.............................................................................67

Table 46: SubID NB_LoadDataRep Format..............................................................................67

Table 47: SubID NB_ChkCrcCmd Format.................................................................................68

Table 488: SubID NB_ChkCrcRep Format................................................................................68

Table 49: SubID NB_EraseRep Format....................................................................................69

Table 50: SubID NB_WriteFRep Format...................................................................................69

Onyx Technical Reference Manual Rev. A

xii

Table 51: SubID NB_Working Format.......................................................................................69

Table 52: SubID NB_ResetCmd Format ...................................................................................70

Table 53: SubID NB_ResetRep Format ....................................................................................70

Table 54: [BTSET] Command Action Keywords (Subcommands).............................................72

Table 55: Parameter List for User-Defined Datum.....................................................................80

Table 56: User-Defined Ellipsoid Model (with Sample Values)..................................................81

Table 57: 3-Parameter Model Transformation (with Sample Values).........................................81

Table 58: 7-Parameter Model Transformation (with Sample Values).........................................82

Table 59: 14-Parameter Model Transformation (with Sample Values).......................................82

Table 60: Dynamic Modes Keywords Description .....................................................................85

Table 61: Dynamic Modes Mapping and Applications...............................................................86

Table 62: Default Settings for Unspecified Parameters.............................................................96

Table 63: GEOIDAL99 Header Format ...................................................................................120

Table 64: GEOIDAL99 Data Format (variable length) .............................................................121

Table 65: Data Type for GNALM1B Message.........................................................................125

Table 66: Message Structure for GLONASS Satellites............................................................125

Table 67: Message Structure for GPS Satellites .....................................................................126

Table 68: Signals and/or Frequencies Keywords for NAVMEASUSE Command.....................146

Table 69: NTRIP Client Status Messages...............................................................................148

Table 70: NTRIP Client Configuration Data.............................................................................151

Table 71: NTRIP Server Status Messages..............................................................................153

Table 72: Output Command Scheduling/Timing Methods .......................................................157

Table 73: Output Command Port Mnemonics .........................................................................158

Table 74: PackB Command Format........................................................................................159

Table 75: PackB Command Format Field Mnemonics.............................................................159

Table 76: Power Modes..........................................................................................................167

Table 77: Code-Based dGPS Modes Controlled by the PRDGPSMODE Command...............168

Table 78: SF_Source Controlled by the PRDGPSMODE command (SF Only)........................168

Table 79: [PROFILE] Command Action Keywords..................................................................171

Table 80: RTK Modes.............................................................................................................182

Table 81: Rover Site ID Request.............................................................................................182

Table 82: Rover Site Station ID...............................................................................................183

Table 83: Base Station ID .......................................................................................................183

Table 84: RTK Multipath Environments...................................................................................186

Table 85: [SF QUICKSTART] Action Keywords ......................................................................201

Table 86: Shutdown Modes.....................................................................................................203

Table 87: Signals and/or Frequencies Keywords for TRACKINGMODE Command ................212

Table 88: Binary Data Format.................................................................................................223

Table 89: VERSION Keywords for Software Components ......................................................224

Table 90: VERSION Command Response Format..................................................................225

Table 91: WEBLOADB Binary Message..................................................................................228

Table 92: WEBLOADB Message Function SubID Enum Definition .........................................229

Table 93: SubID WB_PingCmd Format...................................................................................230

Table 94: SubID WB_PingRep Format....................................................................................230

Table 95: SubID WB_SetupCmd Message Format.................................................................230

Table 96: SubID WB_SetupRep Format..................................................................................231

Table 97: SubID WB_LoadDataCmd Format ..........................................................................231

Table 98: SubID WB_LoadDataRep Format ...........................................................................231

Table 99: SubID WB_ChkCrcCmd Format..............................................................................231

Table 100: SubID WB_ChkCrcRep Message Format..............................................................232

Table 101: SubID WB_WriteCmd Format................................................................................232

Table 102: SubID WB_WriteRep Format.................................................................................233

Table 103: WEBLOADB message protocol.............................................................................233

Onyx Technical Reference Manual Rev. A

xiii

Table 104: PackB Wrapper Format.........................................................................................245

Table 105: Wrapped Base Modes...........................................................................................246

Table 106: Figure of Merit.......................................................................................................247

Table 107: ALM1B Binary Message Data................................................................................248

Table 108: GPS ALM1B Binary Message Data.......................................................................248

Table 109: GLONASS ALM1B Binary Message Data..............................................................249

Table 110: SBAS ALM1B Binary Message Data.....................................................................249

Table 111: CHNLSTATUS1B Binary Message Data ...............................................................251

Table 112: StarFire Tracking Status Values............................................................................251

Table 113: CHNLSTATUS1B block per PRN..........................................................................252

Table 114: Start Type..............................................................................................................252

Table 115: Position Status......................................................................................................252

Table 116: CHNLSTATUS1B Satellite Block, One per PRN....................................................253

Table 117: CHNLSTATUS1B Blocks per Channel ..................................................................254

Table 118: Code Type.............................................................................................................254

Table 119: SBAS Code Type..................................................................................................255

Table 120: SBAS Code Type..................................................................................................256

Table 121: Allocation Mode.....................................................................................................257

Table 122: Channel Status Codes...........................................................................................257

Table 123: Loop Bandwidth.....................................................................................................258

Table 124: EPHEM1B Binary Message Header......................................................................259

Table 125: GPS EPHEM1B Binary Message..........................................................................259

Table 126: GLONASS EPHEM1B Binary Message.................................................................259

Table 127: Bit Mapping of GLONASS String 1........................................................................260

Table 128: Galileo EPHEM1B Binary Message.......................................................................260

Table 129: Beidou EPHEM1B MEO and IGSO Binary Message.............................................260

Table 130: Beidou EPHEM1B GEO Binary Message..............................................................261

Table 131: QZSS EPHEM1B Binary Message........................................................................261

Table 132: SBAS EPHEM1B Binary Message ........................................................................261

Table 133: Figure of Merit.......................................................................................................262

Table 134: MBRTK1B Binary Message Body..........................................................................264

Table 135: MBRTK Solution Mode..........................................................................................265

Table 136: Navigation Mode ...................................................................................................265

Table 137: MEAS1B ...............................................................................................................266

Table 138: Satellite Block........................................................................................................266

Table 139: Signal Block ..........................................................................................................266

Table 140: PRN Slot Number..................................................................................................267

Table 141: Frequency Number................................................................................................267

Table 142: Code Type.............................................................................................................268

Table 143: MSGCANCELCODESB.........................................................................................270

Table 144: MSGCANCELHISTORYB Part 1...........................................................................271

Table 145: MSGCANCELHISTORYB Part 2...........................................................................271

Table 146: MSGCANCELHISTORYB Cancellation Source.....................................................272

Table 147: MSGVERSION Keywords for Software Components ............................................274

Table 148: NAVCONFIGB Data Fields....................................................................................275

Table 149: NEWSFALMREADY ASCII message data ............................................................284

Table 150: Supported Standard NMEA Message....................................................................285

Table 151: Supported Nonstandard NMEA Message..............................................................286

Table 152: ALM Message Output Format................................................................................287

Table 153: DTM Message Output Format...............................................................................288

Table 154: DTM Message Output for Each Nav Mode............................................................289

Table 155: GBS Message Output Format ...............................................................................290

Table 156: GFA Message Output Format................................................................................292

Onyx Technical Reference Manual Rev. A

xiv

Table 157: GGA Message Format...........................................................................................294

Table 158: GLL Message Output Format................................................................................296

Table 159: GNS Message Output Format...............................................................................297

Table 160: GRS Message Output Format...............................................................................299

Table 161: GSA Message Output Format ...............................................................................301

Table 162: GST Message Output Format................................................................................302

Table 163: GSV Message Output Format ...............................................................................303

Table 164: HDT Message Output Format................................................................................305

Table 165: MLA Message Output Format................................................................................306

Table 166: RMC Message Output Format...............................................................................307

Table 167: ROT Message Output Format ...............................................................................309

Table 168: RRE Message Output Format ...............................................................................310

Table 169: TTM Message Output Format................................................................................311

Table 170: VTG Message Output Format................................................................................313

Table 171: ZDA Message Output Format................................................................................314

Table 172 PNCTDTM Message Output Format.......................................................................315

Table 173 PNCTDTM Message Output for Each Nav Mode....................................................316

Table 174: PNCTGGA Message Output Format .....................................................................317

Table 175: Beam Selection ID.................................................................................................318

Table 176: Navigation Mode ...................................................................................................319

Table 177: PNCTGST Message Output Format......................................................................320

Table 178: PNCTMDE Message Output Format .....................................................................321

Table 179: NCTSET Message Output Format.........................................................................322

Table 180: NTRIPSTAT Message Output Examples...............................................................323

Table 181: PHASENAVSTATUS1B Message Body................................................................324

Table 182: PHASENAVSTATUS1B Satellite Block .................................................................325

Table 183: POINTRADIUSDATAB..........................................................................................328

Table 184: POWERSTAT .......................................................................................................329

Table 185: Charge Start And Battery Operation Voltages.......................................................329

Table 186: PSEUDORANGESTATSB Binary Message Data..................................................331

Table 187: PVT1B Version Size Differences...........................................................................332

Table 188: PVT1B Binary Message ........................................................................................332

Table 189: Navigation Solution Status ....................................................................................333

Table 190: Navigation Mode and Source Type Fields.............................................................335

Table 191: Navigation Solution Mode......................................................................................336

Table 192: dGPS Source Type ...............................................................................................336

Table 193: RTK Source Type..................................................................................................337

Table 194: Failure Code..........................................................................................................338

Table 195: GNSS Satellite Constellation Usage Bit Mask.......................................................339

Table 196: Additional Navigation Solution Status....................................................................339

Table 197: PVT3B Message ...................................................................................................340

Table 198: QUICKSTART Position..........................................................................................342

Table 199: RADIOSTAT Message ..........................................................................................343

Table 200: RTKSTATUS1B contents......................................................................................344

Table 201: Bit mask of GNSS satellite constellation................................................................345

Table 202: RTK Search Flag...................................................................................................345

Table 203: SATSUSEDB Binary Message Data......................................................................346

Table 204: Failure Conditions .................................................................................................346

Table 205: SDCARD Output Messages for the .......................................................................349

Table 206: SD FLASH Output Messages for the SF-5050 ......................................................349

Table 207: SELFSURVEYSTATUS1A Message Output Format .............................................351

Table 208: SFLICENSEB Binary Message Body.....................................................................352

Table 209: Net Authorization...................................................................................................352

Onyx Technical Reference Manual Rev. A

Table 210: Status....................................................................................................................353

Table 211: SFSATLIST1B Binary Message Data....................................................................354

Table 212: StarFire Satellite Block..........................................................................................354

Table 213: SFSTATUS1B Binary Message Data ....................................................................356

Table 214: StarFire Beam Indicator.........................................................................................357

Table 215: StarFire Tracking Status........................................................................................357

Table 216: STARFIREALM1B binary message data...............................................................359

Table 217: OTA Almanac Satellite Record..............................................................................360

Table 218: TXRXINFOA Message Output Format – SF-5050.................................................361

Table 219: USERANTTYPE0B Content..................................................................................365

Table 220: NavCom Proprietary Correction Output Streams...................................................367

Table 221: Supported NavCom Proprietary Correction Inputs.................................................367

Table 222: RTCM 2.3 Correction Output Streams...................................................................371

Table 223: Supported RTCM Correction Inputs.......................................................................371

Table 224: RTCM 3.0 Correction Output Streams...................................................................372

Table 225: Supported RTCM 3.0 Correction Inputs.................................................................373

Table 226: Acceptable Cable Lengths.....................................................................................396

Table 227: Base Modes..........................................................................................................405

Table 228: Port-Loading Requirements...................................................................................407

Table 229: BOOTLOADA Bootloader1 Actions .......................................................................409

Table 230: BOOTLOADA Bootloader2 Actions .......................................................................409

Table 231: BOOTLOADB Binary Message..............................................................................410

Table 232: BOOTLOADB Message Function SubID Enum Definition .....................................410

Table 233: BOOTLOADB Message Error Codes.....................................................................411

Table 234: SubID NB_PingCmd Format..................................................................................412

Table 235: Software Type Enum.............................................................................................412

Table 236: SubID NB_PingRep Format ..................................................................................412

Table 237: SubID NB_BaudCmd Format ................................................................................413

Table 238: SubID NB_BaudRep Format .................................................................................413

Table 239: SubID NB_SetupCmd Format ...............................................................................414

Table 240: SubID NB_SetupRep Format ................................................................................414

Table 241: SubID NB_LoadDataCmd Format .........................................................................414

Table 242: SubID NB_LoadDataRep Format ..........................................................................415

Table 243: SubID NB_ChkCrcCmd Format.............................................................................415

Table 244: SubID NB_ChkCrcRep Format..............................................................................416

Table 245: SubID NB_ProgCmd Format.................................................................................416

Table 246: SubID NB_EraseRep Format................................................................................417

Table 247: SubID NB_WriteFRep Format...............................................................................417

Table 248: SubID NB_Working Format...................................................................................418

Table 249: SubID NB_ResetCmd Format ...............................................................................418

Table 250: SubID NB_ResetRep Format ................................................................................418

Onyx Technical Reference Manual Rev. A

xvi

List of Figures

Figure 1: Antennae Alignment – Lateral and Longitudinal .........................................................41

Figure 2: Example of StarFire License File Contents...............................................................129

Figure 3: Example of Software Option File Contents...............................................................130

Figure 4: OTA StarFire Almanac Satellite Record...................................................................359

Figure 5: Input Terminal – Creating Logging File.....................................................................387

Figure 6: Receiver Options Tab ..............................................................................................390

Figure 7: File Upload...............................................................................................................391

Figure 8: Firmware Update List...............................................................................................391

Figure 9: Finished All Downline Loads....................................................................................392

Figure 10: Typical RTK Base Installation.................................................................................395

Figure 11: View/Edit Profile Button..........................................................................................398

Figure 12: Network Base – Sample.npt Upload.......................................................................399

Figure 13: Input Terminal........................................................................................................403

Onyx Technical Reference Manual Rev. A

Notices

Onyx Technical Reference Manual

96-312008-3001

Revision A

December 2018

2018 by Deere & Company

reproduced, stored, or transmitted by any means, without the expressed written consent of the

consent of the copyright holders.

NavCom and Deere & Company Relationship

Deere & Company acquired NavCom in 1999. Thereafter, Deere & Company retained the

NavCom brand to continue offering NavCom’s products and services to non-agriculture

markets, while simultaneously developing new products and services designed for Deere’s

agriculture specific markets. Deere & Company retains legal and financial responsibility for the

NavCom brand. References in this document to NavCom, refer to the brand under which

products and services are offered by Deere & Company to non-agricultural markets. Deere &

Company is used where reference to ultimate legal ownership and responsibility is required.

Trademarks

‘find your way’, ‘NavCom Globe’ and ‘NAVCOM TECHNOLOGY’ logos are trademarks of Deere

& Company. StarFire™ is a registered trademark of Deere & Company. All other product and

brand names are trademarks or registered trademarks of their respective holders.

The Bluetooth®word mark and logos are registered trademarks owned by Bluetooth Sig, Inc.

and any use of such marks by Deere & Company is under license. Other trademarks and trade

names are those of their respective owners.

User Notice

Deere & Company shall not be responsible for any inaccuracies, errors, or omissions in

information contained herein, including, but not limited to, information obtained from third party

sources, such as publications of other companies, the press, or competitive data organizations.

This publication is made available on an “as is” basis and Deere & Company specifically

disclaims all associated warranties, whether express or implied. In no event will Deere &

Company be liable for direct, indirect, special, incidental, or consequential damages in

connection with the use of or reliance on the material contained in this publication, even if

advised of the possibility of such damages. Deere & Company reserves the right to make

improvements or changes to this publication and the products and services herein described at

any time, without notice or obligation.

As used in this publication, “Solstice” refers to the project name of the SF-5050.

Software License Agreement

By powering on and using this GNSS StarFire™ Receiver, you agree to the terms and

conditions of the Deere & Company GNSS Receiver Software License and Open Source

Onyx Technical Reference Manual Rev. A

Software Licenses. The complete terms and conditions of these software licenses may be found

in the Onyx Technical Reference Manual Appendix B.

Onyx Technical Reference Manual Rev. A

Revision History

Draft Rev A (Dec 2018) Initial release; specifically relates to ICD, version 5.01, Firmware version 1.0.2

WEBUSERS Updated command description

15.5W Satellite Removed the satellite from Tables 175 and 214

Draft Rev A (Nov 2018) Initial release; specifically relates to ICD, version 4.98, Firmware version 1.0.0

LOGFILEDRIVEFULLSEL Command added

Draft Rev A (Sep 2018) Initial release; specifically relates to ICD, version 4.90, Firmware version 0.1.7

Draft Rev A (Aug 2018) Initial release; specifically relates to ICD, version 4.89, Firmware version 0.1.6

FSDIR Removed Drive B; Added Drive C

FSDRIVE Removed Drive B

FSFORMAT Removed Drive B

FSLOAD Removed Drive B

FSSPACE Removed Drive B

FTPCONTROL Removed Drive B

LOGFILEDRIVE Removed Drive B

SFLICENSEB Added COM3 and COM4 to the source table

MSGCANCELHISTORYB Added COM3 and COM4 to the source table

ENABLEGEOFENCE Updated description

Draft Rev A (Jul 2018) Initial release; specifically relates to ICD, version 4.80, Firmware version 0.1.5

SFLICENSEB Updated “Status” table

MSGCANCELHISTORYB Updated “MSGCANCELHISTORYB Cancellation Source” table

SFSTATUS1B Added field ‘External Hub ID’

ENABLEGEOFENCE Added command

Draft Rev A (Jun 2018) Initial release; specifically relates to ICD, version 4.70, Firmware version 0.1.4

REFSTNPOS Replaced “Hieght over Mean Sea Level” with “Height over Ellipsoid”

SETPOSITION Replaced “Hieght over Mean Sea Level” with “Height over Ellipsoid”

WEBCONTROL Updated to indicate that changes made using [WEBCONTROL] have to made using a

local port (serial or USB)

1PPS Updated command width range.

NTRIPSTAT Updated message format to be comma-delimited after “TOW”.

Appendix H Added Appendix H - Web Server

Draft Rev A (May 2018) Initial release; specifically relates to ICD, version 4.63, Firmware version 0.1.3

POINTRADIUSDATAB Updated message structure

LOGFILENAME Changed file logging naming convention

Draft Rev A (May 2018) Initial release; specifically relates to ICD, version 4.58, Firmware version 0.1.2

ERASEEPH Updated keyword and description

Draft Rev A (Apr 2018) Initial release; specifically relates to ICD, version 4.56, Firmware version 0.1.1

STARFIREMODE Added note with regard to single frequency operation (fallback scenario)

3RDPARTYRTKX Added note with regard to StarFire signaling support

Onyx Technical Reference Manual Rev. A

TXRXINFOA Updated f73 – f76 to Reserved

Draft Rev A (Feb 2018) Initial release; specifically relates to ICD, version 4.52, Firmware version 0.1.0

PRDGPSMODE Added note with regard [3RDPARTYRTKX] setting

STARFIREMODE Added note with regard [3RDPARTYRTKX] setting

NCTBB Added note with regard [3RDPARTYRTKX] setting

NCTCB Added note with regard [3RDPARTYRTKX] setting

NavCom Technology, Inc. Updated appropriate references to Deere & Company

Bluetooth®Added appropriate trademark references

ANTENNAOFFSET Command removed

Draft Rev A (Jan 2018) Initial release; specifically relates to ICD, version 4.49, Firmware version 0.0.0.26

BOOTLOADB Updated GNSS Software Loading Sequence

PASSTHRU Update examples and Warning

ANTPOWER Updated command description and description

Draft Rev A (Nov 2017) Initial release; specifically relates to ICD, version 4.39, Firmware version 0.0.0.25

LOGFILEDRIVE Updated to include definition of device types.

SFSTATUS1B Updated Hub Id information

WEBLOADB Updated Webpages Limits

Draft Rev A (Oct 2017) Initial release; specifically relates to ICD, version 4.30, Firmware version 0.0.0.24

Appendix F Updated Appendix F - MBRTK

SELFSURVEYSTATUS1A Rewrote the command to accommodate DDMMSS… format

OUTPUT Removed web ports as valid port IDs from Table 73

WEBLOADB Changes the valid count data type from U16 to U32

TRACKINGMODE Updated definition for ALL keyword

QUICKSTARTPOSA Added SF-Start-Status keyword and definition

EVENTLATCHVOLTSEL Added command

DNSOVERRIDE Added command

Draft Rev A (Sep 2017) Initial release; specifically relates to ICD, version 4.19, Firmware version 0.0.0.23

BOOTLOADB Updated Table 21: Software Type Enum

Draft Rev A (Aug 2017) Initial release; specifically relates to ICD, version 4.16, Firmware version 0.0.0.22

ANTREMOTE Added examples

BTSET Added maximum length definition

SFSTATUS1B Updated Hub ID’s and StarFire license status

TXRXINFO Replaced Octagon with SF-3040

Draft Rev A (July 2017) Initial release; specifically relates to ICD, version 4.09, Firmware version 0.0.0.21

ALM1B Updated for Galileo, Beidou, QZSS

EPHEM1B Updated for Galileo, Beidou, QZSS

MEAS1B Added E5AltBOC to Table 141: Frequency Number and Table 142: Code Type

SFCORRSELECT Added command

STARFIREALTSAT Added ‘Auto’ keyword definition and examples

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