Add keys for HPS 1.40

Author: PaulZC

keys/u-blox-F9-HPS-1.30_InterfaceDescription_UBX-22010984_keys_sorted.txt renamed to keys/u-blox-F9-HPS-1.40_InterfaceDescription_UBXDOC-963802114-13138_keys_sorted.txt

@@ -22,6 +22,10 @@
 0x101100d7
 0x10170001
 0x10170002
+0x10220001
+0x10220002
+0x10220003
+0x10220004
 0x10240012
 0x10240020
 0x10240030
@@ -120,10 +124,9 @@
 0x10a30033
 0x10a30034
 0x10a30035
-0x10c70001
-0x10c70002
 0x10f60009
 0x10f60051
+0x10f6005d
 0x2005000c
 0x20050023
 0x20050030
@@ -134,6 +137,7 @@
 0x20060016
 0x2006001e
 0x2006001f
+0x20060030
 0x2007000b
 0x20090009
 0x20110011
@@ -150,6 +154,11 @@
 0x20140011
 0x20210003
 0x20210004
+0x20220005
+0x20220021
+0x20220022
+0x20220031
+0x20220032
 0x20240011
 0x20240013
 0x20240014
@@ -262,6 +271,11 @@
 0x2091006c
 0x2091006d
 0x2091006e
+0x2091007e
+0x2091007f
+0x20910080
+0x20910081
+0x20910082
 0x20910083
 0x20910084
 0x20910085
@@ -347,6 +361,11 @@
 0x209100e4
 0x209100e5
 0x209100e6
+0x209100e7
+0x209100e8
+0x209100e9
+0x209100ea
+0x209100eb
 0x209100ec
 0x209100ed
 0x209100ee
@@ -718,17 +737,25 @@
 0x20a30063
 0x20a30064
 0x20a70001
-0x20c70003
 0x30050001
 0x30060007
 0x3006000a
 0x3006000b
 0x30060017
 0x30060018
+0x30060020
+0x30060021
+0x30060022
 0x3006002e
 0x3006002f
 0x3007000a
 0x3007000e
+0x30070012
+0x30070013
+0x30070014
+0x30080002
+0x30080003
+0x30080004
 0x30090008
 0x30110017
 0x301100b1
@@ -738,13 +765,16 @@
 0x301100b5
 0x30210001
 0x30210002
+0x30250016
 0x3025003b
+0x30360008
 0x30370008
 0x3065000a
 0x3065000b
 0x3065000c
 0x30930033
 0x30a20004
+0x30a3003c
 0x30f6000a
 0x30f6000b
 0x40050002
@@ -798,7 +828,3 @@
 0x50650016
 0x50650017
 0x50650018
-0x50c70004
-0x50c70005
-0x50c70006
-0x50c70007

keys/u-blox_config_keys_sorted.txt

@@ -193,6 +193,7 @@
 0x20060016
 0x2006001e
 0x2006001f
+0x20060030
 0x2007000b
 0x20090009
 0x20110011
@@ -954,10 +955,19 @@
 0x3006000b
 0x30060017
 0x30060018
+0x30060020
+0x30060021
+0x30060022
 0x3006002e
 0x3006002f
 0x3007000a
 0x3007000e
+0x30070012
+0x30070013
+0x30070014
+0x30080002
+0x30080003
+0x30080004
 0x30090001
 0x30090008
 0x30110017
@@ -970,6 +980,7 @@
 0x30210001
 0x30210002
 0x30230002
+0x30250016
 0x3025003b
 0x30360008
 0x30370008

src/u-blox_config_keys.h

@@ -243,8 +243,9 @@ const uint32_t UBLOX_CFG_LOGFILTER_POSITION_THRS = UBX_CFG_U2 | 0x40de0008;
 
 // CFG-MOT: Motion detector configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-const uint32_t UBLOX_CFG_MOT_GNSSSPEED_THRS = UBX_CFG_U1 | 0x20250038; // GNSS speed threshold below which platform is considered as stationary (a.k.a. static hold threshold)
-const uint32_t UBLOX_CFG_MOT_GNSSDIST_THRS = UBX_CFG_U2 | 0x3025003b;  // Distance above which GNSS-based stationary motion is exit (a.k.a. static hold distance threshold)
+const uint32_t UBLOX_CFG_MOT_GNSSSPEED_THRS = UBX_CFG_U1 | 0x20250038;  // GNSS speed threshold below which platform is considered as stationary (a.k.a. static hold threshold)
+const uint32_t UBLOX_CFG_MOT_GNSSDIST_THRS = UBX_CFG_U2 | 0x3025003b;   // Distance above which GNSS-based stationary motion is exit (a.k.a. static hold distance threshold)
+const uint32_t UBLOX_CFG_MOT_IMU_FILT_WINDOW = UBX_CFG_U2 | 0x30250016; // Averaging window for IMU measurements in noisy setups.
 
 // CFG-MSGOUT: Message output configuration
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1152,7 +1153,10 @@ const uint32_t UBLOX_CFG_SEC_JAMDET_SENSITIVITY_HI = UBX_CFG_L | 0x10f60051; //
 
 // CFG-SFCORE: Sensor fusion (SF) core configuration (ZED-F9R)
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
-const uint32_t UBLOX_CFG_SFCORE_USE_SF = UBX_CFG_L | 0x10080001; // Use ADR/UDR sensor fusion
+const uint32_t UBLOX_CFG_SFCORE_USE_SF = UBX_CFG_L | 0x10080001;        // Use ADR/UDR sensor fusion
+const uint32_t UBLOX_CFG_SFCORE_IMU2CRP_LA_X = UBX_CFG_I2 | 0x30080002; // X coordinate of IMU-to-CRP lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFCORE_IMU2CRP_LA_Y = UBX_CFG_I2 | 0x30080003; // Y coordinate of IMU-to-CRP lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFCORE_IMU2CRP_LA_Z = UBX_CFG_I2 | 0x30080004; // Z coordinate of IMU-to-CRP lever-arm in the installation frame
 
 // CFG-SFIMU: Sensor fusion (SF) inertial measurement unit (IMU) configuration (ZED-F9R)
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1168,10 +1172,14 @@ const uint32_t UBLOX_CFG_SFIMU_ACCEL_ACCURACY = UBX_CFG_U2 | 0x30060018;
 const uint32_t UBLOX_CFG_SFIMU_IMU_EN = UBX_CFG_L | 0x1006001d;                 // IMU enabled
 const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SCL_PIO = UBX_CFG_U1 | 0x2006001e;       // SCL PIO of the IMU I2C
 const uint32_t UBLOX_CFG_SFIMU_IMU_I2C_SDA_PIO = UBX_CFG_U1 | 0x2006001f;       // SDA PIO of the IMU I2C
+const uint32_t UBLOX_CFG_SFIMU_IMU_IMU2ANT_LA_X = UBX_CFG_I2 | 0x30060020;      // X coordinate of IMU-to-ANT lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFIMU_IMU_IMU2ANT_LA_Y = UBX_CFG_I2 | 0x30060021;      // Y coordinate of IMU-to-ANT lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFIMU_IMU_IMU2ANT_LA_Z = UBX_CFG_I2 | 0x30060022;      // Z coordinate of IMU-to-ANT lever-arm in the installation frame
 const uint32_t UBLOX_CFG_SFIMU_AUTO_MNTALG_ENA = UBX_CFG_L | 0x10060027;        // Enable automatic IMU-mount alignment
 const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_YAW = UBX_CFG_U4 | 0x4006002d;        // User-defined IMU-mount yaw angle [0, 360]
 const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_PITCH = UBX_CFG_I2 | 0x3006002e;      // User-defined IMU-mount pitch angle [-90, 90]
 const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_ROLL = UBX_CFG_I2 | 0x3006002f;       // User-defined IMU-mount roll angle [-180, 180]
+const uint32_t UBLOX_CFG_SFIMU_IMU_MNTALG_TOLERANCE = UBX_CFG_E1 | 0x20060030;  // User-defined IMU mount alignment angles tolerance level
 
 // CFG-SFODO: Sensor fusion (SF) odometer configuration (ZED-F9R)
 //-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-
@@ -1190,6 +1198,9 @@ const uint32_t UBLOX_CFG_SFODO_SPEED_BAND = UBX_CFG_U2 | 0x3007000e;       // Sp
 const uint32_t UBLOX_CFG_SFODO_USE_WT_PIN = UBX_CFG_L | 0x1007000f;        // Wheel tick signal enabled
 const uint32_t UBLOX_CFG_SFODO_DIR_PINPOL = UBX_CFG_L | 0x10070010;        // Wheel tick direction pin polarity
 const uint32_t UBLOX_CFG_SFODO_DIS_AUTOSW = UBX_CFG_L | 0x10070011;        // Disable automatic use of wheel tick or speed data received over the software interface
+const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_X = UBX_CFG_I2 | 0x30070012;     // X coordinate of IMU-to-VRP lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Y = UBX_CFG_I2 | 0x30070013;     // Y coordinate of IMU-to-VRP lever-arm in the installation frame
+const uint32_t UBLOX_CFG_SFODO_IMU2VRP_LA_Z = UBX_CFG_I2 | 0x30070014;     // Z coordinate of IMU-to-VRP lever-arm in the installation frame
 const uint32_t UBLOX_CFG_SFODO_DIS_DIR_INFO = UBX_CFG_L | 0x1007001c;      // Do not use directional information
 
 // CFG-SIGNAL: Satellite systems (GNSS) signal configuration