edition of 09/29/21

FORA Navigation RTK Receivers

description work with settings (firmware version from 1.2.30.0)

FORA navigation RTK receivers are used to solve a wide range of tasks.
For various conditions and methods of application, the user has access to the software configuration of
the device in one of the following ways:

- Option 1 (main) - text file of settings config.ini

File settings- config.ini is located on the memory card (microSD) installed in the device. Each time it
is turned on (powered up), the device reads this file andapplies the appropriate settings.
To change the device settings, connect the memory card to the PC, open the config.ini file and use a
text editor to edit the required fields.
Note:If on the config.ini file is missing from the memory card, then when power is applied, the device
writes the configuration file with the factory settings to the card and operates in this mode until the
user makes any changes.

- Option 2 (optional) - WEB interface

If the delivery set of the device includes a built-in Bluetooth \ Wi-Fi module, then the user becomes
able to configure via the web interface using an external device (smartphone, laptop ...).
Note:Before the first start-up or when installing an empty memory card, you will need to enable
access to the web interface and select its mode of operation by editing the config.ini file (see Option 1
above).
[General] section
basic settings

Use GPS = 1
Use Galileo = 0
Use Beidou = 0
Use QZSS = 0
Use SBAS = 0
Use GLONASS = 1
Installation of the used satellite constellations (GPS, Galileo, Beidou, QZSS, SBAS, GLONASS) to find a
navigation solution
Allowed values are {0 - disabled; 1 - enabled}
For the territory of Russia, it is optimal to use GPS + GLONASS

; Minimum angle of elevation of used satellites in degree

Minimum elevation = 5
Setting the minimum elevation angle of the satellites used in degrees
Valid values are in the range {0 - 90}.
Recommended value: 10 (5 is acceptable in open areas).

; Minimum satellite signal level for navigation, dBHz

Minimum signal = 6
Setting the minimum signal strength of the satellites used

; "Device type" have available values: "Rover", "Base"

Device type = Rover
Setting the operating mode devices (rover, base)
Possible Values {Rover - rover; Base - base}

Use Bluetooth_Wi-Fi module = 0

Enabling Bluetooth + Wi-Fi functions (including access to the web interface)
Valid values {0 - disabled; 1 - included}
The function can be enabled if the device comes with a built-inth module Bluetooth + Wi-Fi extensions.
If no expansion board is present, it should be set to - 0...
If the functionality of the connection via Bluetooth or Wi-Fi is not used, then to reduce power consumption and
improve noise immunity recommended set value - 0
Note: Wi-Fi connection only works in the 2.4GHz band

; "Measurement rate" have available values: "1Hz", "2Hz", "4Hz", "5Hz", "10Hz"
Measurement rate = 10Hz
Valid values {1Hz; 2Hz; 4Hz; 5Hz; 10Hz}
Setting the interval for issuing raw navigation measurements (in Hz)
[Rover] section
Receiver Settings When Using Rover Mode

; "NMEA out" have available values: "Disabled", "ALT_UART3_XS7", "UART3_XS3"

NMEA out = ALT_UART3_XS7
Setting the NMEA data output port
Allowed values {Disabled - not displayed; ALT_UART3_XS7 - output to the external XS7 connector,
UART3_XS3 - output to the internal XS3 pin connector}

; "NMEA baudrate" have available values: "9600", "19200", "38400", "57600", "115200", "230400", "460800",
"921600"
NMEA baudrate = 115200
Setting the NMEA Baud Rate
Valid values are {9600, 19200, 38400, 57600, 115200, 230400, 460800, 921600}
The choice depends on the operating speed of the port, the connected equipment

Write NMEA to file = 0

Installation hrecordings messages NMEA to file to memory card
Allowed values are {0 - do not write; 1 - write}
An NMEA folder will be created on the memory card.

; "NMEA message rate" have available values: "Off", "0.1Hz", "0.2Hz", "0.5Hz", "1Hz", "2Hz", "4Hz", "5Hz",
"10Hz"
DTM message rate = Off
GBS message rate = Off
GGA message rate = 10Hz
GLL message rate = 10Hz
GNS message rate = Off
GRS message rate = Off
GSA message rate = 10Hz
GST message rate = Off
GSV message rate = 10Hz
RMC message rate = 1Hz
VLW message rate = Off
VTG message rate = 10Hz
ZDA message rate = Off
Setting the interval withdrawal for various types of NMEA messages (DTM, GBS, GGA ...).
Allowed values {Off - not displayed; 0.1Hz; 0.2Hz; 0.5Hz; 1Hz; 2Hz; 4Hz; 5Hz; 10Hz}
Notes:
- for RMC messages - 1Hz is the lowest possible value.
- When enabling a large number of message types with a high frequency of issuance, it is necessary to take into
account the possibility of the throughput of the transmission / reception channel (NMEA baudrate = ...)

"Timemark source" have available values: "XS5_TimeMark", "M1_M2_Optocoupler", "Mavic2", "Phantom3",

"Phantom4", "Mini2", "Autel_EVO"
Timemark source = XS5_TimeMark
Setting temp signal source (for still images)
Valid values are {XS5_TimeMark; M1_M2_Optocoupler; Mavic2; Phantom3; Phantom4; Mini2;Autel_EVO}
[Base] section
Receiver settings when using base mode

; "Base time mode" have available values: "Survey-in", "Fixed"

Base time mode = Fixed
Setting the operating mode of the base
Allowed values: {Survey-in - observation, coordinates are determined by the average value; Fixed - fixed,
known coordinates are entered}

; "Base position type" have available values: "ECEF", "LatLonHeight"

Base position type = LatLonHeight
Setting the type of representation of the coordinates of the base
Allowed values: {ECEF - in meters (XYZ); LatLonHeight - in degrees}.
LatLonHeight mode recommended

; Latitude in degree eg 59.939095

Base position latitude = 0.0000000000
; Longitude in degree eg 30.315868
Base position longitude = 0.0000000000
; Height in meters eg 5.0
Base position height = 0.0000000000
Installation tocoordinates in degrees and heights in meters (in LatLonHeight format)

; ECEC X coordinate in meters

Base position ECEF x = 0.0000000000
; ECEC Y coordinate in meters
Base position ECEF y = 0.0000000000
; ECEC Z coordinate in meters
Base position ECEF z = 0.0000000000
Installation tocoordinates and heights in meters (in ECEF format)

; Fixed position accuracy in meters

Base fixed position 3D accuracy = 1.0000000000
Installation tthe accuracy of a known fixed position that the user enters in meters

; Survey-in mode min duraion in seconds eg 60

Base survey-in min duration = 60
Installation mminimum duration of base observation in seconds (with automatic observation of coordinates by
the receiver)

; Survey-in mode position accuracy in meters

Base survey-in Position Accuracy Limit = 1.0000000000
Installation tposition accuracy in Survey-in mode in meters (with automatic observation of coordinates by the
receiver)
Chapter [Rtcm]
RTCM amendments
channel reception for rover mode or transmission channel for base mode

; "RTCM channel" have available values: "Disabled", "Bluetooth", "LoRa", "NTRIP", "UART2_XS6",
"NMEA_UART3"
RTCM channel = Disabled
Setting the channel for receiving or transmitting corrections
Valid values:
Disabled - disabled;
Bluetooth - across bluetooth connection (plug-in expansion module Wi-Fi + BT must be connected and
activated in the "General" section);
NTRIP - across Wi-Fi connection (built-in expansion module Wi-Fi + BT must be connected and activated in
the "General" section);
LoRa - via the LoRa radio modem (external LoRa modem must be connected to XS6 connector, list of supported
devices is available upon request);
UART2_XS6 - input Output to UART2, connector XS6
NMEA_UART3 - input Output to UART3 - XS7 connector (if you need to receive RTCM and output NMEA on
one port, UART3 - XS7 connector, the port speed is determined in the Rover \ NMEA baudrate section)

UART2 baudrate = 115200

Setting the speed of receiving / transmitting corrections on the UART2 port, XS6 connector (configurable if you
select: RTCM channel = UART2_XS6)
The value must match working speed port of the connected equipment

Write RTCM to file = 0

Installation hWriting RTCM data to a file on a memory card
Allowed values are {0 - do not write; 1 - write}
An RTCM folder will be created on the memory card. Base mode records generated RTCMs, rover mode
records received RTCMs.

; NTRIP server settings for Wi-Fi client connection

To receive corrections from the NTRIP server via connection to an external access point of the Wi-Fi network
(configurable if you select: RTCM channel = NTRIP)
NTRIP Caster IP address =
Correction server address on the Internet (usually an IP address)
NTRIP Caster port =
Correction server port on the Internet (value from 1 to 65535)
NTRIP Caster mount point =
Mountpoint name for the revision server
NTRIP Caster login =
Login to connect to the amendment server
NTRIP Caster password =
Password to connect to the amendment server
Note:
- To receive corrections in the "Wi-Fi" section (see below) one of the "Access_Point_then_Client" or "Client"
modes must be selected. Both the password (Wi-Fi client password) and the name of the access point network
(Wi-Fi client SSID) to which the receiver will connect are set.
- When using a set of FORA devices as a base and a rover, the transmission of corrections can be organized
directly, without using an external NTRIP server. The description of the corresponding configuration - "FORA
TCP connection guide" - see below.
Chapter[Bluetooth]
Bluetooth parameters

Bluetooth name = ForaOne800A

Setting the name of the device (you can assign any), broadcast on the air for easier identification when
connecting with an external device via Bluetooth.
If the device is connected to a Wi-Fi access point, then the air name will additionally contain added IP
address by which you can enter the web-interface of the module
(for example: ForaOne800A 192.168.1.20)

; "Bluetooth protocol" have available values: "None", "ForaXX"

Bluetooth protocol = None
Selecting a Bluetooth Profile for Operationwith SurPad app
Valid values: {None; ForaXX}

; "Bluetooth Power" have available values: "-12dBm", "-9dBm", "-6dBm", "-3dBm", "0dBm", "3dBm", "6dBm"
Bluetooth Power = 0dBm
Setting the power level of the transmitter of the Bluetooth module
Allowed values: {-12dBm; -9dBm; -6dBm; -3dBm; 0dBm; 3dBm; 6dBm}
Note: Increasing the transmitter power level Bluetooth module allows to increase the range of communication
via Bluetooth connection, but the interference immunity of the navigation receiver may deteriorate, which will
affect the quality and speed of the solution to the navigation problem.
Chapter [Wi-Fi]

; "Wi-Fi mode" have available values: "Access_Point_then_Client", "Access_Point_then_Disable",

"Access_Point", "Client", "Disabled"
Wi-Fi mode = Access_Point_then_Disable
Installation operating mode of the W-Fi module
Valid values:
Disabled -Wi-Fi connection is not used. The web interface is not available.
Client - device maybeconnect to an external access point of a Wi-Fi network (for example, to a smartphone that
shares a Wi-Fi connection). Moreover, web interface is available only through devices connected to the same
network.
Access_Point - device acts as an access point. The web interface is always available.
Access_Point_then_Client - after turning on the power, the device works as an access point, then after a
specified time interval it switches to the client mode (setting the time interval is available to the user, see
below). It is recommended to use it if the device is supposed to work in client mode most of the time, but you
need to maintain quick access to the settings through the web interface.
Access_Point_then_Disable - after turning on the power, the device works as an access point, then after a
specified time interval the Wi-Fi connection is disconnected (setting the time interval is available to the user,
see below). It is recommended to use it if the device does not require a Wi-Fi connection for operation, but
you need to maintain quick access to the settings via the web interface. The advantage of this mode is the
lowest power consumption, which makes it possible to increase the operating time of the device from an
autonomous power source.

Wi-Fi client SSID =

The network name of the access point to which the device connects as a client (for modes:
Client,Access_Point_then_Client)
Wi-Fi client password =
Password network of the access point to which the device connects as a client (for modes: Client,
Access_Point_then_Client)

Wi-Fi access point SSID = ForaOne00068012

Setting the network name for modes (Access_Point, Access_Point_then_Client, Access_Point_then_Disable)
Wi-Fi access point password = geoboxgnss
Setting network password for modes (Access_Point, Access_Point_then_Client, Access_Point_then_Disable)

; The time after startup until the Wi-Fi access point is turned off in minutes
Wi-Fi access point timeout (min.) = 2
Setting the time interval to be able to access the settings through the web interface after power-on in the
following modes: Access_Point_then_Client, Access_Point_then_Disable.

; Warning! IP address value can't be set with this parameter (read only)
IP address =
When setting Client or Access_Point_then_Client,after the device successfully connects to an external Wi-Fi
network, the IP address assigned by the router appears in this field. The value is not intended for user editing
(read-only).
Also, this IP address will be displayed in the broadcast name of the Bluetooth module:
Bluetooth name = ForaOne800A_IP_address.
This IP address can be used to log into web interface forconstruction,connectedto the same Wi-Fi network. The
value may change depending on the connection to the connection (depends on the settings of the external
network router).

In access point modes (Access_Point, Access_Point_then_Client) a web interface is also available.

Login IP address is static: 192.168.2.1

Section [LoRa]
LoRa radio modem
Configurable if RTCM channel = LoRa

; "Lora module" have available values: "None", "Globalsat", "Ebyte"

Lora module = None
LoRa type installation (depends on the delivery set).
Note: If the LoRa modem is not included in the package, then before connecting third-party equipment, you
need to check the list of supported devices.

; LoRa module frequency in Hz eg 864000000

LoRa frequency = 864000000
Setting the working radio frequency of the LoRa modem in Hz.

; Set to 1 only to transfer the settings to the Globalsat LoRa module (restart required)
LoRa update settings = 0
The function can be used if Lora module = Globalsat
Use if necessary to apply new settings for LoRa modem Globalsat
0 - do not set new settings,
1 - change settings.
Change the settings if necessary requiredset new parameter values for the corresponding fields (see below
LoRa Globalsat…). Set this parameter to "1", then turn on the device, waitnot less 30 seconds of operation,
then restart the device (the parameter value will change to "0" automatically upon completion setup
procedures).
; LoRa Globalsat RF power in dBm (from 6 to 20 with step 2)
LoRa Globalsat RF power = 20
Setting the transmitter power *.
; LoRa Globalsat Group Id (from 0 to 255; 0 - grouping is disabled)
LoRa Globalsat group id = 0
Setting the device identifier in a group of devices working over the LoRa radio channel.
; "LoRa Globalsat radio baudrate" have available values: "0.81K", "1.46K", "2.6K", "4.56K", "9.11K",
"18.23K"
LoRa Globalsat radio baudrate = 9.11K
Setting the transmission speed over the radio channel.

The 3 parameters below are configurable if Lora module =Ebyte...

Unlike Lora module = Globalsat, device reboot is not required to apply settings, configuration occurs every time
power is started.
; "LoRa Ebyte radio baudrate" have available values: "0.3K", "1.2K", "2.4K", "4.8K", "9.6K", "19.2K"
LoRa Ebyte radio baudrate = 9.6K
Setting the transmission speed over the radio channel.
; "LoRa Ebyte RF power" have available values: "30dBm", "27dBm", "24dBm", "21dBm"
LoRa Ebyte RF power = 21dBm
Setting the transmitter power *.
; LoRa Ebyte address (from 0 to 65535 (0xFFFF); the address 65535 means broadcast)
LoRa Ebyte address = 65535
Setting the device identifier in a group of devices working over the LoRa radio channel.

* Note: Increasing the transmitter power level LoRa modem allows to increase the communication range
between devices, but at the same time power consumption increases, which reduces the operating time of the
device from an autonomous power source. Also, the noise immunity of the navigation receiver may deteriorate,
which will affect the quality and speed of the solution to the navigation problem.
Section [ZED-F9P special settings]
Special settings for Ublox_ZED-F9P modules (not used for ZED-F9R module)

; "Ublox dynamic model" have available values: "Portable", "Stationary", "Pedestrian", "Automotive", "Sea",
"Airborne_1g", "Airborne_2g", "Airborne_4g", "Wrist-worn_watch"
Ublox dynamic model = Portable
Set the intended type of device (dynamic behavior model) on which the navigation module is located (by default,
"Portable").

Ublox NMEA high precision = 0

Setting the enhanced precision mode when outputting NMEA messages
Valid values {0 - disabled; 1 - included}

[Default config] section

; "Default config action" have available values: "Do_Nothing", "Update", "Reset"

Default config action = Do_Nothing
Creation of default user settings.
Each time the power is turned on, the device reads the config.ini file and applies the appropriate settings. If
there is no config.ini file on the memory card (for example, an empty memory card is inserted or a read failure
has occurred), then when power is applied, the device writes a new config.ini file with factory settings
(factory_default_config) to the card.
The user can set his own settings (user_default_config), which will be written to the config.ini file and applied if
there is no config.ini file on the memory card.
To write custom settings (user_default_config)it is necessary to configure the config.ini file and change the
value of the line: - "Default config action = Update".
After turning on the device, the settings profile user_default_config will be saved, and the line will be
overwritten to "Default config action = Do_Nothing".
For return to factory settings (factory_default_config) is necessarydelete custom settings from the internal
memory of the device (user_default_config). Shouldchange the value of the line: - "Default config action =
Reset". After turning on the device, the settings profileuser_default_config will be removed and the line will be
overwritten to "Default config action = Do_Nothing".

Note: If the config.ini file on the SD card is different from the user saved file when the unit is powered up.
(user_default_config), then the device works with the settings according to the file on the SD card.