LG69T AP DR/RTK Mode Config

IoT Modules GNSS Module
1

Hi Teams,
I’m using LG69T AP modules now, after reading the document, I have the following questions:
FW version :
$PQTMVER,1,MODULE,LG69TAPNR01A01S_CQN4,2023/06/01,11:09:222B
$PQTMVER,10,RTK,V1.1.1_230516_QNE_GNSS_1HZ_B_RELEASE26
$PQTMVER,11,DR,V3.0.1_230516_QNE_NAV_A_RELEASE*50

1.How can I setting the DR/RTK mode switch?
In Quectel_LG69TAMAP_GNSS_Protocol_Specification_V1.0.pdf 2020/06/15
version1.0 have command as below,
$PQTMCFGDRMODE (for setting speed mode)
$PQTMCFGWHEELTICK (for reading wheel ticks)
version1.2 2024/04/29 remove these commands.

2.When use DR mode, how to select vehicle speed input?
$PQTMCFGVEHDBC (setting type of speed)
$PQTMCFGCAN(setting CAN ID for input)
then send message via CAN bus?
The wheel-tick pulse is injected through the module pins,
DR mode requires one or both of the above?
When pin RTK_IND is high level, GNSS is in RTK fixed mode?

thanks.

2

Hi

  1. The current LG69T AP does not have the DR/RTK switch. DR is enabled by default. RTK mode. After the data is injected, the module automatically enters RTK mode.
  2. Module version is LG69TAPNR01A01S_CQN4, which supports speed injection. For CAN communication, the following instructions need to be used:
    $PQTMCFGDRMODE(Select Velocity injection mode)
    $PQTMCFGCAN(Configuring the CAN interface)
    $PQTMCFGCANFILTER(CAN Filter)
    $PQTMCFGVEHDBC(CAN Database)
    $PQTMCFGVEHRVAL(Vehicle reverse gear value)
    After configuration, the CAN bus can be connected to the related pins of the module.
  3. When the vehicle speed is injected, the module is in ADR mode. When the vehicle speed is not injected, the module is in UDR mode.
  4. When the RTK_IND pin is high voltage, GNSS is in RTK fixed mode.
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