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Update docs
Update releases Link GNSS Flex breakout into system overview Replace <center> and <sup> tags Fix links Add instructional video Update antenna and software instructions
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‎README.md‎

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---------------
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- [r2025-08](https://github.com/sparkfun/SparkFun_GNSS_Flex_System/releases/tag/r2025-08) - Initial Release
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- [r2025-08a](https://github.com/sparkfun/SparkFun_GNSS_Flex_System/releases/tag/r2025-08a) - Docs Update
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- [r2025-08b](https://github.com/sparkfun/SparkFun_GNSS_Flex_System/releases/tag/r2025-08b) - Adds DAN-F10N GNSS Flex module
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- [r2025-09](https://github.com/sparkfun/SparkFun_GNSS_Flex_System/releases/tag/r2025-09) - Adds DAN-F10N, ZED-X20P, and LG290P (w/ IMU) GNSS Flex modules
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- [r2025-09a](https://github.com/sparkfun/SparkFun_GNSS_Flex_System/releases/tag/r2025-09a) - Adds GNSS Flex Breakout board and Docs Updates
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> [!NOTE]
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>

‎docs/hardware_assembly.md‎

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</div>
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</div>
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!!! tip
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For the best performance, we recommend users choose a compatible L1/L2/L5/L6 GNSS antenna and utilize a low-loss cable. Also, don't forget that GNSS signals are fairly weak and can't penetrate buildings or dense vegetation. The GNSS antenna should have an unobstructed view of the sky.
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!!! note
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Please keep in mind that these are general suggestions for our GNSS Flex modules. Some of these boards may have multiple GNSS antenna connections, an integrated antenna, support specific frequency bands, etc. For more details on a specific GNSS Flex module, please refer to their [hookup guide](modules.md).

‎docs/im19.md‎

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# IM19 Attitude Module
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For certain GNSS Flex modules, users have the option to purchase a [variant with IM19 attitude module](modules.md#gnss-module-w-optional-imu). The optional, [IM19 attitude module](../assets/component_documentation/IM19EI_v1.4.1.pdf) from [Feyman Inc. (FMI)](http://feymani.com/en/) fuses MEMS IMU sensor data and GNSS RTK positioning to deliver high-precision attitude compensated measurements, with roll and pitch accurate to within 0.05 degrees. This kind of superb accuracy has widespread uses in industrial applications such as tilt RTK surveys (where RTK poles need not be held straight vertical as the IM19 can calculate a virtual digital level at any tilt angle), agriculture machine automation, and dead reckoning.
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For certain GNSS Flex modules, users have the option to purchase a [variant with IM19 attitude module](modules.md#gnss-modules-w-optional-imu). The optional, [IM19 attitude module](./assets/component_documentation/IM19EI_v1.4.1.pdf) from [Feyman Inc. (FMI)](http://feymani.com/en/) fuses MEMS IMU sensor data and GNSS RTK positioning to deliver high-precision attitude compensated measurements, with roll and pitch accurate to within 0.05 degrees. This kind of superb accuracy has widespread uses in industrial applications such as tilt RTK surveys (where RTK poles need not be held straight vertical as the IM19 can calculate a virtual digital level at any tilt angle), agriculture machine automation, and dead reckoning.
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<div class="grid" markdown>
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<div markdown>
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<figure markdown>
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[![Library listed in the library manager of the Arduino IDE](../assets/img/hookup_guide/arduino_library-im19.png "Click to enlarge"){ width="400" }](../assets/img/hookup_guide/arduino_library-im19.png)
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[![Library listed in the library manager of the Arduino IDE](./assets/img/hookup_guide/arduino_library-im19.png "Click to enlarge"){ width="400" }](./assets/img/hookup_guide/arduino_library-im19.png)
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<figcaption markdown>SparkFun IM19 IMU Arduino Library in the library manager of the Arduino IDE.</figcaption>
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</figure>
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‎docs/software_overview.md‎

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!!! warning
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Keep in mind that some of the software features may be limited by the capabilities of the GNSS module or the software application.
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Please refer to the datasheet, user manual, and/or application notes of your GNSS receiver for the specific capabilities of the GNSS receiver and the manufacturer's software. Additionally, please refer to the user and/or API manuals for any third-party software or Arduino libraries for their specific capabilities.
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## Manufacturer Software
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The software requirements of the GNSS Flex modules are usually specific to the GNSS receiver on the board. Below are general software resources that might be useful; however, users should refer to the **GNSS Flex Modules** section for details on their specific board.
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Most of the manufacturers will provide software that is designed to specifically operate and configure their GNSS receivers. Often, this is the simplest way to get started with any development. The software usually provides a graphical interface for evaluating the GNSS receiver's performance, configuring any settings, and upgrading the firmware. Below are general software resources that might be useful; however, users should refer to the [hookup guide of their GNSS Flex module](modules.md) for more details on a specific board.
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<div class="grid cards" markdown>

‎docs/system_overview.md‎

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--8<-- "./modules.md:64:111"
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--8<-- "./carriers.md:9:36"
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</div>
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‎flex_boards/SparkPNT_GNSS_Flex_Module_ZED-X20P-Tilt/docs/assets/img/qr_code/video-evk_getting_started.png‎

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‎flex_boards/SparkPNT_GNSS_Flex_Module_ZED-X20P-Tilt/docs/hardware_overview.md‎

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## ZED-X20P GNSS Receiver
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The centerpiece of this GNSS breakout board is the [ZED-X20P module](./assets/component_documentation/ZED-X20P_DataSheet_UBXDOC-963802114-13074.pdf) from [u-blox](https://www.u-blox.com/en); it features their latest X20 GNSS engine, a successor to their popular F9 engine. The ZED-X20P module is an all-band, high precision GNSS receiver that concurrently processes signals from the GPS, Galileo, BeiDou, QZSS, and NavIC constellations across all GNSS frequency bands, including L-band. With positioning algorithms for Real-time Kinematics (RTK), PPP-RTK, and Precise Point Positioning* (PPP) technologies, the module supports standard RTCM corrections for Virtual Reference Stations (VRS) in a Network RTK setup or a local base station setup. Additionally, L-band correction services are natively supported without the need to integrate an external receiver, such as the NEO-D9S.
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The centerpiece of this GNSS breakout board is the [ZED-X20P module](./assets/component_documentation/ZED-X20P-00B_DataSheet_UBXDOC-963802114-12690.pdf) from [u-blox](https://www.u-blox.com/en); it features their latest X20 GNSS engine, a successor to their popular F9 engine. The ZED-X20P module is an all-band, high precision GNSS receiver that concurrently processes signals from the GPS, Galileo, BeiDou, QZSS, and NavIC constellations across all GNSS frequency bands, including L-band. With positioning algorithms for Real-time Kinematics (RTK), PPP-RTK, and Precise Point Positioning* (PPP) technologies, the module supports standard RTCM corrections for Virtual Reference Stations (VRS) in a Network RTK setup or a local base station setup. Additionally, L-band correction services are natively supported without the need to integrate an external receiver, such as the NEO-D9S.
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With its very high update rate, the ZED-X20P module is ideal for control applications, ensuring smooth and reliable operation. The module also protects system integrity with multi-layered defenses, including a Root of Trust, jamming and spoofing detection, cryptographic authentication of navigation messages through Galileo OSNMA, and more. The module also accommodates users with a diverse choice of interfaces including USB, UART, SPI, and I^2^C.
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<article class="video-500px" style="margin: auto;" markdown>
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<iframe src="https://www.youtube.com/embed/dRFR38xS2b4" title="u-blox launches the ZED-X20P. Our first all-band, global GNSS module." frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
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![QR code to play video](./assets/img/qr_code/video-ublox_x20p.png){ .qr }
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![QR code to play video](./assets/img/qr_code/video-ublox_x20.png){ .qr }
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!!! info
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For more information, please refer to the [ZED-X20P Datasheet](./assets/component_documentation/ZED-X20P_DataSheet_UBXDOC-963802114-13074.pdf).
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For more information, please refer to the [ZED-X20P Datasheet](./assets/component_documentation/ZED-X20P-00B_DataSheet_UBXDOC-963802114-12690.pdf).
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- Address: **`0x42` (Default)** *(7-bit)*
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- 1x External interrupt
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- 1x RTK Stat pin
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=== "I^2^C"
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The ZED-X20P supports a single I^2^C interface. If available, this interface can be accessed through Qwiic connectors on a [GNSS Flex "carrier" board](../carriers.md).
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<figure markdown>
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[![I2C interface](./assets/img/hookup_guide/headers-i2c.png){ width="400" }](./assets/img/hookup_guide/headers-i2c.png "Click to enlarge")
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<figcaption markdown>The I^2^C interface on the ZED-X20P GNSS Flex module.</figcaption>
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!!! tip "I2C Address"
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The default I^2^C address for the ZED-X20P GNSS receiver is `0x42` *(7-bit)*. However, this can be altered with the `CFG-I2C-ADDRESS` message.
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- **`0x42` (Default)** *(7-bit: `1000010`)*
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- `0x84` (write)/`0x85` (read)
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!!! info
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For users interested in the specific details about the read and write access for th I^2^C bus, please refer to the [ZED-X20P integration manual](https://www.u-blox.com/sites/default/files/documents/ZED-X20P_IntegrationManual_UBXDOC-963802114-12901.pdf)
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<div class="grid" markdown>
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<div markdown>
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<!-- Qwiic Banner -->
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<article style="text-align: center;" markdown>
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[![Qwiic Logo - light theme](../assets/img/qwiic/qwiic_logo-light.png#only-light){ width=400 }](https://www.sparkfun.com/qwiic)
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[![Qwiic Logo - dark theme](../assets/img/qwiic/qwiic_logo-dark.png#only-dark){ width=400 }](https://www.sparkfun.com/qwiic)
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</article>
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The [Qwiic connect system](https://www.sparkfun.com/qwiic) is a solderless, polarized connection system that allows users to seamlessly daisy chain I<sup>2</sup>C boards together. Play the video below to learn more about the Qwiic connect system or click on the banner above to learn more about [Qwiic products](https://www.sparkfun.com/qwiic).
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The [Qwiic connect system](https://www.sparkfun.com/qwiic) is a solderless, polarized connection system that allows users to seamlessly daisy chain I^2^C boards together. Play the video, to learn more about the Qwiic connect system or click on the banner above to learn more about [Qwiic products](https://www.sparkfun.com/qwiic).
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<iframe src="https://www.youtube.com/embed/x0RDEHqFIF8" title="SparkFun's Qwiic Connect System" frameborder="0" allow="accelerometer; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
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![QR code to instructional video](../assets/img/qr_code/video-qwiic.png){ .qr width="85px" }
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![daisy chainable - light theme](../assets/img/qwiic/daisy_chainable-light.png#only-light){ align="left" width="90" }
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![daisy chainable - dark theme](../assets/img/qwiic/daisy_chainable-dark.png#only-dark){ align="left" width="90" }
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It’s time to leverage the power of the I<sup>2</sup>C bus! Most Qwiic boards will have two or more connectors on them, allowing multiple devices to be connected.
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It’s time to leverage the power of the I^2^C bus! Most Qwiic boards will have two or more connectors on them, allowing multiple devices to be connected.
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[![Reset I/O pin](./assets/img/hookup_guide/headers-reset.png){ width="250" }](./assets/img/hookup_guide/headers-vreset.png "Click to enlarge")
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[![Reset I/O pin](./assets/img/hookup_guide/headers-reset.png){ width="250" }](./assets/img/hookup_guide/headers-reset.png "Click to enlarge")
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‎flex_boards/SparkPNT_GNSS_Flex_Module_ZED-X20P-Tilt/docs/software_overview.md‎

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!!! warning "Firmware Update"
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Firmware updates can only be performed with the `UART1` interface of the ZED-X20P. Additionally, when in the safe boot, the ZED-X20P requires an the training sequence to be enabled during the firmware update process.
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![QR code](./assets/img/qr_code/video-firmware_update.png){ .qr width="85px" }
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<article class="video-container" style="text-align: center;" markdown>
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<iframe src="https://www.youtube.com/embed/OzMneApMMbs" title="How to get started with the u-blox EVK-X20P evaluation kit with u-center 2" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
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![QR code](./assets/img/qr_code/video-evk_getting_started.png){ .qr width="85" }
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‎flex_boards/SparkPNT_GNSS_Flex_Module_mosaic-X5/docs/gnss_signals.md‎

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The mosaic-X5 module is capable of receiving most of the GNSS signals from the various frequency bands of each constellation. By default, the module is only configured to utilize signals (<span style="background-color:green;color:white;">marked in green</span>, in the table below) from specific satellites and frequency bands. Whereas, the <span style="background-color:var(--md-default-fg-color--lighter);">signals marked in grey</span> are also supported by the module, but each signal needs to be enabled before they can be integrated into the computed Position-Velocity-Time (PVT) solution. Meanwhile, any <span style="color:red;">~~signals colored in red and struck out~~</span> are not supported by the mosaic-X5 module; likely due to their proprietary nature, existence outside the module's frequency range, or are experimental/recently implemented.
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!!! info "Legend for GNSS Signals"
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- Supported; <span style="background-color:green;color:white;">Enabled by default</span>

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