# GPS Dead Reckoning ZED-F9R Initialization

**URL:** <https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458>\
**Category:** GPS/GNSS\
**Created:** [July 18, 2024, 4:17pm UTC](https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458 "2024-07-18T16:17:37Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![ggrinn1](https://avatars.discourse-cdn.com/v4/letter/g/3d9bf3/32.png) [@ggrinn1](https://community.sparkfun.com/u/ggrinn1)\
**Post date:** [July 18, 2024, 4:17pm UTC](https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458/1 "2024-07-18T16:17:37Z")

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Hello, I am just started to work with the gps dead reckoning device and I am receiving a weird output from the example source codes from the Qwiic\_Ublox\_Gps\_Py github ([GitHub - sparkfun/Qwiic\_Ublox\_Gps\_Py](https://github.com/sparkfun/Qwiic_Ublox_Gps_Py)). Specifically, when using the dead reckoning example dead\_reckoning\_ex3.py the roll, pitch, and yaw values are all 0.0. I do not have an antenna connected to the device just yet, but i figured since these values are coming from the imu, then I wouldn’t have any trouble getting some values for that data. However, I am not sure if this isn’t working because of the absence of an antenna or because i missed a step in the configuration and initializing process of the device? I downloaded the dependencies but I am not sure if there is a calibration process i need to go through? It is important to note that I am using the ZED-F9R-00B-00 model, which is not the latest firmware, so this might also be the cause of not getting any imu motion data described above.

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**Author:** ![TS-Russell](https://yyz1.discourse-cdn.com/sparkfun/user_avatar/community.sparkfun.com/ts-russell/32/6092_2.png) [@TS-Russell](https://community.sparkfun.com/u/TS-Russell)\
**Post date:** [July 19, 2024, 6:25pm UTC](https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458/2 "2024-07-19T18:25:07Z")

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Yes, there’s a calibration step needed (scroll up one paragraph from this link) [SparkFun GPS-RTK Dead Reckoning ZED-F9R Hookup Guide - SparkFun Learn](https://learn.sparkfun.com/tutorials/sparkfun-gps-rtk-dead-reckoning-zed-f9r-hookup-guide/all#hardware-overview-breakout) - you’ll need to mount an antenna and go at least 30km/h to perform such

And here are the F9R-specific examples (which has the calibration example too) [SparkFun\_u-blox\_GNSS\_v3/examples/Dead\_Reckoning at main · sparkfun/SparkFun\_u-blox\_GNSS\_v3 · GitHub](https://github.com/sparkfun/SparkFun_u-blox_GNSS_v3/tree/main/examples/Dead_Reckoning)

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<div class="post-metadata">

**Author:** ![ggrinn1](https://avatars.discourse-cdn.com/v4/letter/g/3d9bf3/32.png) [@ggrinn1](https://community.sparkfun.com/u/ggrinn1)\
**Post date:** [July 24, 2024, 4:36pm UTC](https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458/3 "2024-07-24T16:36:19Z")

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Does this calibration step also apply to the pHAT version? I am not sure how that would work.

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**Author:** ![TS-Russell](https://yyz1.discourse-cdn.com/sparkfun/user_avatar/community.sparkfun.com/ts-russell/32/6092_2.png) [@TS-Russell](https://community.sparkfun.com/u/TS-Russell)\
**Post date:** [July 24, 2024, 5:41pm UTC](https://community.sparkfun.com/t/gps-dead-reckoning-zed-f9r-initialization/59458/4 "2024-07-24T17:41:32Z")

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Yep (if you scroll to the very top the guide shows which products it covers, including the pHat)