PaulZC
February 10, 2026, 5:30pm
2
Hi @Kusagra_Kumar ,
Please check that you have set the LEVER_ARM2 and CLUB_VECTOR correctly. The post linked below contains a LOT of useful information. It is a long post, but it is worth reading the whole thing…
I hope this helps,
To configure the IM19, it is easiest to open a second instance of PyGPSClient and connect to Pi UART2 (usually /dev/ttyAMA2) at 115200 baud.
We need to configure the IM19 using “AT” commands. PyGPSClient calls these “TTY” commands:
AT+LOAD_DEFAULT
AT+GNSS_PORT=PHYSICAL_UART2
AT+NASC_OUTPUT=UART1,ON
AT+LEVER_ARM2=0.0057,-0.0732,-0.0645
AT+CLUB_VECTOR=0,0,1.865
AT+INSTALL_ANGLE=0,180,0
AT+GNSS_CARD=OEM
AT+WORK_MODE=408
AT+CORRECT_HOLDER=ENABLE
AT+SET_PPS_EDGE=RISING
AT+AHRS=ENABLE
AT+MAG_AUTO_SAVE=ENABLE
AT+SAVE_ALL
In PyGPSClient Preset JSON format, this is:
"ttypresets_l": [
"INIT_PRESETS",
"IM19 Tilt Survey Setup; AT+LOAD_DEFAULT; AT+GNSS_PORT=PHYSICAL_UART2; AT+NASC_OUTPUT=UART1,ON; AT+LEVER_ARM2=0.0057,-0.0732,-0.0645; AT+CLUB_VECTOR=0,0,1.865; AT+INSTALL_ANGLE=0,180,0; AT+GNSS_CARD=OEM; AT+WORK_MODE=408; AT+CORRECT_HOLDER=ENABLE; AT+SET_PPS_EDGE=RISING; AT+AHRS=ENABLE; AT+MAG_AUTO_SAVE=ENABLE; AT+SAVE_ALL",
"IM19 System reset CONFIRM; AT+SYSTEM_RESET…
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