debug: 2                    # Range 0-4 (0 means no debug statements will print)

device: /dev/ttyS0
frame_id: gps
dynamic_model: automotive
fix_mode: auto              # Switches between 2D/3D automatically
#dr_limit: 0                 # Dead reckoning limit

rate: 10                    # Measurement rate in Hz
nav_rate: 1                 # in number of measurement cycles

uart1:
  baudrate: 115200          # baudrate is device specific, check the device manual
  in: 1                     # UBX
  out: 1                    # RTCM

# GNSS Config, verify which GNSS are supported by your device
gnss:
  gps: true                 # (not required since it defaults to true)
  glonass: false
  beidou: false
  qzss: false
  sbas: false

inf:
  all: true                   # Whether to display INF messages

# Message subscriptions
subscribe:
  all: true                 # Subscribe to all messages