Teseo-LIV4F Vertical Velocity Output Available

jwe1 · ‎2026-02-23

Hello,

I see that the LIV3FL can enable the PSTMPV message, which includes 3D velocity data. The equivalent setting does not seem to be available for the LIV4F. Is this correct? Is the LIV4F unable to provide 3D velocity data?

GalaxyQuest · ‎2026-02-24

Hi,

In LIV4F we output PSTMPVRAW data that contains velocity data fields. You can enable this setting by the following commands.

$PSTMSETPAR,1228,0x4000,1
$PSTMSAVEPAR
$PSTMSRR

Please refer to LIV3FL SW Manual to refer to PSTPVRAW data fields.

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jwe1 · ‎2026-02-25

OK thank you, I will try that. Is the PSTMPV (non-RAW) message also available for the LIV4FL, in the same bit setting as the LIV3FL?

GalaxyQuest · ‎2026-02-25

In LIV4F only PSTMPVRAW is available.

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bgrocholsky · ‎2026-03-22

@GalaxyQuest It looks like PSTMPVRAW and PSTMKFCOV are only available on the PVT version of the LIV4 firmware. I don't think it is currently possible to get vertical velocity from the ME version of the firmware.

It would be great to be able to get raw nav/observable data via RTCM and live PVT with vertical velocity at the same time. And any possible signal quality information.

Is it possible to add PSTMPVRAW and PSTMKFCOV to the ME firmware?
or,
Is it possible to add PVT to the LIV4 ME RTCM stream e.g. 4050.21 EPVT ST msg? 4050.26 for signal quality?