.. _gnss_only_receiver_configuration: FAQ: How to Configure the Driver for a GNSS Only Receiver? ========================================================== By default novatel_oem7_driver is configured for a GNSS+INS (SPAN) receiver. If you are using a GNSS only receiver, the configuration files will need to be modified. In ``config/std_init_commands``, the following commands will need to be deleted or commented out: :: - "LOG INSCONFIGB ONCE" - "LOG INSCONFIGB ONTIME 300" - "LOG INSPVASB ONTIME 0.02" - "LOG INSPVAXB ONTIME 1" - "LOG CORRIMUSB ONTIME 0.01" - "LOG INSSTDEVB ONTIME 1" - "LOG RAWIMUSXB ONNEW" - "LOG INSUPDATESTATUSB ONNEW" .. Warning:: When using a GNSS only receiver not all ROS topics will be published, some of them may be missing information or publishing rates could be changed. Refer to :ref:`Topic_Mapping_and_Sourcing` to see what topics are published with non SPAN logs.