Python CLI

The lc29h CLI replaces the Windows-only QGNSS tool with a native Linux solution for all LC29H variants. Built on Click, it provides full module control over serial UART or USB.

Installation

uv (recommended)

uv tool install lc29h

pipx

pipx install lc29h

From source

git clone https://git.supported.systems/warehack.ing/lc29h
cd lc29h
uv sync
uv run lc29h --help

Global Options

Every command accepts these options before the subcommand name:

Option	Environment Variable	Default	Description
--port PATH	LC29H_PORT	/dev/ttyS0	Serial port path
--baud RATE	LC29H_BAUD	115200	Serial baud rate
--json		off	Output as JSON where supported
--version			Print version and exit

Environment variables are checked when the flag is not provided, so you can set them once in your shell profile or .env file instead of passing --port on every invocation:

export LC29H_PORT=/dev/ttyAMA0
export LC29H_BAUD=115200

# Now just:
lc29h info
lc29h monitor

Commands

info

Query the PAIR021 (chip version) and PQTMVERNO (firmware version) registers. Displays model identification, firmware version, build date, chip model, and chip firmware.

lc29h info

Example output:

Model:    LC29HDAANR11A01S
Firmware: LC29HDANR11A01S_RSA
Built:    2024/02/23 17:58:32
Chip:     Airoha AG3335A
Chip FW:  AXN_5.8.3_LLAC29H

Tip

Pass --json before the command for machine-readable output: lc29h --json info

---

monitor

Stream real-time position fixes from the module. Output continues until interrupted with Ctrl+C or until --count fixes are reached.

lc29h monitor [--format table|csv|nmea] [--count N]

Flag	Short	Default	Description
--format		table	Output format: table, csv, or nmea
--count	-n	0	Stop after N fixes (0 = infinite)

Table (default)

lc29h monitor

        Time          Lat           Lon      Alt        Fix Sats  HDOP
----------------------------------------------------------------------
    14:32:01  38.8976763  -77.0365298    42.3     RTK FIX   18   0.6
    14:32:02  38.8976764  -77.0365297    42.2     RTK FIX   18   0.6
    14:32:03  38.8976762  -77.0365299    42.4     RTK FIX   17   0.7

CSV

lc29h monitor --format csv -n 3

14:32:01,38.8976763,-77.0365298,42.3,4,18,0.6
14:32:02,38.8976764,-77.0365297,42.2,4,18,0.6
14:32:03,38.8976762,-77.0365299,42.4,4,17,0.7

Fields: timestamp,lat,lon,alt,fix_type,sats,hdop

Raw NMEA

lc29h monitor --format nmea -n 2

$GNGGA,143201.00,3853.86058,N,07702.19179,W,4,18,0.6,42.3,M,-33.4,M,1.0,0000*4E
$GNRMC,143201.00,A,3853.86058,N,07702.19179,W,0.012,,260226,,,D,V*12

---

satellites

Display satellite constellation status. The command collects approximately 3 seconds of GSV data, then renders a table. The output format adapts automatically based on whether the module reports dual-band (L1+L5) data.

lc29h satellites

Dual-band output

On modules tracking L1+L5 (the typical case for LC29H), satellites are grouped by physical PRN with separate SNR columns per band:

  PRN    Const  Elev  Azim    L1    L5  Used
--------------------------------------------
    6      GPS    53    55    22    23     *
   11      GPS    69   170    34    29     *
   25      GPS    28   307    26    27     *
   30      GPS    15    42   ---    18
   75  GLONASS    54   155    27   ---     *
   76  GLONASS    34   302    19   ---
   27   BEIDOU    50    53    33    29     *
   30   BEIDOU    70   256    33    33

8 satellites tracked (14 signal observations)

The Used column shows * for satellites contributing to the current fix (derived from GSA sentence parsing). A --- in the L1 or L5 column means no signal was received on that band.

Single-band output

When only single-band data is available, a simpler table is shown:

  PRN    Const  Elev  Azim   SNR  Used
--------------------------------------
    6      GPS    53    55    22     *
   11      GPS    69   170    34     *
   25      GPS    28   307    26     *

Total: 3 satellites in view

---

config constellation

Enable or disable individual GNSS constellations. All constellations are enabled by default.

lc29h config constellation [flags]

Flag	Default	Description
--gps / --no-gps	on	GPS (US)
--glonass / --no-glonass	on	GLONASS (Russia)
--galileo / --no-galileo	on	Galileo (EU)
--beidou / --no-beidou	on	BeiDou (China)
--qzss / --no-qzss	on	QZSS (Japan)

# Enable GPS and Galileo only
lc29h config constellation --gps --galileo --no-glonass --no-beidou --no-qzss

# Enable all constellations
lc29h config constellation --gps --glonass --galileo --beidou --qzss

Caution

Constellation changes take effect immediately but are not saved to flash automatically. Run lc29h config save to persist across power cycles.

---

config fix-rate

Set the position fix rate in milliseconds. Accepts values from 100 (10 Hz) to 10000 (0.1 Hz).

lc29h config fix-rate MS

# 10 Hz updates
lc29h config fix-rate 100

# 1 Hz updates (default)
lc29h config fix-rate 1000

---

config baud

Change the serial baud rate on the module. After this command succeeds, you must reconnect using the new rate.

lc29h config baud RATE

lc29h config baud 921600
# Output: Baud rate set to 921600
#         Reconnect with the new baud rate to continue.

# Subsequent commands must use the new rate:
lc29h --baud 921600 monitor

Caution

If you change the baud rate and forget to save, a power cycle will revert to the old rate. If you save and forget the new rate, use config restore at common baud rates (9600, 38400, 115200, 921600) until one responds.

---

config save

Persist the current configuration to flash memory. Sends both the PAIR save command and the PQTM save command to cover all parameter domains.

lc29h config save

Configuration saved to flash
Parameters saved (PQTM)

---

config restore

Restore all module parameters to factory defaults. This resets constellations, fix rate, baud rate, and all other settings.

lc29h config restore

Factory defaults restored

Note

After restoring defaults, the module reverts to 115200 baud. If you were using a different baud rate, reconnect at 115200.

---

restart

Restart the GNSS module. The restart mode controls how much cached navigation data is cleared.

lc29h restart [cold|warm|hot]

Mode	Default	Clears	Typical TTFF
hot	yes	Nothing — restart with all data intact	< 1s
warm		Ephemeris only	~30s
cold		Ephemeris, almanac, position, and time	~60s

# Quick restart (default)
lc29h restart

# Full cold start (forces re-acquisition of all satellites)
lc29h restart cold

---

ntrip sources

Query an NTRIP caster for its source table (list of available mount points). Useful for discovering what correction streams are available before starting an RTK session.

lc29h ntrip sources --host HOST [--port PORT]

Flag	Default	Description
--host	required	NTRIP caster hostname
--port	2101	Caster port

lc29h ntrip sources --host rtk2go.com

                Name     Format              Nav Country Auth Fee
------------------------------------------------------------
          NEAR_MOUNT     RTCM 3.2  GPS+GLO+GAL   US    N   N
          OTHER_BASE     RTCM 3.2  GPS+GLO+GAL   US    N   N

Total: 2 mount points

---

ntrip start

Connect to an NTRIP caster and stream RTCM3 correction data to the module for RTK positioning. The client auto-detects NTRIP protocol version (1.0 ICY-style vs 2.0 HTTP/1.1) based on the server response.

lc29h ntrip start --host HOST --mount MOUNT [--port PORT] [--user USER] [--password PASS]

Flag	Default	Description
--host	required	NTRIP caster hostname
--mount	required	Mount point name
--port	2101	Caster port
--user	""	Username (rtk2go.com requires a valid email address)
--password	""	Password (rtk2go.com uses none for free mounts)

lc29h ntrip start \
  --host rtk2go.com \
  --mount NEAR_ME \
  --user your@email.com \
  --password none

Connected to rtk2go.com/NEAR_ME
Streaming RTCM3 corrections... (Ctrl+C to stop)
  RTCM chunks forwarded: 120

Reconnection behavior: On disconnect, the client uses exponential backoff starting at 10 seconds and doubling up to a maximum of 5 minutes. The backoff resets to 10 seconds on each successful reconnection. This follows the rtk2go.com fair-use guidelines.

Tip

Pair ntrip start with monitor in a second terminal to watch fix quality transition from standalone GPS through RTK Float to RTK Fix.

---

survey-in start-survey

Begin a base station survey-in process. The module averages its position over the specified duration to establish a fixed reference point. This command is specific to the LC29H(BS) variant.

lc29h survey-in start-survey [--duration SECS] [--accuracy METERS]

Flag	Default	Description
--duration	3600	Minimum survey duration in seconds
--accuracy	1.0	Required position accuracy in meters

# Default: 1 hour, 1 meter accuracy
lc29h survey-in start-survey

# High accuracy: 2 hours, 10 cm
lc29h survey-in start-survey --duration 7200 --accuracy 0.1

Survey-in started (min 3600s, target 1.0m)

---

survey-in status

Check the progress of a running survey-in. Displays the current state, elapsed duration, achieved accuracy, and computed position in both ECEF and WGS84 coordinates.

lc29h survey-in status

State:    survey-in
Duration: 1823s
Accuracy: 2.341 m
Lat:      38.89767630
Lon:      -77.03652980
Alt:      42.300 m (ellipsoidal)
ECEF:     X=1115468.3210  Y=-4844939.1230  Z=3983283.4560

The state field reports one of three values: idle (not started), survey-in (actively collecting), or valid (accuracy target met).

---

survey-in stop

Cancel a running survey-in process.

lc29h survey-in stop

---

Port Selection

All commands accept --port to specify the serial device. The correct device path depends on your hardware interface and board model.

# UART mode (Raspberry Pi 4B)
lc29h --port /dev/ttyS0 monitor

# UART mode (Raspberry Pi 5)
lc29h --port /dev/ttyAMA0 monitor

# USB mode (any board)
lc29h --port /dev/ttyUSB0 monitor

Set LC29H_PORT in your environment to avoid repeating the flag:

echo 'export LC29H_PORT=/dev/ttyAMA0' >> ~/.bashrc
source ~/.bashrc

Supported Variants

Variant	Features Available via CLI
LC29H(AA)	Info, monitor, satellites, constellation config, AGNSS
LC29H(BA)	Info, monitor, satellites, NTRIP, dead reckoning config
LC29H(CA)	Info, monitor, satellites, dead reckoning config
LC29H(DA)	Info, monitor, satellites, NTRIP
LC29H(BS)	Info, monitor, satellites, survey-in, base station config