Configuration Options Reference¶

TOML configuration options available in MRTKLIB. Options are grouped by their TOML section.

Auto-generated

This page is auto-generated from the internal option mapping table. Run python scripts/docs/gen_config_ref.py > docs/reference/config-options.md to regenerate.

Mode Abbreviations¶

Abbreviation	Positioning Mode(s)
All	All modes
SPP	Single Point Positioning (`single`)
DGPS	Differential GPS (`dgps`)
RTK	`kinematic` · `static` · `movingbase` · `fixed`
PPP	`ppp-kine` · `ppp-static` · `ppp-fixed`
PPP-RTK	`ppp-rtk` (CLAS PPP-RTK)
SSR2OSR	`ssr2osr` · `ssr2osr-fixed`
VRS	`vrs-rtk`
RT	Real-time only (`mrtk run` / `rtkrcv`)
PP	Post-processing only (`mrtk post` / `rnx2rtkp`)

Positioning¶

TOML section: [positioning]

TOML Key	Type	Modes	Description
`mode`	enum	All	Positioning mode selector. `single` · `dgps` · `kinematic` · `static` · `movingbase` · `fixed` · `ppp-kine` · `ppp-static` · `ppp-fixed` · `ppp-rtk` · `ssr2osr` · `ssr2osr-fixed` · `vrs-rtk`
`frequency`	enum	All	Number of carrier frequencies to use. CLAS PPP-RTK requires `l1+2` (nf=2). `l1` · `l1+2` · `l1+2+3` · `l1+2+3+4` · `l1+2+3+4+5`
`solution_type`	enum	PP	Filter direction for post-processing. `forward` · `backward` · `combined`
`elevation_mask`	float	All	Minimum satellite elevation angle (degrees). Satellites below this are excluded.
`dynamics`	boolean	All	Enable receiver dynamics model (velocity/acceleration state estimation).
`satellite_ephemeris`	enum	All	Satellite ephemeris source. SSR modes (`brdc+ssrapc`, `brdc+ssrcom`) are used for PPP and PPP-RTK. `brdc` · `precise` · `brdc+sbas` · `brdc+ssrapc` · `brdc+ssrcom`
`systems`	string[]	All	GNSS constellations to use. Accepts a human-readable string list like `["GPS", "Galileo"]`.
`excluded_sats`	string	All	Satellites to exclude. Space-separated PRN list (e.g., `G01 G02`). Prefix `+` to include only.
`signals`	string[]	All	Explicit signal code list. Overrides default observation definition when set. e.g. `["G1C", "G2W", "E1C"]`

Frequency Index Mapping¶

The frequency option selects how many frequency slots to use (l1 = 1, l1+2 = 2, etc.). Each slot maps to a different signal depending on the constellation:

	L1 (idx 0)	L2 (idx 1)	L3 (idx 2)	L4 (idx 3)	L5 (idx 4)
GPS	L1	L2	L5	—	—
GLONASS	G1	G2	G3	—	—
Galileo	E1	E5a	E5b	E6	E5a+b
QZSS	L1	L5	L2	L6	—
BDS	B1I/B1C/B1A	B3I/B3A	B2I/B2b	B2a	B2a+b
SBAS	L1	L5	—	—	—
NavIC	L5	S	—	—	—

CLAS PPP-RTK: Use l1+2 (nf=2)

With l1+2, GPS uses L1+L2 and Galileo uses E1+E5a. CLAS does not provide E5b bias corrections. Using l1+2+3 (nf=3) adds the E5b slot without valid bias, causing false cycle slips on Galileo and degrading fix rate from >99% to ~67%.

Positioning — CLAS¶

TOML section: [positioning.clas]

TOML Key	Type	Modes	Description
`grid_selection_radius`	integer	PPP-RTK, VRS	CLAS grid search radius (m). Controls how far from the rover to search for grid-based tropospheric/ionospheric corrections.
`receiver_type`	string	PPP-RTK, VRS	Rover receiver type identifier. Used for ISB (inter-system bias) table lookup.
`position_uncertainty_x`	float	PPP-RTK, VRS	Rover approximate position X in ECEF (m). Used for initial CLAS grid search before first fix.
`position_uncertainty_y`	float	PPP-RTK, VRS	Rover approximate position Y in ECEF (m).
`position_uncertainty_z`	float	PPP-RTK, VRS	Rover approximate position Z in ECEF (m).

Positioning — SNR Mask¶

TOML section: [positioning.snr_mask]

TOML Key	Type	Modes	Description
`rover_enabled`	boolean	All	Enable elevation-dependent SNR mask for the rover receiver.
`base_enabled`	boolean	RTK	Enable elevation-dependent SNR mask for the base station.
`L1`	array[int]	All	L1 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).
`L2`	array[int]	All	L2 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).
`L5`	array[int]	All	L5 SNR mask values per elevation bin (dBHz). 9-element array (0–45 dBHz per 5° elevation bin).

Positioning — Corrections¶

TOML section: [positioning.corrections]

TOML Key	Type	Modes	Description
`satellite_antenna`	boolean	All	Apply satellite antenna phase center offset correction using ANTEX file.
`receiver_antenna`	boolean	All	Apply receiver antenna phase center offset/variation correction.
`phase_windup`	enum	PPP, PPP-RTK, VRS	Phase wind-up correction. `off` · `on` · `precise`
`exclude_eclipse`	boolean	PPP, PPP-RTK	Exclude satellites in eclipse (yaw maneuver period) to avoid degraded orbit/clock.
`raim_fde`	boolean	SPP	RAIM fault detection and exclusion for single-point positioning.
`iono_compensation`	enum	PPP-RTK, VRS, SSR2OSR	Ionospheric compensation method for SSR-based processing. `off` · `ssr` · `meas`
`partial_ar`	boolean	PPP-RTK, VRS	Enable partial ambiguity resolution (fix a satellite subset).
`shapiro_delay`	boolean	PPP, PPP-RTK, VRS	Apply relativistic Shapiro time delay correction.
`exclude_qzs_ref`	boolean	PPP-RTK, VRS	Exclude QZS satellites from reference satellite selection in DD processing.
`no_phase_bias_adj`	boolean	PPP-RTK, VRS	Disable phase bias adjustment. Used when phase bias is already applied by SSR corrections.
`gps_frequency`	enum	PPP-RTK, VRS	GPS frequency pair selection for CLAS processing. `l1` · `l1+l2` · `l1+l5` · `l1+l2+l5` · `l1+l5(l2)`
`reserved`	boolean	—	Reserved for future use.
`qzs_frequency`	enum	PPP-RTK, VRS	QZS frequency pair selection for CLAS processing. `l1` · `l1+l2` · `l1+l5` · `l1+l2+l5` · `l1+l5(l2)`
`tidal_correction`	enum	PPP, PPP-RTK, VRS	Tidal displacement correction. Option `solid+otl-clasgrid+pole` uses CLAS grid-based ocean tide loading. `off` · `on` · `otl` · `solid+otl-clasgrid+pole`

Positioning — Atmosphere¶

TOML section: [positioning.atmosphere]

TOML Key	Type	Modes	Description
`ionosphere`	enum	All	Ionospheric correction model. PPP uses `dual-freq` or `est-stec`. PPP-RTK uses `est-stec` or `est-adaptive`. RTK typically uses `dual-freq`. `off` · `brdc` · `sbas` · `dual-freq` · `est-stec` · `ionex-tec` · `qzs-brdc` · `est-adaptive`
`troposphere`	enum	All	Tropospheric correction model. PPP/PPP-RTK use `est-ztd` or `est-ztdgrad`. SPP/RTK typically use `saas`. `off` · `saas` · `sbas` · `est-ztd` · `est-ztdgrad`

Ambiguity Resolution¶

TOML section: [ambiguity_resolution]

TOML Key	Type	Modes	Description
`mode`	enum	RTK, PPP, PPP-RTK, VRS	Ambiguity resolution strategy. `off` · `continuous` · `instantaneous` · `fix-and-hold`
`gps_ar`	boolean	RTK	GPS AR mode for GLONASS fix-and-hold second pass.
`glonass_ar`	enum	RTK	GLONASS ambiguity resolution mode. `off` · `on`
`bds_ar`	boolean	RTK, PPP-RTK	BDS ambiguity resolution enable/disable.
`qzs_ar`	boolean	PPP-RTK, VRS	QZS ambiguity resolution mode.
`systems`	integer	RTK, PPP-RTK, VRS	Constellation bitmask for AR. Limits which systems participate in integer ambiguity resolution.

Ambiguity Resolution — Thresholds¶

TOML section: [ambiguity_resolution.thresholds]

TOML Key	Type	Modes	Description
`ratio`	float	RTK, PPP, PPP-RTK, VRS	LAMBDA ratio test threshold (2nd-best / best). Typical value: 3.0.
`ratio1`	float	RTK, PPP, PPP-RTK	Secondary AR threshold. In MADOCA-PPP: max 3D position std-dev to start narrow-lane AR.
`ratio2`	float	RTK, PPP-RTK	Additional AR threshold parameter.
`ratio3`	float	RTK, PPP-RTK	Additional AR threshold parameter.
`ratio4`	float	RTK	Additional AR threshold parameter.
`ratio5`	float	PPP-RTK	Chi-square threshold for hold validation.
`ratio6`	float	PPP-RTK	Chi-square threshold for fix validation.
`alpha`	enum	PPP-RTK, VRS	AR significance level (ILS success rate). `0.1%` · `0.5%` · `1%` · `5%` · `10%` · `20%`
`elevation_mask`	float	RTK, PPP-RTK, VRS	Minimum satellite elevation for AR participation (degrees).
`hold_elevation`	float	RTK, PPP-RTK, VRS	Minimum satellite elevation for fix-and-hold constraint application (degrees).

Ambiguity Resolution — Counters¶

TOML section: [ambiguity_resolution.counters]

TOML Key	Type	Modes	Description
`lock_count`	integer	RTK, PPP-RTK, VRS	Minimum continuous lock count before a satellite participates in AR.
`min_fix`	integer	RTK, PPP-RTK	Minimum fix epochs before applying fix-and-hold constraint.
`max_iterations`	integer	RTK, PPP-RTK	Maximum LAMBDA search iterations per epoch.
`out_count`	integer	RTK, PPP-RTK, VRS	Reset ambiguity after this many continuous outage epochs.

Ambiguity Resolution — Partial AR¶

TOML section: [ambiguity_resolution.partial_ar]

TOML Key	Type	Modes	Description
`min_ambiguities`	integer	PPP-RTK, VRS	Minimum number of ambiguities required for partial AR attempt.
`max_excluded_sats`	integer	PPP-RTK, VRS	Maximum satellites to exclude during partial AR satellite rotation.
`min_fix_sats`	integer	RTK, PPP-RTK	Minimum DD pairs required for a valid fix. 0 = disabled.
`min_drop_sats`	integer	RTK	Minimum DD pairs before excluding the weakest satellite in partial AR. 0 = disabled.
`min_hold_sats`	integer	RTK	Minimum DD pairs for fix-and-hold mode activation. 0 = no minimum.
`ar_filter`	boolean	RTK, PPP-RTK	Exclude newly-locked satellites that degrade the AR ratio.

Ambiguity Resolution — Hold¶

TOML section: [ambiguity_resolution.hold]

TOML Key	Type	Modes	Description
`variance`	float	PPP-RTK, VRS	Variance of held ambiguity pseudo-observation (cyc²). Controls how tightly held ambiguities constrain the filter.
`gain`	float	RTK	Gain factor for fractional GLONASS/SBAS inter-channel bias update in fix-and-hold.

Rejection Criteria¶

TOML section: [rejection]

TOML Key	Type	Modes	Description
`innovation`	float	RTK, PPP	Innovation (pre-fit residual) threshold (m). Observations exceeding this are rejected.
`l1_l2_residual`	float	PPP-RTK, VRS	L1/L2 residual rejection threshold (σ).
`dispersive`	float	PPP-RTK, VRS	Dispersive (ionospheric) residual rejection threshold (σ).
`non_dispersive`	float	PPP-RTK, VRS	Non-dispersive (geometric) residual rejection threshold (σ).
`hold_chi_square`	float	PPP-RTK, VRS	Chi-square threshold for hold-mode outlier detection.
`fix_chi_square`	float	PPP-RTK, VRS	Chi-square threshold for fix-mode outlier detection.
`gdop`	float	All	Maximum GDOP for valid solution output.
`pseudorange_diff`	float	VRS	Pseudorange consistency check threshold (m). Rejects satellites with large code-phase disagreement.
`position_error_count`	integer	VRS	Number of consecutive position error epochs before filter reset.

Slip Detection¶

TOML section: [slip_detection]

TOML Key	Type	Modes	Description
`threshold`	float	RTK, PPP, PPP-RTK, VRS	Geometry-free (LG) cycle slip detection threshold (m).
`doppler`	float	RTK, PPP, PPP-RTK	Doppler-phase rate cycle slip detection threshold (cyc/s). 0 = disabled.

Kalman Filter¶

TOML section: [kalman_filter]

TOML Key	Type	Modes	Description
`iterations`	integer	RTK, PPP, PPP-RTK, VRS	Number of measurement update iterations per epoch. More iterations improve linearization accuracy.
`sync_solution`	boolean	RT	Synchronize solution output with observation time in real-time mode.

Kalman Filter — Measurement Error¶

TOML section: [kalman_filter.measurement_error]

TOML Key	Type	Modes	Description
`code_phase_ratio_L1`	float	All	Code/phase measurement error ratio for L1. Code error = phase error × ratio. Typical: 100.
`code_phase_ratio_L2`	float	All	Code/phase measurement error ratio for L2.
`code_phase_ratio_L5`	float	All	Code/phase measurement error ratio for L5.
`phase`	float	All	Base carrier phase measurement error (m). Used in elevation-dependent weighting: error = phase + phase_elevation / sin(el).
`phase_elevation`	float	All	Elevation-dependent carrier phase error coefficient (m).
`phase_baseline`	float	RTK	Baseline-length-dependent phase error (m/10km). Proportional to rover–base distance.
`doppler`	float	All	Doppler measurement error (Hz).
`ura_ratio`	float	PPP	User Range Accuracy scaling ratio. Adjusts satellite-specific weighting based on broadcast URA.

Kalman Filter — Initial Std. Deviation¶

TOML section: [kalman_filter.initial_std]

TOML Key	Type	Modes	Description
`bias`	float	RTK, PPP, PPP-RTK, VRS	Initial standard deviation for carrier phase bias states (m).
`ionosphere`	float	PPP-RTK, VRS	Initial standard deviation for ionospheric delay states (m).
`troposphere`	float	PPP, PPP-RTK, VRS	Initial standard deviation for tropospheric delay states (m).

Kalman Filter — Process Noise¶

TOML section: [kalman_filter.process_noise]

TOML Key	Type	Modes	Description
`bias`	float	RTK, PPP, PPP-RTK, VRS	Process noise for carrier phase bias states (m/√s).
`ionosphere`	float	PPP-RTK, VRS	Process noise for ionospheric delay states (m/√s).
`iono_max`	float	PPP-RTK, VRS	Maximum ionospheric process noise clamp (m). Prevents excessive iono state growth.
`troposphere`	float	PPP, PPP-RTK, VRS	Process noise for tropospheric delay states (m/√s).
`accel_h`	float	All	Horizontal acceleration process noise (m/s²). Active when `dynamics = true`.
`accel_v`	float	All	Vertical acceleration process noise (m/s²). Active when `dynamics = true`.
`position_h`	float	PPP-RTK, VRS	Horizontal position process noise (m).
`position_v`	float	PPP-RTK, VRS	Vertical position process noise (m).
`position`	float	All	General position process noise (m). Fallback when h/v not specified.
`ifb`	float	PPP	Inter-frequency bias process noise (m). For multi-frequency PPP bias estimation.
`iono_time_const`	float	PPP-RTK, VRS	Ionospheric time constant (s). Controls iono state temporal correlation in the adaptive filter.
`clock_stability`	float	PPP	Receiver clock stability (s/s). Used in PPP clock state prediction.

Adaptive Filter¶

TOML section: [adaptive_filter]

TOML Key	Type	Modes	Description
`enabled`	boolean	PPP-RTK, VRS	Enable adaptive Kalman filter process noise scaling.
`iono_forgetting`	float	PPP-RTK, VRS	Forgetting factor for ionospheric state (0–1). Lower = faster adaptation.
`iono_gain`	float	PPP-RTK, VRS	Adaptive gain for ionospheric process noise adjustment.
`pva_forgetting`	float	PPP-RTK, VRS	Forgetting factor for position/velocity/acceleration states (0–1).
`pva_gain`	float	PPP-RTK, VRS	Adaptive gain for PVA process noise adjustment.

Signal Selection¶

TOML section: [signals]

TOML Key	Type	Modes	Description
`gps`	enum	PPP, PPP-RTK	GPS frequency pair selection for PPP/PPP-RTK processing. `L1/L2` · `L1/L5` · `L1/L2/L5`
`qzs`	enum	PPP, PPP-RTK	QZS frequency pair selection. `L1/L5` · `L1/L2` · `L1/L5/L2`
`galileo`	enum	PPP, PPP-RTK	Galileo frequency pair selection. `E1/E5a` · `E1/E5b` · `E1/E6` · `E1/E5a/E5b/E6` · `E1/E5a/E6/E5b`
`bds2`	enum	PPP, PPP-RTK	BDS-2 frequency pair selection. `B1I/B3I` · `B1I/B2I` · `B1I/B3I/B2I`
`bds3`	enum	PPP, PPP-RTK	BDS-3 frequency pair selection. `B1I/B3I` · `B1I/B2a` · `B1I/B3I/B2a`

Receiver¶

TOML section: [receiver]

TOML Key	Type	Modes	Description
`iono_correction`	boolean	PPP	Enable ionospheric correction in MADOCA-PPP processing.
`ignore_chi_error`	boolean	SPP	Ignore chi-square test errors in SPP solution validation.
`bds2_bias`	boolean	PPP	Enable BDS-2 code bias correction (satellite-dependent group delay).
`ppp_sat_clock_bias`	integer	PPP	PPP satellite code bias source selection.
`ppp_sat_phase_bias`	integer	PPP	PPP satellite phase bias source selection.
`uncorr_bias`	integer	PPP	Uncorrelated bias parameter for PPP processing.
`max_bias_dt`	integer	PPP	Maximum age of bias correction data (s) before invalidation.
`satellite_mode`	integer	PPP	Satellite processing mode selector.
`phase_shift`	enum	PPP-RTK, VRS	Phase cycle shift correction. Corrects quarter-cycle shifts between systems. `off` · `table`
`isb`	boolean	PPP-RTK, VRS	Inter-system bias estimation mode.
`reference_type`	string	PPP-RTK, VRS	Reference station receiver type for ISB table lookup.
`max_age`	float	RTK, PPP-RTK	Maximum age of differential correction (s).
`baseline_length`	float	RTK	Baseline length constraint (m). 0 = no constraint.
`baseline_sigma`	float	RTK	Standard deviation of baseline length constraint (m).

Antenna — Rover¶

TOML section: [antenna.rover]

TOML Key	Type	Modes	Description
`position_type`	enum	All	Rover position input type. `llh` · `xyz` · `single` · `posfile` · `rinexhead` · `rtcm` · `raw`
`position_1`	float	All	Rover position coordinate 1 (latitude or X, depending on `position_type`).
`position_2`	float	All	Rover position coordinate 2 (longitude or Y).
`position_3`	float	All	Rover position coordinate 3 (height or Z).
`type`	string	All	Rover antenna type (must match ANTEX file entry). `*` = use RINEX header.
`delta_e`	float	All	Rover antenna delta East offset (m).
`delta_n`	float	All	Rover antenna delta North offset (m).
`delta_u`	float	All	Rover antenna delta Up offset (m).

Antenna — Base¶

TOML section: [antenna.base]

TOML Key	Type	Modes	Description
`position_type`	enum	RTK, VRS	Base station position input type. `llh` · `xyz` · `single` · `posfile` · `rinexhead` · `rtcm` · `raw`
`position_1`	float	RTK, VRS	Base position coordinate 1.
`position_2`	float	RTK, VRS	Base position coordinate 2.
`position_3`	float	RTK, VRS	Base position coordinate 3.
`type`	string	RTK, VRS	Base antenna type.
`delta_e`	float	RTK, VRS	Base antenna delta East offset (m).
`delta_n`	float	RTK, VRS	Base antenna delta North offset (m).
`delta_u`	float	RTK, VRS	Base antenna delta Up offset (m).
`max_average_epochs`	integer	RT	Maximum epochs for base position averaging in real-time mode.
`init_reset`	boolean	RT	Reset base position averaging on restart.

Output¶

TOML section: [output]

TOML Key	Type	Modes	Description
`format`	enum	All	Solution output format. `llh` · `xyz` · `enu` · `nmea`
`header`	boolean	All	Output header line with option summary.
`options`	boolean	All	Output processing options in header.
`velocity`	boolean	All	Include velocity in solution output.
`time_system`	enum	All	Time system for output. `gpst` · `utc` · `jst`
`time_format`	enum	All	Time format. `tow` · `hms`
`time_decimals`	integer	All	Number of decimal digits for time output.
`coordinate_format`	enum	All	Coordinate format. `deg` · `dms`
`field_separator`	string	All	Field separator character for output.
`single_output`	boolean	All	Output SPP solution alongside fixed solution.
`max_solution_std`	float	All	Maximum solution standard deviation for output (m). Solutions exceeding this are suppressed.
`height_type`	enum	All	Height output type. `ellipsoidal` · `geodetic`
`geoid_model`	enum	All	Geoid model for geodetic height conversion. `internal` · `egm96` · `egm08_2.5` · `egm08_1` · `gsi2000`
`static_solution`	enum	PP	Static mode output control. `all` · `single`
`nmea_interval_1`	float	All	NMEA GGA/RMC output interval (s).
`nmea_interval_2`	float	All	NMEA GSA/GSV output interval (s).
`solution_status`	enum	All	Solution status output level. `off` · `state` · `residual`

Files¶

TOML section: [files]

TOML Key	Type	Modes	Description
`satellite_atx`	string	All	Satellite antenna ANTEX file. Required for satellite antenna PCV correction.
`receiver_atx`	string	All	Receiver antenna ANTEX file. Required for receiver antenna PCV correction.
`station_pos`	string	All	Station position file for fixed/known positions.
`geoid`	string	All	Geoid data file for geodetic height conversion.
`ionosphere`	string	All	IONEX ionosphere map file. Used when `ionosphere = ionex-tec`.
`dcb`	string	PPP	Differential code bias file.
`eop`	string	PPP, PPP-RTK	Earth orientation parameter file for precise coordinate frame.
`ocean_loading`	string	PPP, PPP-RTK	BLQ ocean tide loading file. Required when `tidal_correction` includes OTL.
`elevation_mask_file`	string	All	Azimuth-dependent elevation mask file.
`temp_dir`	string	All	Temporary directory for intermediate files.
`geexe`	string	All	Google Earth executable path (legacy GUI feature).
`solution_stat`	string	All	Solution statistics output file path.
`trace`	string	All	Debug trace output file path.
`fcb`	string	PPP	Fractional cycle bias file for PPP-AR.
`bias_sinex`	string	PPP	Bias SINEX file for PPP satellite bias correction.
`cssr_grid`	string	PPP-RTK, VRS	CLAS CSSR grid definition file. Required for CLAS grid-based corrections.
`isb_table`	string	PPP-RTK, VRS	Inter-system bias correction table file.
`phase_cycle`	string	PPP-RTK, VRS	Phase cycle shift correction table file.
`cmd_file_1`	string	RT	Receiver command file for input stream 1.
`cmd_file_2`	string	RT	Receiver command file for input stream 2.
`cmd_file_3`	string	RT	Receiver command file for input stream 3.

Server (rtkrcv)¶

TOML section: [server]

TOML Key	Type	Modes	Description
`cycle_ms`	integer	RT	Server main loop cycle interval (ms). Controls processing rate.
`timeout_ms`	integer	RT	Stream read timeout (ms). After timeout, stream is considered disconnected.
`reconnect_ms`	integer	RT	Stream reconnection interval (ms) after disconnect.
`nmea_cycle_ms`	integer	RT	NMEA request transmission cycle (ms) for NTRIP caster position updates.
`buffer_size`	integer	RT	Stream input buffer size (bytes).
`nav_msg_select`	string	RT	Navigation message type selection for multi-source environments.
`proxy`	string	RT	HTTP proxy address for NTRIP connections.
`swap_margin`	integer	RT	File swap margin (s) for continuous logging across file boundaries.
`time_interpolation`	boolean	RT	Enable time interpolation between observation epochs.
`sbas_satellite`	string	RT	SBAS satellite selection.
`max_obs_loss`	float	RT	Maximum observation gap duration before filter reset (s).
`float_count`	integer	RT	Number of float epochs before triggering filter reset.
`rinex_option_1`	string	All	RINEX conversion option string for rover stream.
`rinex_option_2`	string	All	RINEX conversion option string for base stream.
`ppp_option`	string	PPP	PPP processing option string (passed to PPP engine).
`rtcm_option`	string	RT	RTCM decoder option string.
`l6_margin`	integer	RT	L6 message margin (epochs) for CLAS L6 real-time synchronization.
`regularly`	integer	VRS	Regular filter reset interval (s). 0 = disabled.
`start_cmd`	string	RT	Shell command executed on server start.
`stop_cmd`	string	RT	Shell command executed on server stop.

Streams¶

TOML section: [streams] — Real-time only (mrtk run / rtkrcv)

Stream configuration uses a hierarchical structure:

TOML

[streams.input.rover]
type = "serial"
path = "ttyACM0:115200"
format = "ubx"

[streams.input.correction]
type = "file"
path = "correction.l6::T::+1"
format = "clas"

[streams.output.stream1]
type = "file"
path = "output.pos"

[streams.log.stream1]
type = "file"
path = "rover.log"

Key	Type	Description
`type`	string	Stream type: `serial` · `file` · `tcpsvr` · `tcpcli` · `ntrip` · `off`
`path`	string	Stream path (serial device, file path, or URL)
`format`	string	Data format: `rtcm3` · `ubx` · `sbf` · `binex` · `rinex` · `clas` · `l6e`
`nmeareq`	boolean	Send NMEA position request to stream
`nmealat`	float	NMEA request latitude (degrees)
`nmealon`	float	NMEA request longitude (degrees)