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Summary of Contents for iXBlue OCTANS
- Page 1 AHRS Advanced Configuration User Guide...
- Page 3 Document Revision History Edition Date Comments 09/2011 First Edition 03/2012 iXBlue graphical chart applied to the document 01/2015 OCTANS NANO product added Appendice B added 03/2015 New style guide updated to the document 11/2015 Input and output protocols lists updated...
- Page 4 improvments.
- Page 5 AHRS - Advanced Configuration - User Guide Text Usage bold Bold text is used for items you must select or click in the software. It is also used for the field names used into the dialog box. Courier Text in this font denotes text or characters that you should enter from the keyboard, the proper names of disk Drives, paths, directories, programs, functions, filenames and extensions.
- Page 6 AHRS - Advanced Configuration - User Guide Overview of this Document This document is the Advanced Configuration User Guide for the Attitude and Heading Reference Sensor (AHRS). This document is a part of the set of documentation provided with the AHRS. The set of documentation must be read and understood prior to using the AHRS.
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Page 7: Table Of Contents
AHRS - Advanced Configuration - User Guide Table of Contents ......................6 NTRODUCTION ................7 ERSION AND RODUCTS ONCERNED ....................8 ENERAL ONVENTIONS ........................8 OMMAND YNTAX ..................8 OW TO END AND ECEIVE OMMANDS ................9 ENERAL YSTEM ONFIGURATION EEPROM........................ -
Page 8: Introduction
AHRS - Advanced Configuration - User Guide NTRODUCTION This document describes the Attitude and Heading Reference Sensor (AHRS) configuration and monitoring commands which can be used during operation. These commands are sent directly through the repeater port to check settings and modify AHRS or external sensors configuration (depending of the external sensor and of the AHRS capabilities), to reset the unit, and save the configuration to PROM. -
Page 9: Version And Products Concerned
Please, refer to your Product User Manual to check which external sensors are available. Contact iXBlue customer support to get the updated firmware version to be downloaded into your system (see document: Inertial Products - General Information (Ref.: MU- INS&AHRS-AN-007) for contact information). -
Page 10: General Conventions
On repeater port, serial configuration is fixed and set to 19200 bauds, odd parity bit, 2 stop bits. Repeater port will also output OCTANS STANDARD protocol. Answers to commands sent to this port will thus be mixed in OCTANS STANDARD output frames (refer to AHRS Interface Library (Ref.: MU-AHRS-AN-003) for details). -
Page 11: General System Configuration
AHRS - Advanced Configuration - User Guide ENERAL YSTEM ONFIGURATION Save to EEPROM To save all parameters into EEPROM: $PHSAV,,*5C<CR><LF> Message Save Configuration to EEPROM Title Software System Reboot To reboot the system by software: Message $PHST_,RESET,,*39<CR><LF> Restart AHRS algorithm Title Warning Unit will restart with the configuration saved into PROM. -
Page 12: Axis Orientation
AHRS - Advanced Configuration - User Guide Axis Orientation To enter an axis orientation (rough misalignment): $PHORI,i*hh<CR><LF> Message Axis Orientation Title Data Field Semantics Syntax Type Index of the rough misalignment Table 2 for index/orientation correspondence and checksums To retrieve the axis orientation – also called the rough misalignment –: $PHORI,,*4C<CR><LF>... - Page 13 AHRS - Advanced Configuration - User Guide i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea) (56) (57) (58) (59) (61) (60) (63) (62) (65) (64) (67) (66) MU-AHRS-AN-002 Ed. E November 2015...
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Page 14: Heading, Roll And Pitch Angular Offsets
AHRS - Advanced Configuration - User Guide i (hh) Orientation (Surface) Orientation (Subsea) i (hh) Orientation (Surface) Orientation (Subsea) (69) (68) (62) (63) (60) (61) Heading, Roll and Pitch angular offsets To configure user angular offsets (fine misalignment): Message $PHBIA,x.x,y.y,z.z*hh<CR><LF> Title Angular offsets Configuration Data Field... -
Page 15: Main Lever Arm
To retrieve secondary monitoring point lever arms from the AHRS: $PHLVA,,*43<CR><LF> $PHLVB,,*40<CR><LF> $PHLVC,,*41<CR><LF> Center of Gravity Position This is not available for OCTANS NANO product. To configure center of gravity position relative to the AHRS: $PHCNF,COG___,x.x,y.y,z.z*hh<CR><LF> Message Lever Arms Configuration... -
Page 16: Heave Parameters
2: Rough Sea (>2.5m) 3: Harbors and Channels To retrieve the current sea state mode: $PHCNF,HVECNF,,*30<CR><LF> 4.11 UTC (Time Synchronization) Interface To configure the UTC interface (OCTANS interface to receive data from UTC) : $PHCNF,UTCINT,i,j*hh<CR><LF> Message UTC Interface Title Data Field... -
Page 17: Port Mapping And Id
The ports mapping from software port identification to physical port identification may differ for certain product: • For OCTANS surface, to configure the physical serial input ports A and B use configuration commands with respectively ports D and E instead. •... -
Page 18: Serial And Ethernet Commands
Port For more explanation, refer to § 5.1. OCTANS 3000: set A to E to configure Input/Output ports A to E OCTANS NANO: set A to B to configure Input/Output ports A to B 0: None 1: Even Parity 2: Odd 0: 0.5 stop bit... -
Page 19: Serial/Ethernet Input Port Configuration
For more explanation, refer to § 5.1. char OCTANS 3000 : set A to E to configure Port A to Port E OCTANS NANO: set A to D to configure Port A to Port D protocol See Table 3 Set this field to 0 The RSIN command must be used to select input protocol in Ethernet mode too. -
Page 20: User Defined Output Protocol
A to C to configure Port A to Port C Port char OCTANS 3000: set A to E to configure Port A to Port E OCTANS NANO: set A to E to configure Port A to Port E ssss protocol User defined protocol string string 5.2.4... - Page 21 AHRS - Advanced Configuration - User Guide Index OCTANS 3000 OCTANS OCTANS NANO NONE NONE NONE OCTANS STANDARD OCTANS STANDARD OCTANS STANDARD USER DEFINED POST PROCESSING POST PROCESSING DCN_NAV1 USER DEFINED USER DEFINED DCN_NAV10 DCN_NAV1 DCN_NAV10 BA_CUSTOM1 ATLAS_F20 BA_CUSTOM2 ATLAS_F20...
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Page 22: Output Device Selection
Port char OCTANS 3000: set A to E to configure Port A to Port E OCTANS NANO: set A to E to configure Port A to Port E 0: No device selected 1: Serial output on selected port Device 2: Ethernet output on selected port... -
Page 23: Ethernet Configuration
A to C to configure Port A to Port C Port char OCTANS 3000: set A to E to configure Port A to Port E OCTANS NANO: set A to E to configure Port A to Port E IP output mode:... -
Page 24: Ip Input Configuration
For more explanation, refer to § 5.1. OCTANS 3000: set A to E to configure Port A to Port E OCTANS NANO: set A to D to configure Port A to Port D IP input mode: 0: TCP server 1: TCP client... -
Page 25: Pulses Interfaces
A to D to configure Port A to Port D Port char OCTANS 3000: set A to C to configure Port A to Port C OCTANS NANO: set A to configure Port A 0: None 1: PPS Rising + Time... -
Page 26: Dynamic String Retrieve Commands
AHRS - Advanced Configuration - User Guide YNAMIC TRING ETRIEVE OMMANDS This section describes commands to retrieve all configuration strings to dynamically get firmware feature list. Generic Text Retrieve Command To retrieve a specific text for a command: $PHTXT,list,c,i,j*hh<CR><LF> Message Title Text list retrieve Data Field... - Page 27 AHRS - Advanced Configuration - User Guide Table 5 - List name table List name Section index Retrieved list description RSOUTX Port output baud rate Port output protocol names Reserved Port output level names RSCM_X Port input/output parity Port input/output stop bits Lever arm RSIN_X Port input/output baud rate...
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Page 28: Appendices
AHRS - Advanced Configuration - User Guide Appendices NMEA C HECKSUM To get a simple NMEA computation tool, copy following code into a new file (nmea.html) and save it, and open this file with your internet navigator: <html><head><title>NMEA MTK checksum calculator</title> <script><!-- function updateChecksum(cmd) var checksum = 0;... -
Page 29: B Orientation And Sign Conventions Recall
AHRS - Advanced Configuration - User Guide RIENTATION AND SIGN CONVENTIONS RECALL This page recaps orientation conventions for lever arms and misalignments. Please refer to OCTANS user manuals for more details on frame transfer conventions. Axis direction and sign conventions for lever arms: Port... -
Page 30: C Factory Setting Details
AHRS - Advanced Configuration - User Guide ACTORY ETTING ETAILS This page details factory default settings: • DSP settings: System orientation is set to 0. All system and sensors lever arms and misalignments are set to 0 Heave filter is set to ‘Moderate Sea’...
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