Configurations

This page consolidates the Aerial INS parameter tables used throughout the documentation. Use the links below to jump directly to a configuration group.

Installation Parameters

The lever arms of the installation must be measured and configured as parameters to ensure accuracy. The coordinate system follows the right-hand rule: X = forward, Y = right, Z = down. The INS center is the center of the Aerial INS unit.

Distances are measured in meters from the IMU center to the respective antenna phase center.

Parameter

Units

Default

Description

GPS_SEP_BASE_X

m

0

X offset from INS center to Base antenna (ANT1).

GPS_SEP_BASE_Y

m

0

Y offset from INS center to Base antenna (ANT1).

GPS_SEP_BASE_Z

m

0

Z offset from INS center to Base antenna (ANT1).

GPS_SEP_ROVER_X

m

0

X offset from INS center to Rover antenna (ANT2).

GPS_SEP_ROVER_Y

m

0

Y offset from INS center to Rover antenna (ANT2).

GPS_SEP_ROVER_Z

m

0

Z offset from INS center to Rover antenna (ANT2).

EKF2_IMU_POS_X

m

0

X offset from center of aircraft to INS center.

EKF2_IMU_POS_Y

m

0

Y offset from center of aircraft to INS center.

EKF2_IMU_POS_Z

m

0

Z offset from center of aircraft to INS center.

SENS_BOARD_ROT

enum

0

INS mounting orientation. Set this if unit is not mounted with X-forward.

Common values:

  • No Rotation: Unit mounted upright with X pointing towards aircraft nose

  • Yaw 90°: Unit mounted upright with X pointing towards aircraft right

  • Yaw 180°: Unit mounted upright with X pointing towards aircraft tail

  • Yaw 270°: Unit mounted upright with X pointing towards aircraft left

  • Roll 180°: Unit mounted upside down with X pointing towards aircraft nose

  • Roll 180°, Yaw 90°: Unit mounted upside down with X pointing towards aircraft right

  • Roll 180°, Yaw 180°: Unit mounted upside down with X pointing towards aircraft tail

  • Roll 180°, Yaw 270°: Unit mounted upside down with X pointing towards aircraft left

Will be presented as a drop-down menu in AMarinerControl.

NMEA 2000 Parameters

To enable the NMEA 2000 driver, ensure the parameter NM2K_CFG is set to 1. Then, each published PGN has an associated output data rate parameter in the NM2K group (e.g. NM2K_129025_RATE, NM2K_129026_RATE, NM2K_129029_RATE). Rates are specified in Hertz and are clamped between 0 and 100. Setting a value to 0 stops transmission of that PGN; any positive value defines the broadcast frequency. Update the rates from AMarinerControl’s parameter editor or from the command-line interface.

Parameters

Default

Description

NM2K_CFG

1

Enable or disable NMEA2000 driver. 0 is disable, 1 is enable

NM2K_126992_RATE

0

Message rate for the PGN specified (Time data)

NM2K_127250_RATE

0

Message rate for the PGN specified (Heading data)

NM2K_127251_RATE

0

Message rate for the PGN specified (Rate of turn data)

NM2K_127257_RATE

10

Message rate for the PGN specified (Attitude data)

NM2K_129025_RATE

0

Message rate for the PGN specified (Latitude and longitude data)

NM2K_129026_RATE

0

Message rate for the PGN specified (Course over ground data)

NM2K_129029_RATE

0

Message rate for the PGN specified (Position data)

NM2K_BITRATE

250 kbps

CAN Bitrate

NM2K_SRC_ADDR

254

Populates the source address field in the NMEA2000 frame

CAN Termination

The ANELLO Aerial INS supports configurable internal CAN termination.

Parameter

Default

Description

CAN_TERM

1

CAN bus termination setting. 0 = No termination resistor. 1 = 120 Ω termination resistor enabled.

Note

Configurable CAN termination supported for production units (P/N 10001301), not for evaluation units (P/N 10001302)

Ethernet Parameters

Ethernet settings can be configured using the following parameters:

Parameter

Default (human readable)

Default (int32)

Description

NET_CFG_PROTO

DEVICE=eth0

1

Network device interface name.

NET_CFG_NETMASK

NETMASK=255.255.255.0

-256

Network subnet mask.

NET_CFG_IPADDR

IPADDR=192.168.0.3

-1062731773

Static IP address assigned to the interface.

NET_CFG_ROUTER

ROUTER=192.168.0.254

-1062731522

Default gateway (router) for the network.

NET_CFG_DNS

DNS=192.168.0.254

-1062731522

DNS server address.

MAV_2_UDP_PRT

14550

14550

MAVLink UDP port number (INS side)

MAV_2_REMOTE_PRT

14550

14550

MAVLink UDP remote port number (PC side)

Ethernet IPv4 Parameter Encoding

Ethernet configuration parameters (IP address, netmask, router, DNS) are stored internally as signed 32-bit integers (int32), not as human-readable IPv4 strings.

The following Python helper function converts a standard IPv4 string (e.g. "192.168.0.3") into the signed int32 value used by the Ethernet configuration parameters.

# ==================================================================================
# IPv4 string → signed int32 conversion
# ==================================================================================
def ipv4_to_int32(ip_str):
    """
    Convert readable IPv4 like '192.168.0.2' into signed 32-bit integer
    """
    parts = ip_str.split('.')
    if len(parts) != 4:
        raise ValueError("Invalid IPv4 address format: %s" % ip_str)

    a, b, c, d = [int(p) for p in parts]

    unsigned32 = (a << 24) | (b << 16) | (c << 8) | d

    # Convert to signed 32-bit
    if unsigned32 >= (1 << 31):
        signed32 = unsigned32 - (1 << 32)
    else:
        signed32 = unsigned32

    return signed32

The same logic is already implemented in the ANELLO INS Scripts repository: Aerial_INS_CFG.py (ANELLO INS Scripts)

Port number configs can be changed directly in AMC.

NMEA0183 Serial Parameters

Full Parameter list for NMEA0183 messaging over serial

Parameter

Default

Description

NM0183_CFG

2

Configure NMEA0183 serial output. Set to 1 for RS232-1 or 2 for RS232-2.

NM0183_ODR_APIMU

10

Output data rate for AP IMU messages over NMEA0183 serial (Hz).

NM0183_ODR_APINS

0

Output data rate for AP INS messages over NMEA0183 serial (Hz).

NM0183_ODR_GGA

0

Output data rate for GGA messages over NMEA0183 serial (Hz).

NM0183_ODR_RMC

0

Output data rate for RMC messages over NMEA0183 serial (Hz).

NM0183_ODR_VTG

0

Output data rate for VTG messages over NMEA0183 serial (Hz).

NM0183_ODR_GSA

0

Output data rate for GSA messages over NMEA0183 serial (Hz).

NM0183_ODR_GSV

0

Output data rate for GSV messages over NMEA0183 serial (Hz).

SER_TEL1_BAUD

57600

Baud rate for RS232-1 when used for NMEA0183 output.

SER_TEL2_BAUD

921600

Baud rate for RS232-2 when used for NMEA0183 output.

NMEA0183 over UDP Parameters

NMEA0183 over UDP uses port 19551 for input messages and port 19550 for output messages. Setting NMUDP_EN to 1 enables the UDP driver, but external UDP output only occurs when NMUDP_MC_IP0 through NMUDP_MC_IP3 define a valid multicast group or NMUDP_UC_IP0 through NMUDP_UC_IP3 define a Unicast IP.

Parameter

Default

Description

NMUDP_EN

1

Enable or disable the NMEA0183 UDP driver.

NMUDP_MC_IP0

0

Multicast IP address byte 0 for NMEA0183 over UDP.

NMUDP_MC_IP1

0

Multicast IP address byte 1 for NMEA0183 over UDP.

NMUDP_MC_IP2

0

Multicast IP address byte 2 for NMEA0183 over UDP.

NMUDP_MC_IP3

0

Multicast IP address byte 3 for NMEA0183 over UDP.

NMUDP_UC_IP0

0

Unicast IP address byte 0 for NMEA0183 over UDP.

NMUDP_UC_IP1

0

Unicast IP address byte 1 for NMEA0183 over UDP.

NMUDP_UC_IP2

0

Unicast IP address byte 2 for NMEA0183 over UDP.

NMUDP_UC_IP3

0

Unicast IP address byte 3 for NMEA0183 over UDP.

NMUDP_ODR_APIMU

10

Output data rate for AP IMU messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_APINS

0

Output data rate for AP INS messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_GGA

0

Output data rate for GGA messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_RMC

0

Output data rate for RMC messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_VTG

0

Output data rate for VTG messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_GSA

0

Output data rate for GSA messages over NMEA0183 over UDP (Hz).

NMUDP_ODR_GSV

0

Output data rate for GSV messages over NMEA0183 over UDP (Hz).

Note

To use NMEA 0183 over unicast, ensure that all multicast parameters (NMUDP_MC_IP0 through NMUDP_MC_IP3) are set to zero, with the unicast parameters configured as described above.

External Position Aiding Parameters

Parameters used if receiving an external NMEA0183 GNSS input

Parameter

Units

Default

Description

EKF2_GPS_EXT_EN

N/A

0

Enables external NMEA0183 GNSS input.

NM_GNSS_CFG

N/A

0

Enables a secondary input-only serial port for external NMEA0183 GNSS input. Set to 1 for RS232-1 or 2 for RS232-2.

NM0183_GPS_EXT

N/A

1

Allows the algorithm to use external GNSS data received on the same serial port selected by NM0183_CFG. Use NM_GNSS_CFG instead to dedicate a separate input-only serial port for external GNSS.

NMUDP_GPS_EXT

N/A

1

Allows the algorithm to use external GNSS data received on the NMEA0183 UDP interface.

GPS_EXT_X

m

0

X offset from INS center to the external GNSS receiver antenna.

GPS_EXT_Y

m

0

Y offset from INS center to the external GNSS receiver antenna.

GPS_EXT_Z

m

0

Z offset from INS center to the external GNSS receiver antenna.

GPS_EXT_DELAY

ms

110

Delay applied to external GNSS measurements relative to IMU timing.

EKF2_PRIME_GPS

N/A

Internal (0)

Preferred GNSS receiver when all receivers are reported healthy.

EKF2_GPS_DS_MODE

N/A

Off (0)

GNSS spoofing-handling mode used when horizontal disagreement exceeds EKF2_GPS_DIS_HOR.

EKF2_GPS_DIS_HOR

m

100

Horizontal disagreement threshold between GNSS receivers.

EKF2_REQ_GPS_REC

N/A

Off (0)

Post-selection receiver dependency mode that can require a healthy internal receiver, external receiver, or all receivers before GPS aiding is fused.

EXT_GPS_CHECK

N/A

15

External GNSS quality check bitmask parameter (enables / disables GNSS health gates). Contact support@anellophotonics.com for more information.