Configurations ================ This page consolidates the Maritime INS parameter tables used throughout the documentation. Use the links below to jump directly to a configuration group. * :ref:`installation-parameters` * :ref:`nmea-2000-parameters` * :ref:`can-termination` * :ref:`ethernet-parameters` * :ref:`nmea0183-serial-parameters` * :ref:`nmea0183-over-udp-parameters` * :ref:`external-position-aiding-parameters` .. _installation-parameters: 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 Maritime 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 boat to INS center. | +---------------------+-------+---------+----------------------------------------------------------------------------------------------+ | **EKF2_IMU_POS_Y** | m | 0 | Y offset from center of boat to INS center. | +---------------------+-------+---------+----------------------------------------------------------------------------------------------+ | **EKF2_IMU_POS_Z** | m | 0 | Z offset from center of boat 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 vessel bow | | | | | - **Yaw 90°**: Unit mounted upright with X pointing towards vessel starboard | | | | | - **Yaw 180°**: Unit mounted upright with X pointing towards vessel stern | | | | | - **Yaw 270°**: Unit mounted upright with X pointing towards vessel port | | | | | - **Roll 180°**: Unit mounted upside down with X pointing towards vessel bow | | | | | - **Roll 180°, Yaw 90°**: Unit mounted upside down with X pointing towards vessel starboard| | | | | - **Roll 180°, Yaw 180°**: Unit mounted upside down with X pointing towards vessel stern | | | | | - **Roll 180°, Yaw 270°**: Unit mounted upside down with X pointing towards vessel port | | | | | | | | | | Will be presented as a drop-down menu in AMarinerControl. | +---------------------+-------+---------+----------------------------------------------------------------------------------------------+ .. _nmea-2000-parameters: 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: CAN Termination --------------- The ANELLO Maritime 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 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. .. code-block:: python # ================================================================================== # 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: `Maritime_INS_CFG.py (ANELLO INS Scripts) `_ Port number configs can be changed directly in AMC. .. _nmea0183-serial-parameters: 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_ZDA | 0 | Output data rate for ZDA messages over NMEA0183 serial (Hz). | +--------------------+---------+--------------------------------------------------------------------------+ | NM0183_ODR_HDT | 0 | Output data rate for HDT messages over NMEA0183 serial (Hz). | +--------------------+---------+--------------------------------------------------------------------------+ | NM0183_ODR_APACC | 0 | Output data rate for AP ACC 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 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_ZDA | 0 | Output data rate for ZDA messages over NMEA0183 over UDP (Hz). | +--------------------+---------+--------------------------------------------------------------------------+ | NMUDP_ODR_HDT | 0 | Output data rate for HDT messages over NMEA0183 over UDP (Hz). | +--------------------+---------+--------------------------------------------------------------------------+ | NMUDP_ODR_APACC | 0 | Output data rate for AP ACC 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: External Position Aiding Parameters -------------------------------------------- Parameters used if receiving an external NMEA0183 GNSS input .. list-table:: :header-rows: 1 :widths: 22 10 18 50 * - 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.