IMUs & Compass

IMUs

Vectornav VN-300

Vectornav VN-300 is an external IMU that can be connected via RS-232 (serial interface) to Veronte Autopilot 1x.

Once the device hardware installation explained in the Vectornav VN-300 - Integration examples section of the 1x Hardware Manual has been completed, follow the steps below to perform the proper software installation:

  1. Go to Input/Output menu Serial panel RS232 tab.

    Configure the serial port parameters:

    • Baudrate: 115200
    • Length: 8
    • Stop: 1
    • Parity: Disabled

    Vectornav VN-300 - RS232 port configuration

  2. Go to Input/Output menu I/O Setup panel.

    Connect the RS232 Producer to the Vectornav VN-300 Consumer:

    RS232 → Vectornav VN-300

  3. Go to Block Programs menu.

    • Create a program to configure the Vectornav VN-300 as the type of navigation.

      Usually the user has a Navigation program where the blocks that are related to the navegation are implemented.

    • Configure the Navigation block selecting Vectornav VN-300.

      Vectornav VN-300 - Navigation sensor block configuration

    For more information on this block, see Navigation - Navigation blocks of Block Programs section.

Vectornav VN-300 configuration

It is also required a configuration on the Vectornav VN-300 IMU.

Follow the steps below to establish proper communication between Vectornav VN-300 and Veronte Autopilot 1x via RS-232:

  1. Connect the Vectornav VN-300 IMU via USB to the PC (if necessary, use a USB-RS232 converter).
  2. Connect one or both GPS antennas to it.

  3. For its configuration, enable periodic binary messages at 100 Hz. Only the following outputs from the Group 1 (Common group) must be sent:


    OutputsBit Offset
    TimeGps1
    YawPitchRoll3
    AngularRate5
    Position6
    Velocity7
    Accel8
    InsStatus12


Warning

Veronte Autopilot 1x is only capable to decode messages with exactly that structure, any missing or added field will cause Autopilot 1x to reject the messages.

In addition, the baudrate configured on the VN-300 must match that configured for Veronte Autopilot 1x. Therefore, it is recommended to configure the baudrate of the serial port to the standard 115200.

WitMotion HWT905-232

WitMotion HWT905-232 is an external IMU that can be connected via RS-232 (serial interface) to Veronte Autopilot 1x.

The following WitMotion HWT905-232 algorithms will be implemented in the configuration

  • Acceleration Output: The acceleration output data is structured as follows:

    Byte 1 Byte 2 AxL AxH AyL AyH AzL AzH TL TH SUM
    0x55 0x51 AxL AxH AyL AyH AzL AzH TL TH SUM


    The acceleration values are calculated using the following formulas:

    Where g is the gravitational acceleration (9.8 m/s²).

    The temperature is computed as:

    The checksum is obtained using:

  • Angular Velocity Output: The angular velocity output data is structured as follows:

    Byte 1 Byte 2 wxL wxH wyL wyH wzL wzH TL TH SUM
    0x55 0x52 wxL wxH wyL wyH wzL wzH TL TH SUM


    The angular velocity values are calculated using the following formulas:

    The temperature is computed as:

    The checksum is obtained using:

Once the device hardware installation explained in the WitMotion HWT905-232 - Integration examples section of the 1x Hardware Manual has been completed, follow the steps below to perform the proper software installation:

  1. Go to Input/Output menu Serial panel RS232 tab.

    Configure the serial port parameters:

    • Baudrate: 115200
    • Length: 8
    • Stop: 1
    • Parity: Disabled

    WitMotion HWT905 - RS232 port configuration

  2. Go to Sensors menu Accelerometer panel.

    Configure the following:

    • For the Def. Sensor select External sensor 0.
    • Time constant for mean: 2.0 s
    • Time constant for variance: 20.0 s
    • Initial variance: 1.0
    • Minimum variance: 1.0E-4


    Then, External sensor 0 should be automatically added to the accelerometers list. Select it and configure it as follows:

    • Edit Rotation Matrix: Modify this rotation matrix to correctly align the IMU axes with the Autopilot 1x axes:

      Click Apply to save the change.

    • Enable: checked

    • Desired frequency: 100.0 Hz
    • Enable filter: unchecked

    WitMotion HWT905 - Accelerometer configuration

    Rotation Matrix Explanation

    To correctly align the IMU axes with the Autopilot 1x axes, two consecutive rotations have been carried out to obtain the resulting matrix:

    1. First rotation: +180° around X-axis (Matrix B)

    2. Second rotation: -90° around Z-axis (Matrix A)

    The resulting matrix after these rotations to be entered is as follows:


    Note

    For more information on Autopilot 1x coordinates, please refer to the Orientation - Hardware Installation section of the 1x Hardware Manual.

  3. Go to Sensors menu Gyroscope panel.

    Configure it exactly the same way as the Accelerometer in the previous step. It should look like this:

    WitMotion HWT905 - Gyroscope configuration

  4. Go to Input/Output menu I/O Setup panel.

    Connect the RS232 producer to a RS custom message consumer, in this example RS custom message 0 is used.

    WitMotion HWT905 - RS232 → RS custom message 0

  5. Click on gears to configure the RS custom message 0 consumer to store the information received from the external IMU. Users must set it up by defining the protocol specified by the manufacturer:

    WitMotion HWT905 - RS custom message 0 configuration

    For both messages:

    • Endianness: Little endian
    • Time out: 0.15 seconds
    • Time to Idle: 0.02 seconds
    • Bit ID:
      • For message 00 "Custom msg 0 Rx Error"
      • For message 01 "Custom msg 1 Rx Error"

  6. Then, to configure each message, access its configuration edit_list:

    00 - Acceleration Output Message


    Byte Parameter Custom Message Type Message Configuration
    0 Matcher x55 Matcher
    • Value: 85
    • Bits: 8
    • Mask: 255
    1 Matcher x51 Matcher
    • Value: 81
    • Bits: 8
    • Mask: 255
    2-3 External IMU 0 raw accelerometer x measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0047851563
    • Decode - Min/Max: 0/1
    4-5 External IMU 0 raw accelerometer y measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0047851563
    • Decode - Min/Max: 0/1
    6-7 External IMU 0 raw accelerometer z measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0047851563
    • Decode - Min/Max: 0/1
    8-9 External IMU 0 temperature measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 283.0/293.0
    • Decode - Min/Max: 1000/2000


    01 - Angular Velocity Output Message


    Byte Parameter Custom Message Type Message Configuration
    0 Matcher x55 Matcher
    • Value: 85
    • Bits: 8
    • Mask: 255
    1 Matcher x52 Matcher
    • Value: 82
    • Bits: 8
    • Mask: 255
    2-3 External IMU 0 raw gyroscope x measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0010652645
    • Decode - Min/Max: 0/1
    4-5 External IMU 0 raw gyroscope y measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0010652645
    • Decode - Min/Max: 0/1
    6-7 External IMU 0 raw gyroscope z measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 0.0/0.0010652645
    • Decode - Min/Max: 0/1
    8-9 External IMU 0 temperature measurement (Real Variable, 32 bits) Variable
    • Compression: Compress - Bits Signed
    • Bits: 16
    • Encode - Min/Max: 283.0/293.0
    • Decode - Min/Max: 1000/2000

Magnetometers

Magnetometer Honeywell HMR2300

RS-232

Magnetometer Honeywell HMR2300 can be connected via RS-232 (serial interface) in accordance with the manufacturer's specifications and following the Pinout - Hardware Installation section of the 1x Hardware Manual. Detailed information on this connection can be found in the Magnetometer Honeywell HMR2300 (RS232) - Integration examples section of the 1x Hardware Manual.

The following steps explain how to configure Veronte Autopilot 1x to integrate this external magnetometer:

  1. Go to Input/Output menu Serial panel RS232 tab.

    Configure the serial port parameters:

    • Baudrate: 9600
    • Length: 8
    • Stop: 1
    • Parity: Disabled

    Magnetometer Honeywell HMR2300 - RS232 port configuration

  2. Go to Block Programs menu.

    • Create a program to make the necessary connection to the sensor blocks.

      Usually the user has a Navigation program where the sensor blocks are implemented.

    • Configure the Magnetometer sensor block selecting External HMR2300.

      Magnetometer Honeywell HMR2300 - Magnetometer sensor block configuration

    For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.

  3. Go to Input/Output menu I/O Setup panel.

    Bidirectionally connect the RS232 Producer to the External HMR2300 magnetometer Consumer:

    RS232 ↔︎ External HMR2300 magnetometer

    Then, the External HMR2300 magnetometer Producer should be automatically connected to the RS232 Consumer:

    External HMR2300 magnetometer ↔︎ RS232

For more information on the Magnetometer Honeywell HMR2300, check out the datasheet: Smart Digital Magnetometer HMR2300.

RS-485

Magnetometer Honeywell HMR2300 can be connected via RS-485 (serial interface) in accordance with the manufacturer's specifications and following the Pinout - Hardware Installation section of the 1x Hardware Manual. Detailed information on this connection can be found in the Magnetometer Honeywell HMR2300 (RS485) - Integration examples section of the 1x Hardware Manual.

Follow the next steps to establish a correctly communication between Honeywell HMR2300 magnetometer and Veronte Autopilot 1x via RS-485:

  1. Connect the Honeywell HMR2300 magnetometer via USB to the PC (with a USB-RS485 converter).

  2. The configuration to establish communication must be:

    • In binary mode
    • With continuous fowarding
    • ID = 00

    To configure the magnetometer in this way, the following commands must be sent to it:

    • *99Q: This command reads the default values, including the device ID.
    • *00WE: This enables writing.
    • *ddID=00: Changes the ID to 00, where dd is the device ID obtained with the first command.
    • *00WE: Enables writing.
    • *00B: Binary mode.
    • *00C: Continuous send mode.
    • *00WE: Enables writing.
    • *00SP: Finally, this command saves the configuration in EEPROM.

  3. Autopilot can now be configured to communicate via RS485 with the magnetometer Honeywell HMR2300.

    The configuration to be carried out is very similar to that described above for communication with the magnetometer via RS-232:

    • Instead of configuring the 232 serial port, the 485 serial port is configured.
    • And, the bidirectional connection must be made between the RS485 port and External HMR2300 magnetometer and not with the RS232 port.

For more information on the Magnetometer Honeywell HMR2300, check out the datasheet: Smart Digital Magnetometer HMR2300.

MEX as Magnetometer Honeywell HMR2300

MEX can be used as an external magnetometer Honeywell HMR2300 connected to Veronte Autopilot 1x via serial or CAN interfaces.

Important

Both MEX and Autopilot 1x devices must be configured to conduct this integration, therefore, the following explanations are consequent to the MEX configuration detailed in the MEX as external magnetometer for Autopilot 1x - Integration examples section of MEX PDI Builder manual.

Communication via serial and CAN interfaces are explained separately.

CAN

For this CAN connection, first check the MEX as Magnetometer Honeywell HMR2300 (CAN) - Integration examples section of the 1x Hardware Manual.

The following steps explain how to configure Veronte Autopilot 1x to integrate MEX as an external magnetometer via CAN:

  1. Go to Block Programs menu.

    • Create a program to make the necessary connection to the sensor blocks.

      Usually the user has a Navigation program where the sensor blocks are implemented.

    • Configure the Magnetometer sensor block selecting External HMR2300.

      MEX as Magnetometer Honeywell HMR2300 - Magnetometer sensor block configuration

    For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.

  2. Go to Input/Output menu CAN Setup panel Mailboxes tab.

    Configure the required mailboxes to receive a message with the CAN ID that matches the corresponding MEX configuration.

    Note

    In this example, 4 mailboxes are added for CAN A with ID 1301, according to the MEX configuration carried out in CAN - MEX as external magnetometer for Autopilot 1x in the Integration examples section of MEX PDI Builder manual.

    MEX as Magnetometer Honeywell HMR2300 - CAN Mailboxes configuration

  3. Go to Input/Output menu CAN Setup panel Configuration tab.

    Connect an Input filter Producer to a CAN to serial Consumer.

    MEX as Magnetometer Honeywell HMR2300 - CAN Setup configuration

    Click on gears of the selected Input filter and configure it with the CAN port and CAN ID that matches those of the corresponding MEX configuration.

    Note

    This example is configured according to the MEX configuration carried out in CAN - MEX as external magnetometer for Autopilot 1x in the Integration examples section of MEX PDI Builder manual.

    MEX as Magnetometer Honeywell HMR2300 - Input filter configuration

  4. Go to Input/Output menu I/O Setup panel Configuration tab.

    Connect a CAN to serial Producer to the External HMR2300 magnetometer Consumer.

    Important

    The index of the CAN to serial Producer must match the index of the CAN to serial Consumer configured in the previous step.

    MEX as Magnetometer Honeywell HMR2300 - I/O Setup configuration

Serial

For this serial connection, first check the MEX as Magnetometer Honeywell HMR2300 (RS232/RS485) - Integration examples section of the 1x Hardware Manual.

The following steps explain how to configure Veronte Autopilot 1x to integrate MEX as an external magnetometer via serial:

  1. Go to Input/Output menu Serial panel RS232/RS485 tab.

    Configure the serial port parameters:

    Note

    This is an example of RS-232 connection, if MEX is connected via RS-485, configure the RS485 serial tab.

    • Baudrate: 115200
    • Length: 8
    • Stop: 1
    • Parity: Disabled

    MEX as Magnetometer Honeywell HMR2300 - RS232 port configuration

  2. Go to Block Programs menu.

    • Create a program to make the necessary connection to the sensor blocks.

      Usually the user has a Navigation program where the sensor blocks are implemented.

    • Configure the Magnetometer sensor block selecting External HMR2300.

      MEX as Magnetometer Honeywell HMR2300 - Magnetometer sensor block configuration

    For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.

  3. Go to Input/Output menu I/O Setup panel.

    Connect the RS232 Producer to the External HMR2300 magnetometer Consumer:

    Note

    If the user connects the MEX via RS-485, connect the RS485 Producer instead of RS232 Producer.

    RS232 → External HMR2300 magnetometer

PNI RM3100

PNI RM3100 must be connected via I2C in accordance with the manufacturer's specifications and following the Pinout - Hardware Installation section of the 1x Hardaware Manual.

Detailed information on this connection can be bound in the PNI RM3100 - Integration examples section of the 1x Hardware Manual.

Important

Autopilot 1x is preconfigured to automatically detect and read the PNI RM3100 magnetometer via the I2C interface. This means the user does not need to manually select the communication interface, as the 1x automatically detects it.

For the software installation of this magnetometer:

  • Go to Block Programs menu.

    • Create a program to make the necessary connection to the sensor blocks.

      Usually the user has a Navigation program where the sensor blocks are implemented.

    • Configure the Magnetometer sensor block selecting External RM3100.

    PNI RM3100 - Magnetometer sensor block configuration

Important

Since the user cannot modify the configuration parameters of the I2C interface, it is essential to ensure that the address of the external sensor matches the one preconfigured in Veronte Autopilot 1x.

For RM3100 sensor, the address is 0x20.

For more information, visit the Magnetometer - Sensors section of this manual.

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