IMUs & Compass¶
IMUs¶
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:
Go to Input/Output menu \(\rightarrow\) Serial panel \(\rightarrow\) RS232 tab.
Configure the serial port parameters:
Baudrate: 9600
Length: 8
Stop: 1
Parity: Disabled
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.
For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.
Go to Input/Output menu \(\rightarrow\) I/O Setup panel.
Bidirectionally connect the RS232 Producer to the External HMR2300 magnetometer Consumer:
Then, the External HMR2300 magnetometer Producer should be automatically connected to the RS232 Consumer:
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:
Connect the Honeywell HMR2300 magnetometer via USB to the PC (with a USB-RS485 converter).
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.
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:
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.
For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.
Go to Input/Output menu \(\rightarrow\) CAN Setup panel \(\rightarrow\) 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.
Go to Input/Output menu \(\rightarrow\) CAN Setup panel \(\rightarrow\) Configuration tab.
Connect an Input filter Producer to a CAN to serial Consumer.
Click on 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.
Go to Input/Output menu \(\rightarrow\) I/O Setup panel \(\rightarrow\) 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.
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:
Go to Input/Output menu \(\rightarrow\) Serial panel \(\rightarrow\) 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
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.
For more information on this block, see Magnetometer - Sensors blocks of Block Programs section.
Go to Input/Output menu \(\rightarrow\) 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.
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.
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.