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.

../../_images/vectornav_vn_300_diagram.png — **Vectornav VN-300 - Autopilot 1x wiring diagram**¶

Important

Note that it must be connected to an external power supply, sharing signal ground with Autopilot 1x.

../../_images/vectornav_vn_300_pinout.png — **Vectornav VN-300 connector pinout**¶

../../_images/pinout_harness.png — **Autopilot 1x harness pinout**¶

Autopilot 1x harness			Vectornav VN-300 connector
PIN	Signal	Color code	PIN	Signal
19	RS 232 TX	White-Pink	1	RX1
20	RS 232 RX	Pink-Brown	2	TX1
21	GND	White-Blue	5	GND

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Once the IMU is connected, the user must proceed to its software integration with Veronte Autopilot 1x by referring to the Vectornav VN-300 - Integration examples of the 1x PDI Builder user manual.

Magnetometers¶

Magnetometer Honeywell HMR2300¶

../../_images/magnetometer_hmr2300.png — **Magnetometer Honeywell HMR2300**¶

Magnetometer Honeywell HMR2300 is an external magnetometer that can be connected to Veronte Autopilot 1x via RS232 or RS485 (serial interfaces).

../../_images/db9_connector.png — **Magnetometer Honeywell HMR2300 connector pinout**¶

Connections via RS232 and RS485 interfaces are explained separately.

RS232¶

../../_images/magnetometer_hmr2300_diagram_232.png — **Magnetometer Honeywell HMR2300 (RS232) - Autopilot 1x wiring diagram**¶

For proper operation via RS232, the connection between Magnetometer Honeywell HMR2300 and Autopilot 1x pins should be like this:

Autopilot 1x harness			Magnetometer Honeywell HMR2300 connector
PIN	Signal	Color code	PIN	Signal
19	RS 232 TX	White-Pink	3	RD
20	RS 232 RX	Pink-Brown	2	TD
21	GND	White-Blue	5	GND

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Once the Magnetometer Honeywell HMR2300 is connected, the user must proceed to its software installation with Veronte Autopilot 1x by referring to the Magnetometer Honeywell HMR2300 (RS232) - Integration examples of the 1x PDI Builder user manual.

RS485¶

../../_images/magnetometer_hmr2300_diagram_485.png — **Magnetometer Honeywell HMR2300 (RS485) - Autopilot 1x wiring diagram**¶

For proper operation via RS485, the connection between Magnetometer Honeywell HMR2300 and Autopilot 1x pins should be like this:

Autopilot 1x harness			Magnetometer Honeywell HMR2300 connector
PIN	Signal	Color code	PIN	Signal
50	OUT_RS485_P	Pink-Brown	2	TD (B) Transmit Data, RS-485 (B+)
53	IN_RS485_P	White-Red	2	TD (B) Transmit Data, RS-485 (B+)
51	OUT_RS485_N	White-Blue	3	RD (A) Receive Data, RS-485 (A-)
52	IN_RS485_N	Brown-Blue	3	RD (A) Receive Data, RS-485 (A-)
54	OUT_GND	Brown-Red	5	GND

Warning

Note that this pin 54 is not a common GND pin.

Note

If users encounter any problems during wiring, please check the Half-duplex servo does not respond - Troubleshooting section of this manual.

Once the Magnetometer Honeywell HMR2300 is connected, the user must proceed to its software installation with Veronte Autopilot 1x by referring to the Magnetometer Honeywell HMR2300 (RS485) - Integration examples of the 1x PDI Builder user manual.

MEX as Magnetometer Honeywell HMR2300¶

../../_images/mex_connection_pinout.png — **MEX connector pinout**¶

MEX can be used as an external magnetometer Honeywell HMR2300 connected to Veronte Autopilot 1x via serial (RS232/RS485) or CAN interfaces.

Connections via CAN, RS232 and RS485 interfaces are explained separately.

CAN¶

For proper operation via CAN, the connection between MEX and Autopilot 1x pins should be like this:

Autopilot 1x harness			MEX connector
PIN	Signal	Color code	PIN	Signal
25	CANA_P	White-Black	22	CAN A (P)
26	CANA_N	Brown-Black	23	CAN A (N)
28	CANB_P	Yellow-Green	20	CAN B (P)
29	CANB_N	Pink-Green	21	CAN B (N)
30	GND	Yellow-Pink	24	CAN GND

Note

If only CAN A or CAN B has been configured in the software for communications, only the corresponding pins must be connected.

For more information on CAN connection, please visit CAN - Wiring connection section of this manual.

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Important

Integration is also possible by connecting CAN A of the Autopilot 1x to CAN B of the MEX and vice versa, i.e. it does not necessarily have to be CAN A-CAN A or CAN B-CAN B.

However, any connections made must be consistent with the configuration made at software level in 1x PDI Builder and MEX PDI Builder.

RS232¶

For proper operation via RS232, the connection between MEX and Autopilot 1x pins should be like this:

Autopilot 1x harness			MEX connector
PIN	Signal	Color code	PIN	Signal
19	RS 232 TX	White-Pink	16	RS-232 (A) RX
19	RS 232 TX	White-Pink	19	RS-232 (B) RX
20	RS 232 RX	Pink-Brown	15	RS-232 (A) TX
20	RS 232 RX	Pink-Brown	18	RS-232 (B) TX
21	GND	White-Blue	17	GND

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Important

Integration is possible by connecting the RS-232(A) or RS-232(B) from MEX to the RS232 of Autopilot 1x.

However, any connections made must be consistent with the configuration made at software level in 1x PDI Builder and MEX PDI Builder.

RS485¶

For proper operation via RS485, the connection between MEX and Autopilot 1x pins should be like this:

Autopilot 1x harness			MEX connector
PIN	Signal	Color code	PIN	Signal
50	OUT_RS485_P	Pink-Brown	33	IN RS-485 (P)
51	OUT_RS485_N	White-Blue	31	IN RS-485 (N)
52	IN_RS485_N	Brown-Blue	32	OUT RS-485 (N)
53	IN_RS485_P	White-Red	30	OUT RS-485 (P)
54	OUT_GND	Brown-Red	34	RS-485 GND

Warning

Note that, in Autopilot 1x, this pin 54 is not a common GND pin.

Important

Any connections made must be consistent with the configuration made at software level in

1x PDI Builder and MEX PDI Builder.

PNI RM3100¶

PNI RM3100-CB magnetometer must be connected to Autopilot 1x via I2C.

Important

This integration example is described for the RM3100-CB.

../../_images/magnetometer_pni_rm3100_diagram.png — **PNI RM3100-CB - Autopilot 1x wiring diagram**¶

Autopilot 1x harness			PNI RM3100-CB
PIN	Signal	Color code	PIN	Signal
31	I2C_CLK	White	1	SCL
32	I2C_DATA	Brown	3	SDA
33	GND	Green	4	VSS Ground
			2	SA1 Bit 1 of slave address
			7	SA0 Bit 0 of slave address
34	3.3V	Yellow	8	VDD Supply Voltage
34	3.3V	Yellow	5	I2C_EN I2C enable pin (HIGH = I2C)

Warning

Remember!! In Autopilot 1x, all GND pins are common. Note that pin 54 is not a common GND pin.

Once the magnetometer is connected, the user must proceed to its software integration with Veronte Autopilot 1x by referring to the PNI RM3100 - Integration examples section of the 1x PDI Builder user manual.