Configuration

In order to configure the 4x Arbiter, connect it to 4xVeronte PDI Builder and select Load 4xVeronte.

Alternatively, it is possible to modify PDI files Offline, and then upload them using Upload PDI.

Attention

If Veronte is in Normal Mode, it is possible that the Load 4xVeronte process takes longer than usual if arbitration is active.

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Update 4x Veronte Arbiter


Arbitration

Configuration of the arbitration algorithm

Config

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Update 4x Veronte Arbiter

1.

Preferred autopilot. Selected autopilot in case of a score draw

2.

Arbitration method

3.

Number of arbitration variables

4.

Time delay before a new switch is possible after an AP switch

5.

Score differential needed for a switch. This value represents a proportion of selected autopilot’s score

6.

Enable arbitration of external autopilot

7.

Number of absolute variables. The asignation starts from the

bottom. i.e. If there are 4 arbitration variables and 2

absolute variables, variables 0-1 will be relative and

variables 2-3 will be absolute

8.

Arbitration weights for each variable

CAN Config

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Update 4x Veronte Arbiter

1.

Enable and frequency of Status Message

2.

Enable and frequency of Score messages

3.

CAN ID at which Status and Score messages are sent

4.

CAN ID at which Arbitration messages for AP1 must be sent

5.

CAN ID at which Arbitration messages for AP2 must be sent

6.

CAN ID at which Arbitration messages for AP3 must be sent


I/O Manager

Configuration for serial interfaces

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Update 4x Veronte Arbiter

Producers

RS 232 1-2

Serial RS232 Rx physical interfaces

RS 485

Serial RS485 Rx physical interfaces

Commgr Port 1-5

Configuration ports

CAN to Serial 0-7

RS message over CAN output (Connected to CAN I/O Consumer)

CAN Wrapper 0-1

CAN message over RS output (Connected to CAN I/O Consumer)

Consumers

RS 232 1-2

Serial RS232 Tx physical interfaces

RS 485

Serial RS485 Tx physical interfaces

Commgr Port 1-5

Configuration ports

Serial to CAN 0-7

RS messages over CAN input (Connected to CAN I/O Producer)

CAN unWrapper 0-1

CAN messages over RS input (Connected to CAN I/O Producer)

Warning

By default, RS232 1-2 are set up for Arbiter configuration. If these connections are removed, it will not be possible to communicate with the arbiter in Normal mode. In this situation, force the Arbiter into Maintenance mode in order to recover the comunication.


CAN I/O Manager

Configuration for CAN interfaces.

Mailbox and Custom message configuration are identical to Veronte Autopilot. For more information please check the related sections.

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Update 4x Veronte Arbiter

CAN - Producers

Arbiter

Status and Score messages Output

Input Filter

CAN Input Filters

Serial to CAN 0-7

RS messages over CAN output (Connected to I/O Manager Consumer)

CAN unWrapper 0-1

CAN messages over RS output (Connected to I/O Manager Consumer)

Custom Message

CAN Custom Message 1 Tx

CAN - Consumers

Arbiter

Input for Arbitration messages

Output Filter

CAN Output Filters

CAN to Serial 0-7

RS messages over CAN output (Connected to I/O Manager Producer)

CAN Wrapper 0-1

CAN messages over RS output (Connected to I/O Manager Producer)

Custom Message

CAN Custom Message 1 Rx

GPIO Consumer

Consumer for GPIO control Messages

Attention

The Input Filter connected to the Arbiter consumer must have a mask that allows all Arbitration CAN IDs


SCI

Configuration of RS interfaces

CAN

Configuration of CAN Bus baudrates

PORTS

Commgr Port routing configuration

GPIO

GPIO pin configuration