Hi All ,
I have a FOG Gyro that I need to interface to the Navigator flight controller .
The output from the FOG gyro is multiple ( serial RS232 - NMEA 0183 , ASCII , BINARY ) and
Ethernet UDP unicast , multicast and broadcast , TCP client , TCP Server) .
Is there any ways to feed the gyro output to the Navigator input ?
Please contact me if someone can support with the integration ( i.e. writing code , etc ) I am willing to pay for the support .
Thank you very much !
Davide
Hi @DavideROV -
It may be possible to integrate the FOG gyro - are you trying to interface it with ArduSub? What is your application - what kind of vehicle are you developing?
to adapt the gyro output to something ArduPilot can use…
This isn’t a complete solution, but there is some relevant discussion in this thread, which could serve as a starting point if you’re interested in integration with ArduPilot autopilot functionality 
Hi Tony ,
It would be for a bigger ROV which should base its heading on a more reliable FOG gyro , not affected by magnetic field , etc .
The input from the FOG would be selectable , it could be , for example , an NMEA HDT string …
As anticipated I am looking for somebody that could develop this , I am willing to pay for the work involved .
Thank you
Davide
Thanks Eliot
Hi @DavideROV,
Curious if there is already an solution to receive on the Navigator Board an NMEA string, indeed something like the HDT to override the internal compass in the blueboat!
This option would be amazing to make the BlueBoat/ROV a robust platform with RTK heading from two GNSS antennes / INS headingANDpositioning. The internal compass give so much erros nearby a lot of ferrous surveys areas etc.
Hi @Willem -
This is indeed already possible, and some users of ArduSub are also using external IMUs!
From the BlueBoat FAQ
Any NMEA position stream can be parsed by the Navigator Autopilot. To receive the messages from a network-connected device simply configure the Autopilot parameters GPS_Type to NMEA, Serial2_Protocol to GPS, and verify no other Serial port # protocol is set to GPS. Finally, under Autopilot Firmware, Serial port Configuration, set Serial 2 to: udpin:0.0.0.0:27000. Then direct your UDP NMEA stream to the IP address of the BlueBoat. Note that these NMEA messages are required for navigation: RMC, GGA, VTG, HDT. This approach uses the ArduPilot driver to interpret the NMEA messages - you can also use the NMEA Injector in BlueOS, which has support for fewer messages. If using a serial connection to bring the NMEA position data to the Navigator serial port 3 or 4, set the appropriate Serial# Protocol parameter to GPS and restart the autopilot. NMEA messages should be sent at 10hz or faster.
This link also has more information!
Hi @tony-white,
Great! Curious to know how BlueOS is handling the different GGA QI statuses?
From a survey perspective and line planning, we like RTK positioning.
For example, what will the response be when the GGA jumps from RTK to differential GPS?
GPS Quality indicator:
0: Fix not valid
1: GPS fix
2: Differential GPS fix (DGNSS), SBAS, OmniSTAR VBS, Beacon, RTX in GVBS mode
3: Not applicable
4: RTK Fixed, xFill
5: RTK Float, OmniSTAR XP/HP, Location RTK, RTX
6: INS Dead reckoning
Hi @Willem -
I’m not sure - that question may be answered better on the ArduPilot forums.
Dear @tony-white,
I changed the following autopilot parameters:
Serial2_protocol from Mavlink2 to GPS (serial1 was also set to Mavlink2 and unused in Serial port Configuration, no other Serial protocol is set to GPS )
GPS_type from auto to Nmea
Serial5_protocol from GPS to none
Ekf3_src1_yaw from Compass to GPS
Autopilot Firmware:
Serial port Configuration, set Serial 2 to: udpin:0.0.0.0:27000 (also tested udpin:192.168.2.2:27000)
GNSS:
In our Septentrio GPS, made an output to 192.168.2.2:27000, with RMC, GGA, VTG, HDT.
The Cockpit is still outputting an alarm: EK3F is waiting for GPS config data and no position data is showed in the Cockpit when clicking on the Boat.
Further, after save and reboot, udpin:0.0.0.0:27000 is still there, and after a second reboot for example, the line ‘udpin:0.0.0.0:27000’ is removed.
Do you have some guidance?
Hi @Willem -
Can you share what version of BlueOS you’re using? This is on a BlueBoat?
After setting serial port configuration, do you save and restart the autopilot via the button at the bottom of the page?
What is the IP address of the Septentrio GPS, and how is it connected to the system? Via ethernet switch?
It may be worth trying the NMEA injector instead of the autopilot serial 2 approach…
Hi Tony,
I will try this as well, one additional question though. will i still be able to use a fallback of the boats gps and compass if there is no input from the external GPS?
Hi @RobB
Yes, if the default GPS is still connected to Serial5, it will be used as fallback should an external GPS report no lock…