Injecting NMEA in Navigator

Blue Robotics Software
1

Im trying to inject NMEA Signals and tried using the nmea injector and the udpin:0.0.0.0:27000 in the serial config but nothing is working for me.
This is an example of the NMEA im sending with 10Hz via Datalink (a part of RXTools from septentrio i can really recommend for all udp/tcp and serial stuff) to the designated udp port:

$GPRMC,210923.90,A,5309.0289643,N,00742.6555707,E,0.0,180925,3.3,E,A*11

$GPGGA,210923.90,5309.0289643,N,00742.6555707,E,1,16,1.2,8.4077,M,46.4396,M,*63

$GPVTG,T,M,0.03,N,0.06,K,A*26

$GPHDT,T*1

Are there any stupid mistakes i can do in this process?

2

might not be the smartes to use my own coordinates but who cares

3

Hi Simon -

There are two ways to inject NMEA for the Autopilot to process - Either the NMEA injector or the udpin:0.0.0.0:27000 method you mention, under Autopilot Firmware. They should not both be done at the same time!

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.

Are you using ArduSub or ArduRover? What version of BlueOS? Are those GPS coordinates valid places on the planet? If you continue to have issues, sharing a .BIN autopilot log and a BlueOS system log would be helpful in troubleshooting.

4

Hello,

i didnt try them simultaneously. The NMEA Feed is just forwarded live from a reciever outside my house. Im using ArduRover. I will share the version and Logs tomorrow.
Thank you very much