# Integration Inquiry: DGPS Trimble SPS356 DGNSS with BlueOS blueboat
**URL:** https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768
**Category:** BlueOS
**Tags:** blueos, blueboat
**Created:** [May 1, 2024, 10:41am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768 "2024-05-01T10:41:41Z")
**Posts on this page:** 10
**Page:** 1
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [May 1, 2024, 10:41am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/1 "2024-05-01T10:41:41Z")
Hello,
I am currently exploring the integration of DGPS using my Trimble SPS356 DGNSS beacon receiver with BlueOS Blueboat. Can anyone provide me with guidance on the following:
1. Is BlueOS compatible with third-party DGNSS beacon receivers such as the Trimble SPS356?
2. What are the potential challenges or considerations that I should take into account when integrating these two systems?
3. Are there any available documentation or resources that could assist me with this integration?
I would appreciate any insights or guidance you can provide.
Best regards,
Sakthivel
---
### Author:  [@tony-white](https://discuss.bluerobotics.com/u/tony-white)
#### Post date: [May 1, 2024, 5:00pm UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/2 "2024-05-01T17:00:33Z")
Hi @Sakthivelj -
If your GPS supports producing a UDP NMEA output stream with the following messages, it can be configured as the position (and heading) source for the BlueBoat.
\_GPS\_SENTENCE\_RMC
\_GPS\_SENTENCE\_GGA
\_GPS\_SENTENCE\_VTG
\_GPS\_SENTENCE\_HDT
[Source](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_NMEA.h#L81-L92)
Once you’ve configured your gps to output those messages, directed at the Raspberry Pi address of 192.168.2.2, port 27000, (you’ll need an [ethernet switch](https://bluerobotics.com/store/comm-control-power/tether-interface/ethswitch/)), you can configure BlueOS as follows:
1. In Autopilot Firmware, Serial Ports, set up serial2 as udpin:[0.0.0.0:27000](http://0.0.0.0:27000/)
2. Under Autopilot Parameters the parameter GPS\_TYPE should be set to NMEA, and Serial2\_Protocol set to GPS. Make sure that no other Serial#\_Protocol parameter is set to GPS as well.
3. No configuration of the NMEA Injector (menu tab in BlueOS) should be necessary.
4. Make sure you are running the latest stable BlueOS, and are using the latest ArduRover (4.5.1)
Let us know how it goes!
---
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [May 2, 2024, 8:45am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/3 "2024-05-02T08:45:43Z")
@tony-white Thank you for sharing the details.
> [@tony-white](#):
>
> Let us know how it goes!
Sure I’ll keep you updated. Thanks!
,
---
### Author:  [@tony-white](https://discuss.bluerobotics.com/u/tony-white)
#### Post date: [May 3, 2024, 7:09am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/4 "2024-05-03T07:09:10Z")
One more thing to note @Sakthivelj -
The instructions provided will mean that the Ardupilot driver is used to receive and parse the nmea messages, which is generally a more capable driver. BlueOS includes an alternative, [NMEA injector](https://blueos.cloud/docs/blueos/1.2/advanced-usage/#nmea-injector), that turns everything received into mavlink messages available to the autopilot, so there are some limitations. It can only handle 4 messages, for example so it can’t use GPS yaw.
If you’d like to try NMEA injector, you’ll need to reverse the configuration steps described (GPS\_TYPE back to auto (or NMEA), SERIAL2\_Protocol, Serial 2 in autopilot)
---
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [May 6, 2024, 9:38am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/5 "2024-05-06T09:38:10Z")
Thanks @tony-white. Once I receive DGPS, I will test it and update you.
---
### Author:  [@surajbilung](https://discuss.bluerobotics.com/u/surajbilung)
#### Post date: [May 30, 2024, 10:43am UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/6 "2024-05-30T10:43:11Z")
Hi @tony-white, Could you please tell me how serial port configuration do it for Pixhawk 2.4.8? The serial port configuration is not available for Pixhawk.
---
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [May 30, 2024, 1:12pm UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/7 "2024-05-30T13:12:42Z")
> [@tony-white](#):
>
> \_GPS\_SENTENCE\_RMC
> \_GPS\_SENTENCE\_GGA
> \_GPS\_SENTENCE\_VTG
> \_GPS\_SENTENCE\_HDT
> [Source](https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_GPS/AP_GPS_NMEA.h#L81-L92)
> Once you’ve configured your gps to output those messages, directed at the Raspberry Pi address of 192.168.2.2, port 27000, (you’ll need an [ethernet switch](https://bluerobotics.com/store/comm-control-power/tether-interface/ethswitch/)), you can configure BlueOS as follows:
>
> 1. In Autopilot Firmware, Serial Ports, set up serial2 as udpin:[0.0.0.0:27000](http://0.0.0.0:27000/)
>
> 
>
> 1. Under Autopilot Parameters the parameter GPS\_TYPE should be set to NMEA, and Serial2\_Protocol set to GPS. Make sure that no other Serial#\_Protocol parameter is set to GPS as well.
> 2. No configuration of the NMEA Injector (menu tab in BlueOS) should be necessary.
> 3. Make sure you are running the latest stable BlueOS, and are using the latest ArduRover (4.5.1)
Thanks @tony-white This procedure it’s working good.
---
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [May 30, 2024, 2:00pm UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/8 "2024-05-30T14:00:54Z")
@tony-white Could you please tell me if possible to integrate with pixhawk?
---
### Author:  [@tony-white](https://discuss.bluerobotics.com/u/tony-white)
#### Post date: [May 31, 2024, 1:14pm UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/9 "2024-05-31T13:14:34Z")
Hi @Sakthivelj
The above procedure will not work for the Pixhawk. However, it is [possible](https://discuss.ardupilot.org/t/nmea-gps-input-setup/104077/3) to connect a NMEA serial stream to the Pixhawk and configure it for use. Are you using your BlueBoat with a Pixhawk?
---
### Author:  [@Sakthivelj](https://discuss.bluerobotics.com/u/Sakthivelj)
#### Post date: [June 1, 2024, 3:18pm UTC](https://discuss.bluerobotics.com/t/integration-inquiry-dgps-trimble-sps356-dgnss-with-blueos-blueboat/16768/10 "2024-06-01T15:18:07Z")
No, we are using Navigator only. Just curious about @surajbilung question. Its Pixhawk is able to integrate DGNSS beacon receivers Trimble SPS356 DGPS It will be good for us for some other applications.
I will try this [NMEA GPS input setup - #3 by jtsheedy - Rover 4.1 - ArduPilot Discourse](https://discuss.ardupilot.org/t/nmea-gps-input-setup/104077/3). Thanks @tony-white .