I am trying understand what is going on as creating
UDP socket 27000 ID 220. using nmea injector does not work
but UDP socket 27001 ID 220. gets created following thispost
My goal is to follow #1 option from the post to drive the autonomously for mapping work.
Hi, did you figure this out? I can’t even seem to create a socket in BlueOS.
Did not get any reply from anyone, and I drifted away from it but I guess its time to pick it up again.
Will let you know when I find something.
BTW did you turn on your pirate mode? you need to get NMEA injector
Hi,
I did turn on pirate mode, and I found the NMEA injector tab. Unfortunately, the “create” button on the pop-up for the socket creator does nothing, and I continue to see nothing on that NMEA injector page, even after “adding” a socket.
Hi @tritonkeller -
Nothing else is expected to show up on the NMEA injector page - once a socket is created, and UDP nmea stream pointed at the vehicle, things should just work! The other approach of consuming NMEA data without the injector, described on the standalone thread you created, may be a better option to try…
Hey All-
I think this is the best place to post this question? Though there are a few threads that have relevant conversations. I’m having a similar issue: the NMEA Injector in BlueOS (1.4.1) will not create a UDP socket for port 27000. I can create sockets with other ports, for example 2700 or 27001; but not 2700.
The sub is running a Cerulean Tracker 650 but I have disabled it thru SonarView thinking that might have been an issue. I am attempting to send USBL data from a MicronNav to BlueOS to show lat/long in the video overlay…like others. I have the NMEA router setup and it is sending data. Currently stuck on creating the socket. Any help is appreciated.
Thanks,
Josh
Hi @VisionSubsea -
To clarify, the NMEA injector is distinct from receiving data into the autopilot directly via a virtual serial port tied to port 27000 on the network.
The NMEA injector is definitely not required to use the Cerulean Tracker 650! The operation of the Cerulean is via mavlink messages targeted at the Mavlink2Rest interface, so nothing to do with NMEA input.
Disable anything associated with the NMEA injector, and simply add a udpin:0.0.0.0:27000 on the Autopilot Firmware page for Serial 2. Then setup Serial 2 function as GPS - as detailed in the BlueBoat FAQ. Your MicronNav needs to be sending the NMEA data tot he IP address of the vehicle, at that port, for things to work. This is similar to setting up RTK GPS on the BlueBoat, which is detailed in the FAQ:
Hi Tony-
Thanks for the quick response. I thought that because I could see the BROV icon on the maps page via location being set in the Cerulean DVL extension that maybe that was tying up the Type_GPS1 that I (think) I am trying to send data to and thus couldn’t create the socket for port 27000. Understood it is not related.
I could be wrong but based on reviewing other similar threads I thought I needed to use the NMEA Injector in order to send just the $GPRMC or the $GPGGA that the MicronNav hub outputs?
I am basically at the same point as Murdo on this thread:
I jumped on this thread because I cannot create the socket for port 27000 and I don’t understand why. I know it is probably a dumb question but others were having a similar issue here and I didn’t see a resolution.
Thanks for your help!
Josh
Hi @VisionSubsea -
That thread does get terminology a bit mixed up by the user. Both are valid approaches, but going straight to the autopilot supports more types of nmea messages, including one for heading.
If you’ve configured the navigation sensor to output data to port 27000 via udp, then setting up either method should work. Can you share a screenshot of what is preventing you from using 27000 with the NMEA injector? Is that port already setup under Autopilot Firmware?
Updating to the latest stable BlueOS (1.4.3) may help.
Hi @tony-white -
Roger that. I phat fingered the BlueOS version in my original query. We are running 1.4.3. The bootstrap is on 1.4.1; but only because the sub is in the water at the moment. I will update the bootstrap shortly.
Below is what is showing under the serial tab of Autopilot Firmware. To be honest, I had never seen this tab before. Is this what you’re asking about? There is nothing showing for serial 5-8. I do not have any serial devices plugged into the Navigator board.
The ROV position is generated topside and I am sending it to the pilot computer via a serial cable and attempting to send the string to 192:168:2.2:27000 via NmeaRouter software. It’s not running at the moment but this is the configuration:
As the gentlemen on this thread noted, when I try to create the below NMEA socket with port 27000 nothing happens and I do not see the link on the page as I do for the UDP-27001 in the below example:
Thanks for working on this with us! Per usual I’m sure we’re missing something simple.
Josh
Turn on pirate mode and take a look at autopilot firmware again!
Apologies for forgetting to mention that .
I believe 27000 is reserved by the autopilot, hence the injector avoiding it. No need to use it- best to configure serial 2 as explained. After doing that and restarting the autopilot (first option under BlueOS power button in lower left) things should just work!
Hey @tony-white-
I followed the steps as outlined in the FAQ on RTK GPS integration. See below. Will it work with only the $GPRMC? I tried the $GPGGA as well with no change in Cockpit. I read in the FAQ you referenced that to configure the Serial 2 function as a GPS input for a NMEA string you need the additional inputs of RMC, VTG and HDT, which I do not have available. That is why I thought I had to use the NMEA Injector for this application. Should it “just work” with just the standalone position strings mentioned above?
I don’t see any position or satellite info on the GPS mini widget. I don’t see the ROV on the map either and when I hover over the airplane icon in the lower left it reads “cannot center on vehicle, vehicle undefined.”
Can I use Terminal to confirm the string is coming in via the output on the NMEARouter? Any other suggestions?
Thanks,
Josh
Hi Joshua -
It seems the key difference between your setup and Murdo’s known working configuration with the same sensor, is that you are not sending RMC, GGA, VTG, HDT messages - it was only after enabling these that @Mac1 had success?
This shouldn’t be the case, and if it is, seems like something you’d need to follow up with the vendor of the navigation sensor about - we don’t sell it / support it, and haven’t used one before, so it’s tough to help beyond that!
