WL UGPS External

Send NMEA position information (GGA and HDT) to the Water Linked UGPS API.

Typical Configuration

Add a satellite compass to the topside vessel and connect it to the ROV Ethernet network.

• It should have a static IP address on the 192.168.2.X subnet
• It should send GGA and HDT messages via UDP to BlueOS at 192.168.2.2:6200

Install this extension in BlueOS:

• Select Extensions in the sidebar
• Click on WL UGPS External
• Click Install

After a few moments you should see the WL UGPS External entry in the sidebar. Click on it to see a very simple UI.

Arguments

• Set UGPS_HOST to the IP address of the WL UGPS G2 box. The default is http://192.168.2.94.
• Set SEND_RATE to the rate to send position information to the G2 box. The default is 2Hz.
• Set POLL_RATE to the rate to poll the G2 box for acoustic and pose information. The default is 0 (no polling).
• If LOG_NMEA is --log_nmea, then NMEA messages will be logged. The default is blank (no logging).

You can provide custom arguments in BlueOS. For example, you can enable logging using these arguments:

{
  "Env": [
    "UGPS_HOST=http://192.168.2.94",
    "SEND_RATE=2.0",
    "POLL_RATE=5.0",
    "LOG_NMEA=--log_nmea"
  ]
}

Logs can be found in BlueOS:

• Select File Browser in the sidebar
• Click on extensions
• Click on wl_ugps_external

Caveats

• The G2 box still needs a GPS fix to synchronize its clock.

Releases

v1.1.0-beta1

• Optional: Log GGA, HDT and PASHR messages
• Optional: Poll the G2 box for additional information (pose, acoustic solution) and log the results

v1.0.3

• Shorten company name
• No user-visible changes

v1.0.2

• Update requirements.txt, setup.py
• No user-visible changes

v1.0.1

• Simplify README

v1.0.0

• Initial release

Developer notes

See wl_ugps_external for testing tools.