Posted by Jerry Knisley, Last modified byon 09 December 2014 02:10 PM
Driver for Novatel SPAN-SE motion sensor and gyro. Reads timestamped heading, heave, pitch, & roll from a network stream.
The device can be configured in many different ways. HYSWEEP expects a TCP network connection. The device's default IP address and port are 192.168.0.10, port 3000. To configure the device, a series of commands need to be sent to it using the Novatel CDU software. They are:
LOG ICOM2 BESTPOSA ONTIME 0.2
LOG ICOM2 HEAVEA ONNEW
LOG ICOM2 INSPVAA ONTIME 0.05
LOG ICOM2 TIMEA ONTIME 1
LOG ICOM3 INSPVAA ONTIME 0.05
LOG ICOM3 HEAVEA ONNEW
LOG ICOM3 TIMEA ONTIME 1
"IPCONFIG" sets the network address. The remaining lines configure which outputs to HYPACK and HYSWEEP are enabled. The "ICOM3" lines turn on the messages HYSWEEP expects to see:
ñ INSPVAA - pitch, roll, heading
ñ HEAVEA - heave
ñ TIMEA - GPS time to UTC time offset
NOTE: TIMEA is critical for correct timetags!