This is a driver with user-interface in order to encode for - and decode messages from an ROV integrated with a:
- PHINS / ROVINS
- Bathy (Depth Sensor) system
During normal operation the PHINS / ROVINS will establish an accurate position for the ROV based on the integration of Inertial, Doppler, USBL, Depth Sensor and Surface Positioning (Computation Node Result) information.
This driver will send the necessary surface positioning information to the PHINS / ROVINS.
At the same time it will read and decode the integrated accurate ROV position and attitude data, which can be used in a separate Computation Setup.
It is advised to interface the DVL (Doppler) and Bathy (Depth sensor) devices directly to the PHINS to prevent observation delays.
There are two versions of this driver: a network one and a serial one.
- For the serial driver version, receiving data from, and sending data to, is done via the same serial COM port.
- For the network driver version, receiving data from, and sending data to, is also done via the same LAN UDP port (by default).
However in the Options menu you can change the output port number PLUS ONE.
The user-interface for both drivers is exactly the same, only the I/O protocol is different.
See also the Interfacing Notes under the tab System Interfacing.
In case your setup does not require to receive any data from the PHINS, and you only need to send data to the PHINS, see the additional comments made in the Output setup section under the Qinsy Config tab.