RoverVu Module (Version 1.1)
Contents
1. The number of GPS satellites for which carrier phase integer ambiguities are resolved It indicates the number of GPS measurements being used for providing high precision RTK positioning solutions BL1 Checkbox Checked automatically if the baseline solution between the Base antenna and the Rover antenna 1 the cab side antenna for RTG cranes is available BL2 Checkbox Checked automatically if the baseline solution between the Base antenna and the Rover antenna 2 the center antenna is available BL12 Checkbox Checked automatically if the baseline solution between two Rover antennas is available Accuracy Indicates the quality of GPS solutions being used for the auto steering logic controller The green light is turned on when position accuracy is better than 2 inches Position The accuracy of GPS position coordinates Speed The accuracy of GPS velocity estimates NavSoft Technologies Inc GEMINI SteerVu RoverVu Module User s Manual v1 1 Ready for Auto steering Indicates whether or not auto steering is ready The green light is turned on when all three signal lights Base Rover Station Ambiguities and Accuracy are turned on ___sec Shows the GPS Second of Week from GPS Time of the current epoch 2 3 Rover Track Window The Rover Track window provides a graphic interface of the machine for the machine operator The operator can read tracking information of the selected path includ2. to the user inputs or actions Table 12 RoverVu system warning messages Message You are not allowed to use this tool Either User ID or Password was not correct while users tried to access the System Settings Authorization failed You are not allowed to change track database Either User ID or Password was not correct while users tried to remove the track database 5 Track Numbershould be 07006 i track number must be chosen from 0 to Track Number exists The selected track number was registered before Track Name exists The selected track name was registered before OnReceive nErrorCode ReceiveFrom error code Errors are detected in Ethernet communications No document pointer 24
3. 2 2 GPS Status Window is turned on Secondly click the toggle button to stop data recoding and then move the machine to the end point stop and then record GPS positioning solutions for a few seconds for at least 10 seconds There is no requirement for the way of driving the machine between the two points However users must not close this utility until data recoding is completed at the end point 4 2 Select Track The first action of the machine operator is to select a track where the machine is running as illustrated in Figure 13 Track Selection ID Name D001 test 1 3 b east 1111 cab west Cancel Clear Remove Figure 13 Track Selection window ID Unique track identifier Name Track name or description OK Updates the selected track on the Rover Track window see 2 3 Rover Track Window and closes this utility Cancel Closes this utility without any update Clear Cleans up the track currently displayed on the Rover Track window Remove Delete the selected track from the track map database As this function is critical authorization is required 19 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 4 3 Auto steering Once the track has been selected the operator moves the machine near the start of the navigation path and the green light is turned on for auto steering the machine is ready for automatic operation Table 7 outlines the
4. DRR SteerVu APN RoverVu Module GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 GEMINI Navsoft Technologies Inc 20 Barrett Court Fredericton NB Canada E3B 6Y1 www gemini navsoft com GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 Contents NNN 3 VDS 4 Z NE SEE EEE EE EE 6 2 1 Rover Client Software Window runrnnnnnnrnnvnnnnnnnrvnnnrnnnnnrrnnvnnnnnnnsrnnnnnnnnnsennvnnnnnssnennsnnne 6 PN 7 PATNA 9 MP PIT 11 3 1 System Settings MENS ekddededer 11 SLI System Settings User INDUS Jaaa tekende 11 3 1 2 System Settings Machine Calibration cc cccscccccceccssecccceseeeseeccesseeeeseeeceeseeenes 12 ANE AEE ACO E A T AE E EE A AA A E T 17 de WV AIO 1 EEE EEE RE 17 Wed NTK 19 de AUG SLOOP EEE EEE 20 4 4 Backward Forward esesornnnereranenernnsenernnnunennnunernnenernnnenernanunennnunernnenernennunennnunennnenennnene 20 5 Error and Warning MIESSaBES niasin np eea dennen atadaimentbiinem den 21 JET NE 21 5 1 1 Auto Steering Error Messages rnnnrnnnnnnnnnnrnnnvnnnvnnnvnnnvnnnennnennsnnnnennsnnnsnnnsnnnennnennssener 21 SSN ENTEN 22 52 MENE 23 5 2 1 Auto Steering Warning Messages a rrarrnnrrnnrrnnrnnnsrnnvrnnrnnnvnnnennsvnnuvnnnennsennsvnnsnnnsener 23 5 2 2 System Warning Messages arnnrrnnnrnnnnnnrnnnnrnnsrnnsnnnsnnnsnnnrnnnsnnnvnnnennnnnnsnnnsnnnsnnnsnnnsener 24 GEMINI NavSoft Technologies Inc SteerVu
5. RoverVu Module User s Manual v1 1 1 Description SteerVu provides the GNT auto steering logic controller with high accuracy high performance GPS navigation solutions and attitude information SteerVu steers vehicles such as rubber tired gantry RTG cranes cargo transport vehicles lawn mowers and tractors using a map and match mode of operation SteerVu is designed for use in repetitive navigation applications SteerVu consists of a Base Server BaseVu and a Rover Client RoverVu BaseVu is connected with one or more GPS Base Stations BaseVu receives raw GPS observations from the Base Station s in real time The status of the Base Station s is constantly monitored RoverVu is installed on a vehicle and is connected with BaseVu Upon receiving a request from RoverVu BaseVu transmits the raw GPS observations received from the Base Station s to RoverVu Map and match programming allows a human operator to map a navigation path by driving the vehicle over the path to be matched while RoverVu is in map mode During map mode RoverVu records and stores GPS positioning data which allows RoverVu to autonomously reproduce the mapped path Multiple paths can be mapped and stored for a project site Each path is uniquely defined by the GPS coordinates within the path Navigation paths are stored locally in RoverVu memory and can be downloaded to a removable USB flash memory drives With the navigation paths stored the
6. Station Base Server e GPS receiver e Server PC Figure 1 SteerVu field setup GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 2 RoverVu Layout RoverVU comprises three sub windows as illustrated in Figure 2 including Rover Client Software GPS Status and Rover Track Rover Client Software E23 er Rover Track ei lidl ist Track ID 3333 cab east Speed 2 9 mph Offset 210 azer 0 74 umen oo oo NA ee GR nnn nn GPS Status sg Base Rover Station svs o 9 TimeLatency 0 40 sec Ambiguities Fixed 3 Bli fs em2 mal Accuracy ts Position 0 20 in Speed ggo infsec Ready for Auto steering 398228 400 sec Figure 2 RoverVU layout 2 1 Rover Client Software Window The Rover Client Software window is the main window of RoverVU Figure 3 The menu system is used to access the utilities for auto steering system parameters see Section 3 Menu Descriptions The utilities associated with user actions are activated through the button system see Section 4 Main Interface GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 Forward Backward Figure 3 Rover Client Software window 2 2 GPS Status Window The status of GPS satellites Wi Fi communications and GPS solutions is displayed in real time in the GPS Status window as illustrated in Figure 4 Users can
7. confirm if the auto steering function is ready to proceed through the GPS Status window The signal lights indicate the status of individual functions using the color scheme outlined in Table 1 Base Rover Station Svs g g Time Latency 0 50 sec Ambiquities Fixed 3 Bli lS BL2 aii Accuracy Position 0 18 in Speed 5 00 nsec Ready for Auto steering 398727 500 SEC Figure 4 GPS Status window GEMINI SteerVu RoverVu Module User s Manual v1 1 NavSoft Technologies Inc Table 1 Color scheme for status indication Signal Indication mr Ready for action or healthy __ Unknown mr Not ready or unhealthy Base Rover Station Indicates the status of GPS satellites and Wi Fi communications at both the Base Station and the Rover The green light is turned on when more than 4 satellites are being tracked and the time latency i e the age of the Base Station data is shorter than 10 seconds SVs The number of GPS satellites being tracked at the Base Station and the Rover Time Latency The time difference between the Base station GPS measurements received at the Rover and those of the Rover If Wi Fi communications experience difficulties the Time Latency can increase from a few seconds to tens of seconds Ambiguities Indicates the status of GPS solutions being used for the auto steering logic controller The green light is turned on when ambiguities are fixed correctly Fixed
8. e machine according to the calibration order in Table 2 Table 2 Machine calibration order Calibration Order 4 Steering Gain Factor gt Action Fixed Baseline Length Click this button to determine automatically the fixed baseline length between two GPS antennas on the machine It is recommended that users compare the captured result with known measured baseline length if available To determine an appropriate value for the Fixed Baseline Length users must follow the procedures in Table 3 Table 3 Fixed Baseline Length calibration procedures Action Remark Only when the signal light is green for the Click the Fixed Baseline Ambiguities see Section 2 2 GPS Status Length button Window will this calibration be enabled A real time calibration result is updated every second Click the Fixed Baseline To capture the result click the button again 13 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 Length button again ee The input value is not in effect unless the Apply Click the Apply button er The captured calibration result is not implemented until the Apply button is clicked Therefore users should not proceed to the next calibration step until the Apply button is clicked If this calibration was done previously users can Skip this step Machine Response Deadband The auto steering logic controller is designed to issue a steering command every epoch
9. ed Evaluate the performance of auto steering operation Repeat 2 to 5 if further enhancement of the Steering Gain Factor is necessary Click the Auto steering button Drive the machine Editor Check if users want to edit the values without calibration Apply Click to implement the input value Exit Close the Machine Calibration utility 16 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 4 Main Interface As illustrated in Figure 11 three user action utilities are enabled through the button system including Mapping Select Track and Auto Steering Click a button to activate the utility associated with it The Forward and Backward buttons are used for indicating machine s moving directions activated by the joystick Rover Client Software pe fox System Settings Live Data About Mapping Select Track Forward Backward Figure 11 Button system for user actions 4 1 Mapping The auto steering logic controller always refers a track map and calculates the off path distance and heading error of the machine The track map also provides the reference for the Track Mapping Offset calibration see Section 3 1 2 System Settings Machine Calibration As the accuracy of a track map is critical to the performance of the auto steering logic controller authorization is required to activate this utility Figure 12 To create a ground track map the position trajectory of t
10. he center GPS antenna on a machine is used 17 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 7 Track Mapping Ex Header Information Vehide No Driver Date Time 07 April 2011 14 42 18 Track ID 0 h Straight line mapping Track Mame Toggle button Start Pause Accept points are recorded Cancel Figure 12 Track Mapping form Vehicle No Machine model or number Optional Driver Machine operator Optional Date Time Mapping date and time Automatic Track ID Unique track identifier Valid range 0 4095 Track Name Track name or description Straight line mapping Check if the track is a straight line For mapping a straight line the start and end points of the track are used All other points between two end points are ignored If unchecked this utility allows users to map any style of lines Toggle button Start Pause Click to Start Pause data recording Only when the Ambiguities signal light is green see Section 2 2 GPS Status Window the number of points recorded is updated every second Accept Generates the track using the recorded data and closes this utility Cancel Closes this utility without track generation GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 that the number of points being recorded increases If not check that the green Ambiguities light see Section
11. ing into the auto steering operation and issues warning messages Users must adjust the machine manually to activate auto steering operation Table 11 Auto steering warning messages Message Cause and Action Auto steering requires a working track Users must run No track selected the track selection utility to choose one from the Track Map Database The selected track is far away from the current location of the machine Users can still display the track but auto steering cannot be used The green light of the auto steering button is on and auto steering is ready for action but the machine is not appropriately situated for auto steering operation because of the following reasons The selected track is out of boundary Auto steering initialization error FORWARD or BACKWARD Wheel crossed off path limit The machine s Forward or Backward wheel is located outside of the off path limit The off path limit is defined by users Default 12 inches To activate 23 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 auto steering the operator must adjust the position of the machine wheels manually Machine is located inside limit The machine is located inside the end point boundary Default 2 ft To activate auto steering the operator must move the machine manually 5 2 2 System Warning Messages System warning messages are summarized in Table 12 These warning messages are interactive
12. ing live data Archiving period of the Rover data in the Rover panel PC Any data past the due date is deleted automatically from the storage Off path distance limit Threshold for the normal auto steering operation of the machine The auto steering logic controller controls the machine under normal conditions within the off path distance limit Once the machine crosses over the limit the auto steering logic controller instantly stops the machine and issues an alarm Ground track Width of the ground track Vehicle tire Width of the machine s tire Cross track Length of wheel centers along machine span Along track Length of wheel base along travel direction Both the cross track and along track inputs are used for the machine s kinematic model i As the off path distance limit cross track and along track parameters are critical for auto steering operation users must be extremely careful to input correct values 3 1 2 System Settings Machine Calibration 12 GEMINI SteerVu RoverVu Module User s Manual v1 1 NavSoft Technologies Inc In order to help the auto steering logic controller control the machine optimally it is critical for users to calibrate the machine beforehand Four buttons are provided for machine calibration as illustrated in Figure 10 e i a Machine Calibration Auto steering Figure 10 Machine Calibration Form Users must calibrate th
13. ing response as illustrated in Figure 5 The operator can also visualize machine operation as illustrated in Figure 6 and Figure 7 Top Panel Track ID 3333 cabeast Speed 0 0 mph D Offset 277 azer o8o LHRH oo oo ke Figure 5 Top panel of the Rover Track window Track ID Unique path identifier and name Speed Vehicle ground speed Offset Off track distance at the vehicle Control Point AZ Err Vehicle heading azimuth error LH RH Left Hand LH and Right Hand RH wheel angle reading Zoom In Out Button Zoom in out of the map display Map Display Visualizes vehicle operation on the track map as it responds to the auto steering logic controller NavSoft Technologies Inc GEMINI SteerVu RoverVu Module User s Manual v1 1 RH Wheel LH Wheel nnn l M a SSS oe Hd Northing m Control Point GPS Antennas Easting m Figure 6 Map display panel for RTG Cranes Off Track Display Shows the off track trajectory of the vehicle Control Point over the operation time The vehicle moving direction is always the right side of the display panel Track Cc x RTG Moving Direction 5 i Elapsed Timelsec Off track Trajectory Figure 7 Off track display panel 10 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 3 Menu Descriptions 3 1 System Settings Menu User Inputs and Machine Calibrati
14. ion feature is enabled A real time calibration result is provided every second ick the Track Mappi Click the Trac aPping To capture the result click the button again Offset button again l The input value is not implemented until the lick the Appl te eli ee da a Apply button is clicked As this calibration must be done in a static mode the moving direction of the joystick is neutral No pedal input is required If this calibration was done before users can skip this step 15 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 Steering Gain Factor Depending on the characteristics of the machine on the test the action of the auto steering logic controller can be too aggressive or defensive in controlling the machine s wheel angles The Steering Gain Factor button enables users to adjust the behaviour of the auto steering logic controller To determine an appropriate value for the Steering Gain Factor users must follow the procedures in Table 6 Table 6 Steering Gain Factor calibration procedures Order ACO Reman Nd Factor button this calibration click the button again Acceptable value range 0 1 lt x lt 10 Typically 2 Input a value a value between from 0 5 to 2 is appropriate The default value is 1 The input value is not implemented until the Only when the green light GO is turned on for the Auto steering button see Section 4 3 Auto steering this calibration is enabl
15. m The machine approaches one of the end points of the track As soon as the machine gets into a certain boundary of the end points Default 2 ft auto steering is disabled automatically by the system SERVER ID did not respond Machine is located inside limit 21 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 The CAN message of the machine has not been received at the Rover Client computer over a certain period of time Default 1 second The CAN communication link is broken or the operator turned off the machine Auto steering is disabled automatically by the system If the operator turned off the machine RoverVU proceeds into graceful computer shutdown procedures after 5 seconds Sometimes the operator needs to quickly exit auto steering mode Two options are available for the operator to do that click the Auto Steering button or hold the joystick As the operator can touch the joystick by accident the auto steering logic controller monitors joystick signal over a certain period of time Default 1 second and then disables the auto steering mode TMW message PGN 65281 error Auto steering is disabled by the joystick 5 1 2 System Error Messages While RoverVu is being initialized fatal errors can take place as outlined in Table 10 Once these errors are detected RoverVu shuts down its operation Table 10 RoverVu system error messages Message Cause and Action SERVER i
16. nformation not found in lt StationlPList sta gt The registered Server information was not found in the Station Information Database Users must copy the Station Information Database file in the Base Station Server computer to the Rover Client computer INI file validation failure ROVER IP xxx xxx xxx xxx not found in lt StationlPList sta gt The suggested Rover IP address xxx xxx XXX XXX was not found in the Station Information Database The Rover IP address does not match with the registered information in the Station Information Database Users must change the Rover IP address for the device or the registered information i You are not allowed to run RoverVU Security Error 22 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 ee users tried to authorize the software license The Station Information Database StationlPList sta Station IP list not found was not found in the system folder C Gemini Navsoft Technologies RoverVU Application Data This is a fatal hardware error associated with Ethernet ROVER IP address undetected communications in the Rover Client computer e g the panel PC 5 2 Warning Messages 5 2 1 Auto Steering Warning Messages Before the machine is engaged in auto steering operation initialization errors can take place as outlined in Table 11 Once these errors are detected the auto steering logic controller prevents the machine from gett
17. on utilities are located in the System Settings menu as illustrated in Figure 8 As the parameters in the System Settings are critical for the performance of the auto steering logic controller only authorized persons are allowed to access these utilities Fr alll Soar rF ar I RPA TAZ Pr EE ED tent Softwa kor akl NLET TETE TA TT Pe ads rar T iat PETN METU S Ta E EN ha re press pa te ca ar in Fo a i 2 Rover Cl A Live Data About ES User Inputs j a ae G lt gt Machine Calibration i f l 5 F i Se ae gt sir A da I k vs F fi M g m P ri E 5 f i P F Aa Ty Forward Backward gt ar ee er gare T Figure 8 System Settings menu utilities rn ee if Er dire herp PLE pete Ger Lal Fe ae TE ee PST rer Gerdt 3 1 1 System Settings User Inputs RoverVu allows users to input system parameters as illustrated in Figure 9 11 GEMINI SteerVu RoverVu Module User s Manual v1 1 NavSoft Technologies Inc User Inputs Reporting Client status 3 sec Stroing live data o day Off path distance limit in h Width Info in Vehicle Size in Ground track 77 6 Cross track Vehicle tre 27 6 Along track Figure 9 User Inputs Form User Inputs Reporting Client status Time interval for reporting the status of Rover operation to the Base Station Server Stor
18. roller promptly interrupts the auto steering operation and issues error messages The machine stops by this action Since auto steering is disabled automatically by the system users must activate auto steering again once troublshooting is complete Table 9 Auto steering error messages Message Cause and Action The auto steering logic controller relies on high precision GPS RTK solutions typically better than 1 GPS RTK error detected inch If GPS loses the RTK mode for any reason e g corrupted GPS measurements auto steering is disabled automatically by the system The Rover GPS data has not been received at the Rover Client computer over a certain period of time Default ROVER GPS receivers are not 1 second Either of the GPS receivers installed on the active machine is malfunctioning or the Ethernet communication link is broken Auto steering is disabled automatically by the system The Base Station GPS data has not been received at the Rover Client computer through Ethernet wireless communications over a certain period of time Default 10 seconds The Ethernet wireless communications or the Server computer is responsible for this problem Auto steering is disabled automatically by the system The machine s Forward or Backward wheel crosses over FORWARD or BACKWARD Wheel the off path limit The off path limit is defined by users crossed off path limit Default 12 inches Auto steering is disabled automatically by the syste
19. signals and actions of the Auto steering button Table 7 Signal of auto steering Action Auto steering is not ready yet This button is signalled when any of the signal lights in the GPS Status window is not in green Auto steering is ready for action This button is activated when the green light is on for all the signal lights in the GPS Status window Click to kick off the auto steering operation Auto steering is in action Click to exit auto steering mode If the joystick is activated for over 1 second the auto steering logic controller kicks out the auto steering operation automatically 4 4 Backward Forward The Backward and Forward buttons indicate the moving direction of the machine The switch on the joystick controls machine s moving direction The signals of moving direction are outlined in Table 8 Table 8 Signal of moving direction Signal Action lt gt Neutral position The machine does not move the cab left for the RTG cranes lt gt Backward position The machine moves towards the cab right for the RTG cranes 20 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 5 Error and Warning Messages 5 1 Error Messages 5 1 1 Auto Steering Error Messages Although rare when the machine is engaged in auto steering fatal errors can take place A summary of error messages is outlined in Table 9 Once these errors are detected the auto steering logic cont
20. synchronized with the GPS positioning solutions at a 10 Hz update rate Due to the mechanical hydraulic system in certain machines the machine can experience a significant response delay to the issued steering command This tends to overshoot the target track position To prevent the auto steering logic controller from overshooting a desired wheel angle is calculated every epoch and compared with the current wheel angle The Machine Response Deadband corresponds to a threshold for the difference between a desired wheel angle and an actual wheel angle To determine an appropriate value for the Machine Response Deadband users must follow the procedures in Table 4 Table 4 Machine Response Deadband calibration procedures for both LH and RH Order Acon kemar Dru Deadband button this calibration click the button again Acceptable value range O lt x lt 5 Typically a value between from 0 5 to 1 5 degrees is appropriate It is recommended to begin with a smaller value The input value is not implemented until the lick the Appl En EE DD en EEE button is clicked Input a value for LH RH 4 Hold the joystick Turn the LH RH wheel Wide range EEE O gt 40 degrees is Siow a 6 Release the joystick 0 Only when the green light GO is turned on for the Auto steering button see Section 4 3 Auto steering this calibration is enabled Watch how the LH RH If the LH RH wheel angle oscillates due to wheel angle changes o
21. vehicle is capable of retracing the mapped paths whenever necessary When the vehicle is in the vicinity of the desired path the operator can select the desired navigation path to be matched from a list of paths saved for the site in RoverVu memory Once the path has been selected and connection to BaseVu has been achieved the operator moves the vehicle near the start of the navigation path The operator then places the vehicle in automatic operation mode and the vehicle enters the navigation path moving to the desired locations automatically The GPS RTK Real Time Kinematic technique allows the vehicle to know precisely where it is on the surface of the earth to a positional accuracy of better than one inch Under purely robotic control the vehicle will wander off course due to errors caused by wheel slippage uneven terrain and other mechanically induced errors RoverVu makes use of its GPS RTK navigation solutions and attitude information to correct for errors in the vehicle control system In typical conditions where satellite visibility is favourable and the vehicle is well calibrated the navigation path can be tracked to better than plus or minus two inches A typical field setup of SteerVu is illustrated in Figure 1 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 Local Area Network Project Site ti Wireless a Ethernet eceivers Wired Ethernet Wide Are Base
22. vershooting increase the input value and Click the Auto steering button 14 GEMINI NavSoft Technologies Inc SteerVu RoverVu Module User s Manual v1 1 then repeat from 3 to 7 The input value that does not make the LH RH wheel oscillate is what users are looking for As this calibration must be done in a static mode the moving direction of the joystick is neutral No pedal input is required If this calibration was done previously users can skip this step Track Mapping Offset To create a ground track map the position trajectory of the center GPS antenna on a machine is used Installation of the center GPS antenna on a machine can introduce a constant offset compared to other machine To make the track map compatible this offset must be calibrated on each machine The track map being used is the reference for this calibration If the track map has not been created users must map the ground track first see Section 4 1 Mapping To determine an appropriate value for the Track Mapping Offset users must follow the procedures in Table 5 Table 5 Track Mapping Offset calibration procedures Action Remark For RTG Cranes if the track map was mapped Center the machine in the at the cab side center the cab side tires ground track between the two paint lines of the ground track Only when the Ambiguities signal light is green Click the Track Mapping see Section 2 2 GPS Status Window this Offset button calibrat
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