AutonoNav-Mini Users Manual
Contents
1. 12 9 2 C re Message SUpport 13 9 3 Node Manager component ID 1 55 26 13 9 4 Global Pose Sensor component ID 38 14 9 5 Global Waypoint Drivel 5 eres eu Seri Eee ee Ee ee posue S Vases Tea oe sa 14 9 6 S bsystem DE TID SER HN HY 15 9 7 Primitive Driver Control 2 0 16 10 WEB CONFIGURATION 7 1r rn nnn entero 19 10 1 Status 130 veces 19 10 2 WAUS 19 10 3 Primitive Driver Tab oce eo nothin ier ER RR a yeh o Nae cudesescsseuascevevesadsseeacavessssaseceewseavesey 21 104 OR RUSSE ONE SERES nn UD 22 10 5 WaySight Tab WY Y Y YF seedeeedeceddeesteedeeedeeedeees 23 10 6 Compass amp GPS 3 24 10 7 Firmware 26 11 PHYSICAL DIMENSIONS wrsscsesecicssnsisetecseecacvsnsdecssnessestvenesedesnacdecsenecesvorntestsvssnestchsasecuccsnarstedanensestce 28 11 MOUNTING 29 12 LIMITED WARRANTY 30 AutonoNav Mini User Manual Version 1 2 1 ASSIGNMENT OF LIABILITY WARNING DO NOT OPERATE UNTIL USER MANUAL IS REVIEWED AND UNDERSTOOD PRODUCT USE IS SUB2. parameters The Reset Resume Standby and Set Emergency messages have no effect on the internal operation of this component Global Pose Sensor Messages Input 0x2402 Query Global Pose Output 0x4402 Report Global Pose 9 5 Global Waypoint Driver The function of the Global Waypoint Driver is to determine the proper wrench effort to send to the primitive driver given the desired waypoint s travel 50660 and current platform pose component differs from the JAUS 3 3 standard in that it starts up in ready mode with the target speed set to zero When the last waypoint has been achieved the component will command the Loop Mission Upon Completion status will be checked If Loop Mission Upon Completion is set the global waypoint driver will reset to the first waypoint and loop through the waypoint list continually If Loop Mission Upon Completion is not set the global waypoint driver will send zero velocity and 100 brake to the primitive driver until another waypoint is received or the vehicle is no longer achieving the current waypoint This change was made to better support follow me mode on the TORC WaySight This behavior may change as the result of a firmware update Sending a waypoint with an ID of 0 or sending the reset command will reset the waypoint list Resetting the component will also set the target speed to zero Additionally this component 14 AutonoNav Mini User Manual Version 1
3. 2 will discontinue all outgoing messages when it is put in standby This includes sending messages to command the primitive driver The Global Waypoint Driver does not perform speed control Instead it inversely scales the propulsive linear x wrench effort between 100 and the minimum configured throttle Upon completion of the waypoint list the primitive waypoint driver will send a Mission Status message to the controlling component indicating mission completion Note that this will not occur if the Loop Mission Upon Completion option is selected Global Waypoint Driver Messages Input 0x0010 Reject Control Received from Primitive Driver 0x000F Confirm Control Received from Primitive Driver 0x0400 Set Global Waypoint 0x4402 Report Global Pose e Received from Global Pose Sensor 0 240 Query Waypoint Count 0x240C Query Global Waypoint 0x240A Query Travel Speed Ox040A Set Travel Speed 0x400D Report Control e Supported as response to query control for control confirmation Output 0x0405 Set Wrench Efforts Used to command primitive driver Supports propulsive linear x throttle resistive linear x brake and propulsive rotational z steer wrench efforts 0x02402 Query Global Pose Used to query position and orientation 0 0000 Request Control e Used to request primitive driver control 0005 0 Release Control 0x440B Report Waypoint Count 0x440C Report Global Waypoint 0x440A Report Travel Speed 0x200D Ouery Contr
4. Pin Description 1 5V 2 Data 3 Data 4 GND AutonoNav Mini User Manual Version 1 2 8 5 Ethernet Connector The Ethernet port is used for all communication with the AutonoNav Mini All of the JAUS over UDP traffic as well as access to the web configuration interface requires this port to be connected to an active 10 100 network ITN 2 liim 5 di 2 gt CD gt 7 ave Wo M B Y 4 hun o i A rp p ed Pin Description Transmit White Orange Transmit Orange Receive White Green Receive Green GND 8 6 Serial Connector The serial port is not used in standard system configurations Contact TORC for information on optional accessories compatible with the AutonoNav Mini s serial port Pin Receive Description AutonoNav Mini User Manual Version 1 2 Transmit RTS CTS Reserved Reserved Reserved Reserved 33 GND 10 AutonoNav Mini User Manual Version 1 2 8 7 AutonoNav Mini Indicator Detail The following diagram shows the location of the indicator lights on the AutonoNav Mini Indicator 1 Power 2 GPS Status 3 Communication 4 Sy
5. a maximum JAUS message size of 1024 Bytes For convenience a simplified illustration of the packet structure for an AS 5669 version 1 JUDP packet is reproduced in the table below Offset Length Field Interpretation Use O bytes 1 byte JUDP Version 0x01 for AS 5669 version 1 1 2 1 message header Not used by AutonoNav Mini Set to zero compression flags 3 2 1 message length 11 Big Endian length of field to follow 5 L1 1 message JAUS Message 16 byte header and data 5 L1 2 214 message header Not used by AutonoNav Mini Set to zero compression flags 7411 2 2 message length L2 Big Endian length of field to follow 9 L1 12 214 message JAUS message 16 byte header and data The AutonoNav Mini expects to receive incoming JAUS messages at port 3794 the IANA assigned port for JAUS and transmits all outgoing messages to this port OTHER TRANSPORT SPECIFICATIONS SAE AS 5669 is the only published transport specification for JAUS however a prior transport specification for internal use by the standards development committee has seen wide enough use that it became an ad hoc standard To support interoperability with these historical implementations the AutonoNav Mini supports receiving messages in this rudimentary transport specification which has the following packet structure All messages will be sent using the detected transport specification of the destination component based upon
6. condition WARNING Indicates a hazardous condition that could result in serious injury or loss of life if not performed properly CAUTION Indicates a hazardous condition or procedure that could result in damage to this product or loss related to equipment malfunction NOTE A note indicates information that may not be applicable regarding system safety but needs to be known for best system performance gt gt Read this manual before using the product Each operator should read this manual in its entirety before attempting to operate the product Failure to follow the instructions and warnings contained in this manual could result in malfunction damage to the product or external devices it is connected to property damage and severe injury including death Do Not Operate With Suspected Failures If you suspect there is damage to the product contact TORC to have it inspected before further use Do Not Attempt to Modify or Disassemble To avoid shock hazard and or damage to the product do not attempt to open the case make modifications or repair the device Opening modifying or repairing this device will void any applicable warranty and could prevent the device from operating properly Observe All Connector Ratings To avoid shock hazard and or damage to the product do not exceed any voltage or current specifications on any of the connectors Use Proper Supplied Accessories To prevent damage to the product use only
7. extend beyond the description contained herein including the implied warranty of merchantability and fitness for a particular purpose TORC expressly excludes all other warranties TORC s liability is limited to the cost of repair or replacement of the product Such remedy shall be the sole and exclusive remedy for any breach of warranty TORC shall not be liable for 1 Damage to other property caused by any defects in the product damages based upon inconvenience loss of use of the product loss of time loss of profits loss of business opportunity loss of goodwill interference with business relationships or other commercial loss even if advised of the possibility of such damages 2 Any indirect or other damages whether incidental consequential or otherwise 3 Any claim against the customer by any other party 30
8. the most 12 AutonoNav Mini User Manual Version 1 2 recently received message from that component By default the AutonoNav Mini will send any messages to unknown components and any broadcast messages in SAE AS 5669 format Legacy JAUS 1 0 Transport Packet Structure Section Interpretation JUDP Preamble 8 ASCII characters JAUSO1 0 JAUS message 16 byte header and data 9 2 Core Message Support All of the components support a subset of the JAUS core messages For presentation they are grouped into functional categories Specifically service connections and Report Set Query time are not supported on the AutonoNav Mini Additionally some core messages may be supported but have no effect upon the operation of the component JAUS Core Messages Discovery Input 0 2 00 Query Identification 0 2 03 Query Services OxD2A4 Query Identification Experimental OPC ETG message OxD2A7 Query Services Experimental OPC ETG message Output 0x4B00 Report Identification Ox4B03 Report Services OxD4A5 Report Identification Experimental OPC ETG message OxD4A7 Report Services Experimental OPC ETG message Control Authority Input 0 0000 Request Component Control Release Component Control 0x200D Query Component Control 0x0001 Set Component Authority 0x2001 Query Component Authority Output Confirm Component Control 0x0010 Reject Component Control 0x400D Report Component C
9. the recommended accessories 4 VERSION APPLICABILITY This manual describes the functionality of version 1 0 of the product s firmware If your product has a different version of the firmware portions of this document may not apply to your product AutonoNav Mini User Manual Version 1 2 5 PACKAGE CONTENTS After unpacking the contents please verify the contents of the package includes the following items ID Qty Part Number Description 1 1 2 AutonoNav Mini 2 1 ANMANT Flexible Antenna 3 1 ANMGPS GPS Antenna 4 1 ANMETH Ethernet Adapter Cable 5 1 ANMPWR Power Cable 6 2 Connector Sealing Les Robotic soe puton MIC MINI Figure 1 Package Contents AutonoNav Mini User Manual Version 1 2 6 PRODUCT OVERVIEW The AutonoNav Mini is a self contained autonomous navigation controller for small unmanned ground vehicles The sealed 4 x 2 x 2 unit includes an autonomous navigation controller GPS receiver inertial measurement unit and a WaySight wireless radio link JAUS wrench effort commands are used to guide the vehicle to waypoints target mode cause the vehicle to follow behind a WaySight operator follow me mode or directly control speed and steering using the WaySight WE mode Waypoints can be spooled from either the TORC WaySight or over JAUS using global waypoint messages The position and attitude of the system a
10. 17 AutonoNav Mini User Manual Version 1 2 WRENCH EFFORT MODE DRIVING BEHAVIOR Wrench Effort WE mode uses the WaySight to feed direct wrench efforts to the vehicle In this mode the drive button will command 75 propulsive linear X value and rotating the WaySight will supply propulsive rotational Z wrench efforts 18 AutonoNav Mini User Manual Version 1 2 10 WEB CONFIGURATION User settings on the AutonoNav Mini can be controlled through the web based configuration utility To access the utility connect a computer to the Ethernet port of the AutonoNav Mini Launch a web browser on the computer and enter the IP address of the AutonoNav Mini into the address field The factory default IP address is 192 168 1 150 10 1 Status Tab When the configuration page is loaded the Status tab will be displayed The status tab displays the general state of the AutonoNav Mini system as well as the accuracy of the currently installed Inertial Measurement Unit IMU If the system is running normally the page will display The AutonoNav software is running and additional information as shown in Figure 2 If errors are encountered the Status tab will display information regarding the error AutonoNav Mini STATUS Primitive DRIVER WaySicHT Compass amp GPS FIRMWARE Welcome to the AutonoNav Mini The AutonoNav software is running IMU sensitivity 5g 300 s Copyright 8 2010 TORC Tech
11. JECT TO STRICT TERMS AND CONDITIONS SEE TERMS AND CONDITIONS DOCUMENT FOR ADDITIONAL USE RESTRICTIONS OPERATING PRODUCT IN VIOLATION OF USER RESTRICTIONS COULD RESULT IN PRODUCT MALFUNCTION PROPERTY DAMAGE AND PERSONAL INJURY INCLUDING DEATH NOTICE USER ASSUMES ALL RISKS ASSOCIATED WITH POSSESSION OR USE OF PRODUCT AND RELATED SYSTEMS USER AGREES TO INDEMNIFY DEFEND AND HOLD HARMLESS TORC TECHNOLOGIES LLC TORC FROM ANY DAMAGES ARISING OUT OF POSSESSION OR USE OF PRODUCT AND RELATED SYSTEMS TORC IS NOT LIABLE FOR ANY DAMAGES OF ANY KIND NOTICE SEE TERMS AND CONDITIONS FOR ALL TERMS APPLICABLE TO USE OF THE PRODUCT OR RELATED SOFTWARE 2 TECHNICAL SUPPORT For technical assistance and repairs please use the following contact information Mailing Address Email amp Phone Support TORC support torctech com Attn Product Support www torctech com 2200 Kraft Dr Ste 2050 Phone 540 443 9262 Blacksburg VA 24060 Copyright 2010 TORC Technologies LLC All Rights Reserved All information contained in this manual is believed to be accurate at the time of printing however TORC Technologies LLC reserves the right to make modifications to the specifications and operation of this product without obligation to notify any person or entity of such revision AutonoNav Mini User Manual Version 1 2 3 GENERAL SAFETY INFORMATION The following symbols are used throughout the user manual to indicate a particularly hazardous
12. TORC ROBOTIC BUILDING BLOCKS AutonoNav Mini User Manual TORC Compact Autonomous Navigation System www torctech com 2200 Kraft Drive Suite 2050 Blacksburg VA 24060 Phone 1 540 443 9262 Fax 1 540 443 3667 Web torctech com Email info torctech com AutonoNav Mini User Manual Version 1 2 TABLE OF CONTENTS 1 ASSIGNMENT OF LIABILITY 2 2 TECHNICAL SUPPORT sacs snes sencetstbadcescvsneeshcuanedesstosscsvorsnsvscvares 2 GENERAL SAFETY INFORMATION VL 3 3 5 PACKAGE 0 4 6 PRODUCT OVERVIEW seccacssecscesscensvecsavacvacsdiesnofadsdarseadsersb susesiesstie 5 7 5 222 0 2 6 8 CONNECTOR DETAILS 7 8 1 Power 60 0610 si cccscesccccscecscsostocccsescocasessceescicacdansc ecesescieaesonsesesescdessouseiescnecedssueasescccanccdesnasscieseececunsescacsse 7 8 3 USB Connectol oit ertet nea eoa enne ia pneu sU a Un en E Ee eu nre SEN eu 8 8 5 Ethernet Connector PH o Se ven te ee Eee ae v Nueve See e pua ae eek wee e Ves Se ENTE PNE 9 8 6 10 8 7 AutonoNav Mini Indicator 4 11 9 JAUS IMPLEMENTATION 4 4 cune pauca cao 12 9 1 Dic her Indeene bl
13. ar X can be thought of as throttle resistive linear X as brake and propulsive rotational Z as steering The AutonoNav Mini will send a negative propulsive linear X to indicate reverse This option is not used in the Global Waypoint Driver but can be commanded with the WaySight The AutonoNav Mini does not send discrete devices messages and assumes that the primitive driver will automatically take care of enabling the motors switching gears applying the parking brake etc WAYPOINT DRIVING BEHAVIOR When driving waypoints the AutoNav Mini will command the magnitude of the rotational Z wrench effort proportionally with the heading error on a scale of 0 to 100 percent effort The proportional gain is calculated such that 100 steering effort is achieved at the value of the Heading Error to Induce Maximum Steering Effort setting The propulsive linear X is then calculated to be inversely proportional with the rotational Z wrench effort on a scale of 100 down to the value of Minimum Throttle at Max Steer This allows the AutonoNav Mini to be used with Ackermann steered vehicles that need to have a minimum speed to turn When the last waypoint is reached 10096 resistive linear X is commanded and all other values are set to zero 100 222 Steering Effort Propulsive Rotational 2 ___ Throttle Effort Propulsive Linear X e eg Minimum J IN Throttle 0 Waypoint Heading Error
14. ion a popup window will appear asking the user to cycle power Select OK to cycle power immediately Select Cancel to cycle power at the user s convenience 26 AutonoNav Mini User Manual Version 1 2 AutonoNav Mini STATUS PRIMITIVE DRIVER NETWORK WAYSIGHT COMPASS amp GPS FIRMWARE Update Firmware Please select file to update Browse Update Copyright 2008 2010 TORC Technologies Figure 8 Firmware Update Tab 27 AutonoNav Mini User Manual Version 1 2 11 PHYSICAL DIMENSIONS Robotic Building Blocks AuroNoNAv MiNI Compact Autonomous Navigation System www torctech com not to scale 28 AutonoNav Mini User Manual Version 1 2 11 MOUNTING TEMPLATE _ 5 AutonoNav Mini User Manual Version 1 2 12 LIMITED WARRANTY TORC Technologies LLC herein referred to as TORC guarantees that the product s you have purchased from TORC are free from defects in materials or workmanship for a period of one year from the original date of purchase Within this period TORC will at its sole discretion repair or replace any components which fail under normal use This warranty does not cover failures due to abuse misuse accident or unauthorized alterations or repairs There are no other warranties expressed or implied which
15. nimum Allowable Throttle Level at Maximum Steering Output Configures the minimum Propulsive Linear X Wrench Effort throttle effort in percent of maximum throttle that the AutonoNav Mini will send to a JAUS interoperable Primitive Driver while the AutonoNav Mini is sending maximum Propulsive Rotational Z Wrench Effort turning effort Below maximum steering output throttle will be scaled linearly and inversely with turning effort Valid range is 0 100 Note that a value of 0 will work with skid steered vehicles but not with Ackermann steered vehicles e Achievability Distance Configures the maximum allowable difference between waypoint position and actual position that equates to an achieved waypoint Valid range is 0 255 meters 10 4 Network Tab The Network tab is used to configure the network settings of the AutonoNav Mini Current settings are displayed when the page is loaded To display factory default values select Display Factory Defaults Once any desired settings have been entered into the fields select Save Settings to apply the settings to the AutonoNav Mini To abandon any changes select Cancel Changes to return to the current settings display 22 AutonoNav Mini User Manual Version 1 2 AutonoNav Mini PRIMITIVE DRIVER NETWORK WAYSIGHT COMPASS amp GPS FIRMWARE Network Settings IP Address 192 168 1 150 Subnet Mask 255 255 255 Default Gateway 192 168 1 21 Display Factory Default
16. nologies Figure 2 Status Tab showing all systems running correctly 10 2 JAUS Tab The JAUS tab allows the user to configure various JAUS related options Current settings are displayed when the page is loaded To display factory default values select Display Factory Defaults Once any desired changes have been entered into the fields select Save Settings to 19 AutonoNav Mini User Manual Version 1 2 apply the settings to the AutonoNav Mini To abandon any changes select Cancel Changes to return to the current settings display AutonoNav Mini PRIMITIVE DRIVER NETWORK WAYSIGHT COMPASS amp GPS FIRMWARE JAUS Settings Subsystem Name TORC AutonoNav Mini AutonoNav Mini Subsystem ID 7 Node ID 1 Primitive Driver Subsystem ID 7 Node ID 2 JAUS Subsystem Multicast Address 224 JAUS Node Multicast Address 225 Loop Mission Upon Completion 4 Display Factory Defaults Save Settings Cancel Changes Copyright 2008 2010 TORC Technologies Figure 3 JAUS Configuration Tab A brief description of the function of each setting is presented below e Subsystem Name A human readable text label for the AutonoNav Mini subsystem AutonoNav Mini Subsystem ID The JAUS Subsystem ID value of the AutonoNav Mini Every subsystem within a JAUS subsystem network must have a unique ID value Valid range is 1 254 AutonoNav Mini Node ID JAUS Node ID val
17. ny changes select Cancel Changes to return to the current settings display AutonoNav Mini STATUS PRIMITIVE DRIVER WAYSIGHT COMPASS amp GPS FIRMWARE Primitive Driver Settings Standoff Distance for WaySight Follow Mode meters 2 Heading Error to Induce Maximum Steering Effort 30 Minimum Allowable Throttle Level At Maximum Steering Output 0 100 0 Achievability Distance meters 0 75 Display Factory Defaults Save Settings Cancel Changes Copyright 2008 2010 TORC Technologies Figure 4 Primitive Driver Configuration Tab 21 AutonoNav Mini User Manual Version 1 2 A brief description of the function of each setting is presented below e Standoff Distance for WaySight Follow Me mode Configures the separation distance in meters that the vehicle will try to maintain between itself and the WaySight transmitter If there is no WaySight used this setting will be ignored Valid range is 0 255 meters e Heading Error to Induce Maximum Steering Effort Configures the threshold value in absolute value of degrees of difference between actual and desired heading above which will cause the AutonoNav Mini to send 100 Propulsive Rotational Z Wrench Effort turning effort to a JAUS interoperable Primitive Driver Below the threshold Propulsive Rotational Z Wrench Effort will be scaled linearly down to 0 effort at 0 heading error Valid range is 1 359 e Mi
18. ol 0x2002 Ouery Status 0x0004 Resume 0 4 01 Report Mission Status 9 6 Subsystem Commander The Subsystem Commander on the AutonoNav Mini serves as an intermediary between the TORC WaySight OCU and the other JAUS components The Subsystem Commander takes care of control handoffs between components sending waypoints to the Waypoint Driver and pausing and stopping the vehicle when under WaySight control It also takes care of providing the user feedback on mission completion Because the Subsystem Commander is controlled 15 AutonoNav Mini User Manual Version 1 2 directly by the TORC WaySight the Standby Shutdown and Reset messages have no effect on the operation of the component By default this component will start in an internal idle state Subsystem Commander Messages Input 0x0010 Reject Control Received from Primitive Driver amp Global Waypoint Driver 0x000F Confirm Control Received from Primitive Driver amp Global Waypoint Driver 0x4402 Report Global Pose e Received from Global Pose Sensor 0x400D Report Control e Supported as response to query control 0 4 01 Report Mission Status 0x400D Report Control e Supported as response to query control for control confirmation Output 0x0400 Set Global Waypoint 0x0405 Set Wrench Efforts Used to command primitive driver Supports propulsive linear x throttle resistive linear x brake and propulsive rotational z steer wrench efforts 0
19. ontrol 0x4001 Report Component Authority Status Input 0x0003 Standby 0x0004 Resume to Ready 0x0005 Reset 0x0006 Set Emergency 0x0007 Clear Emergency 0x2002 Ouery Component Status Output 0x4002 Report Component Status Liveliness Input 0x2202 Ouery Heartbeat Pulse Output 0x4202 Report Heartbeat Pulse 9 3 Node Manager component ID 1 The Node Manager is responsible for routing messages within the node and maintaining the node configuration The AutonoNav Mini runs a simplified node manager that subscribes to a 13 AutonoNav Mini User Manual Version 1 2 node and subsystem network and takes care of sending out periodic heartbeat messages Due to loop prevention the node manager will not forward JAUS messages received over the subsystem network to the node network Node Manager Messages Input 0x2B01 Query Configuration OxD2A6 Query Configuration Experimental OPC ETG message Output 0x4B01 Report Configuration Listing of component IDs running AutonoNav Mini node OxD4A6 Report Configuration Experimental OPC ETG message Same as Report Configuration 9 4 Global Pose Sensor component ID 38 The Global Pose Sensor monitors the AutonoNav Mini localization system and reports back the valid position and orientation when queried The presence vector returned from the Report Services message or the Report Global Pose message indicates the current valid position
20. process for the electronic compass in the AutonoNav Mini and to save the settings for the local magnetic declination angle and the GPS antennal location offset Current settings are displayed when the page is loaded Once any desired settings have been entered into the declination or GPS fields select Save Settings to apply the settings to the AutonoNav Mini To abandon any changes select Cancel Changes to return to the current settings display Note that the compass type and calibration type are only changed during a compass calibration and not when pressing the Save Settings button To perform a calibration of the magnetic compass select the desired compass type and calibration type then click Calibrate Now to save all displayed settings and begin the calibration process If the Disable Compass option is selected the Calibrate Now button will simply save the selected settings If Calibrate 2 D or Calibrate 3 D is selected a popup window with instructions will appear to indicate the process has started and the indicator LEDs on the body of the AutonoNav Mini will turn off Select OK on the popup window to dismiss 24 AutonoNav Mini User Manual Version 1 2 the instructions Rotate the AutonoNav Mini through multiple complete rotations As the calibration process progresses the LEDs on the AutonoNav Mini will cycle red one at a time When the process is complete all fo
21. re accurate to within 2 5 meters CEP and are available at 20 Hz via JAUS global pose messages All of the AutonoNav Mini s network settings and operational parameters configurable using a simple http interface AutonoNav Mini User Manual Version 1 2 7 CONNECTORS The following diagram shows the location of the connectors on the AutonoNav Mini ITEM Description Power Connector Ethernet Connector GPS Antenna Connector WaySight Radio Antenna Serial Connector Di WwW NY e USB Connector AutonoNav Mini User Manual Version 1 2 8 CONNECTOR DETAILS 8 1 Power Connector This connector is used to power the AutonoNav Mini VIN should be connected to an 8 to 32 VDC source capable of supplying 5W of power The enable pin may be used to turn the system on and off and should be connected to VIN for normal operation Grounding the enable pin will force the system into a low power state Em WP m 8 E 4 lee l X M 1 A LL Y A Vay I _ CN 7 53 2 4 Pin Description 1 VIN Red 2 GND Black 3 Enable White AutonoNav Mini User Manual Version 1 2 8 3 USB Connector The USB port is not used in standard system configurations Contact TORC for information on optional accessories compatible with the AutonoNav Mini s USB port
22. s Save Settings Cancel Changes Copyright 2008 2010 TORC Technologies Figure 5 Network Configuration Tab 10 5 WaySight Tab WaySight tab is used to configure the settings used on the AutonoNav Mini s internal radio modem If there is no WaySight being used the settings on this page can be ignored Current settings are displayed when the page is loaded To display factory default values select Display Factory Defaults Once any desired settings have been entered into the fields select Save Settings to apply the settings to the AutonoNav Mini To abandon any changes select Cancel Changes to return to the current settings display 23 AutonoNav Mini User Manual Version 1 2 AutonoNav Mini STATUS PRIMITIVE DRIVER NETWORK WAYSIGHT TM COMPASS amp GPS FIRMWARE WaySight Receiver Settings Radio Network ID 100 Display Factory Defaults Save Settings Cancel Changes Copyright 2008 2010 TORC Technologies Figure 6 WaySight Configuration Tab A brief description of the configuration options is described below e Radio Network ID Sets the radio network ID of the internal radio modem in the AutonoNav Mini This network ID must match the ID of the WaySight being used with the AutonoNav Mini The factory default Radio Network ID is 100 Valid range is 1 9999999999 10 6 Compass amp GPS Tab The Compass tab is used to initiate the calibration
23. stem Status AutronoNav Mint POWER GPS COMMS STATUS Status Meaning Green Red Green Red Green Red Green AutonoNav Mini is powered on No GPS solution GPS solution established Receiving WaySight message Communication line is open AutonoNav Mini is paused AutonoNav Mini is controlling the vehicle 11 AutonoNav Mini User Manual Version 1 2 9 JAUS IMPLEMENTATION The AutonoNav Mini is JAUS version 3 3 interoperable and runs as a single node within a subsystem It contains a Global Pose component a Global Waypoint Driver component and a Subsystem Commander component The AutonoNav Mini has the ability to control a JAUS interoperable vehicle through the use of Primitive Driver messages Care has been taken to follow the JAUS protocol closely however in some cases the protocol did not fully define or support the functionality required of the system In these cases the AutonoNav Mini JAUS implementation follows either widely accepted conventions or conventions laid out in the JAUS draft standards Any such conventions that have been used in the AutonoNav Mini will be described in detail in the following section 9 1 Transport Specification The AutonoNav Mini supports the SAE AS 5669 version 1 JUDP JAUS over UDP transport specification which is available for purchase from SAE No header compression or multipart messaging is supported The AutonoNav Mini is also limited to
24. ue of the AutonoNav Mini Every node within a JAUS node network must have a unique ID value Valid range is 1 254 e Primitive Driver Subsystem ID The JAUS Subsystem ID value of the primitive driver within the AutonoNav Mini Every subsystem within a JAUS subsystem network must have a unique ID value Valid range is 1 254 20 AutonoNav Mini User Manual Version 1 2 e Primitive Driver Node ID The JAUS Node ID value of the primitive driver within the AutonoNav Mini Every node within a JAUS node network must have a unique ID value Valid range is 1 254 JAUS Subsystem Multicast Address The UDP multicast group for the JAUS subsystem manager Valid range is 224 0 0 1 through 239 255 255 255 e JAUS Node Multicast Address The UDP multicast group for the JAUS node manager Valid range is 224 0 0 1 through 239 255 255 255 Loop Mission Upon Completion If a checkmark is placed in this box and the settings are saved the AutonoNav Mini will continually loop through the current mission s list of waypoints 10 3 Primitive Driver Tab The Primitive Driver tab allows the user to configure options used for controlling a JAUS interoperable Primitive Driver Current settings are displayed when the page is loaded To display factory default values select Display Factory Defaults Once any desired changes have been entered into the fields select Save Settings to apply the settings to the AutonoNav Mini To abandon a
25. ur LEDs will turn green Select the red Click Here When Finished button to complete the calibration process and restart AutonoNav Mini STATUS PRIMITIVE DRIVER WAYSIGHT COMPASS amp GPS FIRMWARE Compass Calibration Compass Type Internal External Calibration Type Calibrate 2 D Calibrate 3 D Disable Compass Calibrate Now Magnetic Declination Angle deg GPS Antenna Location X Offset centimeters GPS Antenna Location Y Offset centimeters GPS Antenna Location Z Offset centimeters Save Settings Cancel Changes Copyright 2008 2010 TORC Technologies Figure 7 Compass Calibration Tab A brief description of the configuration options is described below e Compass Type Selects the built in internal compass or an optional external compass e Calibration Type Selects the type of operation to perform For a two dimensional compass XY select Calibrate 2 D and rotate the AutonoNav Mini through the XY plane during calibration For a three dimensional compass XYZ select Calibrate 3 D 25 AutonoNav Mini User Manual Version 1 2 and rotate the AutonoNav Mini about all three axes during calibration To disable the use of a compass select Disable Compass Note when performing a compass calibration or disabling the compass the currently displayed declination and GPS antenna offset data will be saved automatically e Magnetic Declination Angle Config
26. ures the compass to correct for local declination Values entered should be positive for East negative for West Decimal values will be rounded to nearest tenth of a degree GPS Antenna Location X Offset Sets the distance along the x axis in centimeters that the GPS antenna is offset from the center of the vehicle Positive values are towards the front of the vehicle Decimal values will be rounded to the nearest integer e GPS Antenna Location Y Offset Sets the distance along the y axis in centimeters that the GPS antenna is offset from the center of the vehicle Positive values are towards the right of the vehicle Decimal values will be rounded to the nearest integer GPS Antenna Location Z Offset Sets the distance along the z axis in centimeters that the GPS antenna is offset from the center of the vehicle Positive values are towards the ground Decimal values will be rounded to the nearest integer 10 7 Firmware Tab The Firmware tab is used to apply firmware releases to the AutonoNav Mini With this tab selected browse to the firmware file provided by TORC using the Browse button Once the correct file has been located select the Update button to apply the new firmware to the AutonoNav Mini If there is an error in the update process an error code will be displayed If the update has been uploaded and applied successfully a sequence of validation and progress messages will be displayed Upon successful complet
27. x02402 Query Global Pose Used to query position and orientation 0 0000 Request Control e Used to request primitive driver control 0x000E Release Control 0x0004 Resume 0x0003 Standby 0x0005 Reset 9 7 Primitive Driver Control This section outlines the requirements for a JAUS primitive driver in order to be interoperable with the AutonoNav Mini First the primitive driver component or its corresponding node manager must meet all the protocol requirements laid out in the previous section Additionally the primitive driver must either be on the same subsystem or node network as the AutonoNav Mini By default the AutonoNav Mini expects the primitive driver to start out in standby state Additionally it is assumed that a component must be in control of the primitive driver to command it out of standby state The AutonoNav Mini will continually poll the primitive driver for state and control information to make sure that the primitive driver is in ready mode and is being controlled before it tries to send it driving commands Once the AutonoNav Mini transitions the primitive driver out of standby mode it will not attempt to command it back to standby mode 16 AutonoNav Mini User Manual Version 1 2 The AutonoNav Mini will attempt to command the primitive driver using a combination of propulsive linear X resistive linear X and propulsive rotational Z wrench efforts In this scheme the propulsive line
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