# Setting the MAVLink REST Server Parameters

<figure><img src="/files/PjmRgVVGyyQdcd70ujyb" alt=""><figcaption></figcaption></figure>

In the Omnitrack configuration, the ROVLe sends position information to the autopilot on a BlueROV via an interface on the BlueROV called the MAVLink Rest Server. There are several configuration parameters, all of which are set to reasonable parameters at the factory. Most users can leave these at the default settings.&#x20;

If the **checkbox to enable the primary MAVLink connection to the ROV** is not checked the Omnitrack will be unable to send position information to the ROV.

The **MAVLink Server Address and Port** parameters set the IP address of the MAVLink server, which on a BlueROV is the IP address of the BlueROV itself. By default it is 192.168.2.2:6040. If you have changed the BlueROV address you need to re-enter it here. The port number is virtually always 6040.

The **My MAVLink System ID** identifies the ROVLe itself and is used by the MAVLink server to sort out who is talking to it. You only need to change this if you have a complicated network with other similar systems talking to the MAVLink server, and there is a collision with the system ID used by another device.

The **ROV MAVLink Vehicle ID** (system ID) identifies the autopilot associated with the BlueROV you are trying to control. You should know if you changed the ID on the BlueROV and what you set it to. One situation where you might have to change your BlueROV vehicle ID is if you have BlueBoats and/or other BlueROVs on the same subnet.&#x20;

{% hint style="info" %}
If the ROV MAVLink Vehicle ID is set incorrectly, the Omnitrack may appear to be working but is not actually getting information to the autopilot.
{% endhint %}

The **checkbox to send the global origin** is tricky. There is more discussion of this [here](https://docs.ceruleansonar.com/c/omnitrack-user-guide/system-startup-bluerov/rov-startup). Generally, you can check this if you have a complete Omnitrack system with GNSS compass.&#x20;

The **checkbox to only send corrections is GNSS heading is valid** controls what to do if the GNSS compass is not getting a valid heading due to multipath, acclusion, or satellite geometry. If not checked, the system will reply on magnetic heading during compass outages.

The **checkbox to use ROV pressure-based depth in calculations if available** lets the Omnitrack pol the ROV for its depth. If the ROV depth is working properly this checkbox should be checked.


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