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Omnitrack User Guide
Omnitrack User Guide
  • Omnitrack User Guide
  • Quick Start for BlueROV Users
    • Omnitrack Basic (Ring Buoy, Wired POE Tether, no BaseStation Plus)
    • Omnitrack Basic (Ring Buoy, Wi-Fi Connection, no BaseStation Plus)
  • System Startup (BlueROV)
    • ROV Startup
    • Tracker 650 Startup
    • ROV Locator Startup
  • Bench Testing and Simulation
    • ROVL Simulation
    • IMU Simulation
    • GNSS Compass Position Simulation
    • GNSS Compass Heading Simulation
  • Omnitrack Configurations
    • Canonical Configuration
    • Wi-Fi Configuration
    • ROV Locator (ROVL)
    • GNSS Compass
    • Power-over-Ethernet Communication
    • Tracker 650
    • Laptop
  • Standard Blue Robotics Ecosystem Internet Protocol (IP) Addresses
  • Topside ROV Locator Floatation and Mounting Options
    • Ring Buoy
    • BlueBoat
    • Blue Buoy
    • User-Supplied Float and Rigid Mount
  • Interface Connection Options for the Topside ROV Locator in an Omnitrack System
    • Interface via a BlueBoat
    • Interface via POE cable
    • Wi-Fi Module
  • GNSS Compass Mounting Dimensions
  • BaseStation Plus
    • Setting Up the BaseStation Plus
  • Bridging the BlueROV Network and the Omnitrack Network
  • Installing an Ethernet Switch in a BlueROV Topside Tether Interface
    • Overview
    • The Tether Ethernet Switch and Cable
    • Connecting to the Tether Network
    • Connecting to the Tether Interface Power
    • Re-Assembly
  • Omnitrack Assembly Instructions
    • General -- Applies to All Assemblies
    • BlueBoat/BlueBuoy Assembly
      • Identify Parts
      • Assemble the Sting
      • Assemble the GNSS Crossbar
      • Install Mounting Hardware
      • Install Lanyards
      • Adjust Breakaway Latch
    • Ring Buoy Assembly
      • Identify Parts
      • Assemble the Sting
      • Assemble the GNSS Crossbar
      • Install Mounting Hardware
      • Assemble the System
    • Attach the Electronics
    • Prepare Wiring Harness
  • Hints and Tips
  • Copyright
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System Startup (BlueROV)

The Omnitrack system comprises three major subsystems: the ROV Locator, the Tracker 650 DVL, and the ROV. The ROV Locator has three subsystems of its own: The transmitter/transponder, the receiver/transceiver, and the GNSS compass. The ROV has two subsystems of its own that are relevant to our discussion: the autopilot software (ArduSub) and the interface between the network and the autopilot software (MAVLink).

Each subsystem starts up at different rates. There are inter-dependencies between the subsystems that require start-up synchronization. Omnitrack was designed to be very tolerant of start-up order and of subsystems dropping off and rejoining the system (for example, when one part of the system is power-cycled and the others are not).

This section briefly describes the startup of each subsystem, so you know what to expect.

This section can be skipped until your are scratching your head wondering why the system isn't starting the way you expect it to.

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Last updated 1 day ago