# Rover Setup

## System Configuration¶

A µINS must be configured as a Rover to receive RTK Base messages. This can be done through the EvalTool or the CLTool by enabling "Rover Mode".

#### EvalTool¶

1. Navigate to Settings > GPS > Rover > RTK.
2. Change the first drop-down menu to "Positioning (GPS1)", or one of the F9P options depending on the hardware setup.
3. Press Accept.
4. Verify the RTKCfgBits was automatically set correctly to any one of the rover modes listed in our binary communications protocol page.

#### CLTool¶

Use the -flashConfig=rtkCfgBits=0x01 argument to configure the unit as rover where 0x01 can be any one of the rover modes listed in our binary communications protocol page.

## Communications Setup¶

The uINS automatically parses data that arrives at any of the ports and recognizes base corrections data. Any communications method that sends the base corrections to one of the ports is suitable. Several common methods are described below.

### EVB2 Radio¶

#### EvalTool¶

The EVB-2 radio can be configured by pressing the "CONFIG" tactile switch until the light next to it is blue. This enables the radio and configures the radio settings. See the Configurations and EVB-2 Connections sections of the EVB-2 documentation.

1. Under "uINS Parameters" section verify the following:
• Check the Baud Rate for the serial port of the radio (ser0BaudRate or ser1BaudRate). This should match the Baud Rate of the radio. The Digi Xbee Pro SX module on the EVB2 runs at 115200 baud.
2. Navigate to Data Sets > DID_EVB_FLASH_CFG
• Change cbPreset - This should be set to 0x3 to enable the Digi Xbee Pro SX module.
• Change radioPID- Radio Preamble ID. Should be the same number used as the Base radio. (0x0 to 0x9)
• Change radioNID- Radio Network ID. Should be the same number used as the Base radio. (0x0 to 0x7FFF)
• Change radioPowerLevel- Used to adjust the radio output power level. (0=20dbm, 1=27dbm, and 2=30dbm)
3. Reset the EVB2 and Rover radio setup is complete.

For more information on DID_EVB_FLASH_CFG see DID-descriptions.

### NTRIP Client¶

For the Rover to receive messages from an NTRIP Caster, it must be connected to an interface with internet access (e.g. computer).

#### EvalTool¶

Follow the proceeding steps in order to set up the Rover to receive messages through NTRIP:

1. Navigate to Settings > RTK > Rover Mode.
2. Change the first drop-down menu to "RTK - GPS1"
3. Under Correction Input:

• Type = NTRIP
• Address:Port = : Ex: rtgpsout.unavco.org:2101
• Username/Password = Enter the Username and Password to the account used as the NTRIP Caster. Some Casters do not require this field.
• Format = RTCM3 or UBLOX
• Mount Point = Specify the mount point of the caster. Ex: P016_RTCM3 4. Press Apply.

#### CLTool¶

With the Rover µINS connected to the computer, use the -rover argument when running the CLTool executable:

• -rover=TCP: Set the type to "TCP".
• PROTOCOL: Set the protocol to "RTCM3" or "UBLOX". UBLOX requires more bandwidth and is not available from NTRIP casters.
• URL: The URL for the NTRIP Caster.
• Port: The port number will be provided by the NTRIP Caster.
• MountPoint: The mount point specifies which base station the corrections come from. This number will be provided by the NTRIP Caster.
• Username:Password The username and password for the account at the given URL (Not required by some public NTRIP casters).

Example:

cltool.exe -c COM10 -flashConfig=rtkCfgBits=0x01 -baud=57600 -rover=TCP:RTCM3:rtgpsout.unavco.org:2101:P016_RTCM3:username:password


### TCP/IP¶

For the Rover to receive messages from a Base Station on a local network, it must be connected to an interface with network access (e.g. computer).

#### EvalTool¶

Follow these steps:

1. Navigate to Settings > GPS1
2. Under Correction Input:
• Type = TCP
• Address:Port = : e.g.192.168.1.145:2001
• Change Format to "ublox" or "RTCM3". Ublox requires more bandwidth but will result in better performance.
3. Press Accept.

Hint

For serial ports, view available comport numbers in the Settings tab of the EvalTool.

#### CLTool¶

With the µINS Rover connected to the computer, enter the -rover argument when running the CLTool executable:

• -rover=TCP: Set the type to "TCP".
• RTCM3 Set the message type to "RTCM3" or "UBLOX". UBLOX requires more bandwidth and may be unavailable from some NTRIP Casters.
• IP_Address The IP Address of the Base Station to receive messages from.
• Port You may choose any number here. This should match the port number used for the Base Station.

Example: cltool.exe -c COM10 -flashConfig=rtkCfgBits=0x01 -baud=57600 -rover=RTCM3:100.100.1.100:7777

### EVB2 Wifi¶

Using the EVB2 WiFi module to connect to the TCP/IP Base. EVB2 can save up to 3 Networks information. (Wifi[0], Wifi[1], Wifi[2]) Follow these steps using the EvalTool:

1. Under "uINS Parameters" section verify the following:
• Verify the RTKCfgBits was automatically set to 0x00000001
2. Navigate to Data Sets > DID_EVB_FLASH_CFG
• Change cbPreset - This should be set to 0x4 to enable the WiFi module.
• Change wifi[0].ssid- WiFi [0] Service Set Identifier or network name.
• Change wifi[0].psk- WiFi [0] Pre-Shared Key authentication or network password.
• Change server[0].ipAddr- server [0] IP address.
• Change server[0].port- server [0] port.
3. Reset the EVB2 and Rover WiFi setup is complete.