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ComNav Vector G2 Manual

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ComNav Vector G2/G2B Installation & Operation Operation
Document PN 29010078 V2.0 - 51 -
DRAFT #3 – 29 May 2009
Configuration Commands
The NMEA-like input sentences in the following tables are commands that can be used to
configure the Vector G2.
These commands must be sent to the G2 on the RS-232 Receive signal wire of Port A.
All commands must end with an END OF LINE sequence (i.e., ASCII <CR><LF> codes).
Most commands may be entered in upper, lower or mixed case.
Some of the commands have optional parameters (shown in square brackets in the
tables). The optional parameters, if used, should be entered with the comma shown
below, but without the square brackets.
In many cases, it is possible to query the current value, or status, of one of the G2’s
operating parameters or sensors, by sending the associated command without a value
for the parameter (e.g., send $JATT,HBIAS to query the Heading Bias value).
• Some of these commands enable or disable the G2’s NMEA, Proprietary and
Binary output sentences. The G2 responds by beginning to output the specified
sentence at the specified update rate on the specified port (or by ceasing to
output the sentence, if you specify that).
– When an output sentence can be set to different update rates, the range of
valid update rates is shown in parentheses in the Description column. A rate
of “0” disables output of a sentence. All rates are in Hz.
– For output sentences which can only be enabled or disabled, the control
parameter is either “0/1” (where 0 disables output of the sentence, and 1
enables it), or the specific words (e.g., “NO/YES”) to be used.
– For commands that control sentences that can be output on either of the
G2’s ports, the command affects the output of Port A
17
, unless the optional
final parameter OTHER is added, which causes the command to be applied
to Port B.
– The units of the various “value” parameters depend on the affected function
or setting in the G2 (e.g., rates in Hz, time in seconds, angles in degrees,
and so on). All the units are implicit, and are not required in the command.
• Other commands control some aspect of the G2’s operation – for example, the
Baud rate that the specified port will run at. The G2 responds by making the
specified change, and (in most cases) outputs a reply (e.g., “$>Jaaa,OK”).
• Other commands request some specific information from the G2. The G2
responds with that information – but it only does so one time … i.e., the reply
does not “update” on a repeated basis, unlike the NMEA & other outputs.
To help you understand these commands, a number of examples of their usage can be
found on pages 81 to 84.
L All changes that you make are “temporary”, unless you send a $JSAVE
command to the G2. If you power-cycle the G2 before doing that, all your
changes will be lost, and the G2 will power-up with the configuration that
was last Saved.
On the other hand, if you do send a $JSAVE while the G2 has some
changes in settings that you meant to be “temporary” (for example,
shutting off all normal data output, so you can query & inspect status more
easily), then those changed settings will be the “permanent” power-up
settings (until you change things again, and do another $JSAVE).
L Caution! You MUST wait until the G2 responds with a “SAVE OK” reply,
after sending a $JSAVE, before you power-down the G2.
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… unless you are sending the command on Port B’s Rx wire, in which case the “OTHER” parameter means
“Port A”. To avoid confusion, ComNav recommends that all command input to the G2 be done on Port A.
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