diff --git a/docs/css/extra.css b/docs/css/extra.css index 2012bbfe..895f3e05 100644 --- a/docs/css/extra.css +++ b/docs/css/extra.css @@ -148,7 +148,7 @@ html { /* Wire-colour / LED swatches — drawn in CSS instead of emoji so they look pixel-identical on every OS & browser. Emoji such as ⬜/⚪ are rendered by each device's own emoji font (white/silver ones can look pink or oddly bordered on some platforms); these boxes don't - depend on that font. Used in dvl/electrical.md. Squares = wire colours, circles = LEDs. */ + depend on that font. Used in dvl/electrical.md and the underwater-gps pages. Squares = wire colours, circles = LEDs. */ .swatch { display: inline-block; width: .85em; @@ -165,11 +165,86 @@ html { .c-orange { background: #ef6c00; } .c-brown { background: #5d4037; } .c-silver { background: #c0c0c0; } +.c-white { background: #fff; } +.c-blue { background: #1565c0; } .c-ledon { background: #2ecc40; } .c-ledoff { background: #3a3a3a; } .c-green-white { background: linear-gradient(90deg, #2e7d32 50%, #fff 50%); } .c-orange-white { background: linear-gradient(90deg, #ef6c00 50%, #fff 50%); } .c-brown-white { background: linear-gradient(90deg, #5d4037 50%, #fff 50%); } +.c-blue-white { background: linear-gradient(90deg, #1565c0 50%, #fff 50%); } + +/* --- Animated LED indicators --------------------------------------------------------- + Visualise how a status LED behaves (solid, blinking, breathing) next to its written + description. Pure CSS, no JavaScript. Usage in Markdown: + + Modifiers: led--off, led--on, led--blink (1 Hz), led--blink-slow, led--blink-fast, led--breathe. + Timings are illustrative, not exact firmware values. Used in underwater-gps/locators/locator-u1.md + and underwater-gps/interface/ugps-led.md. Under prefers-reduced-motion the animations stop and + each pattern is shown as a static half-lit LED with a dashed ring, so the text carries the meaning. */ +.md-typeset .led { + --led-on: #2ecc40; + --led-off: #3a3a3a; + --led-glow: 0 0 .35em .1em rgba(46, 204, 64, .75); + display: inline-block; + width: .9rem; + height: .9rem; + border-radius: 50%; + border: 1px solid rgba(0, 0, 0, .45); + background: var(--led-off); + vertical-align: middle; +} +[data-md-color-scheme="slate"] .md-typeset .led { border-color: rgba(255, 255, 255, .5); } +.md-typeset .led--on { background: var(--led-on); box-shadow: var(--led-glow); } +.md-typeset .led--blink { animation: led-blink 1s steps(1, end) infinite; } +.md-typeset .led--blink-slow { animation: led-blink 2.5s steps(1, end) infinite; } +.md-typeset .led--blink-fast { animation: led-blink .25s steps(1, end) infinite; } +.md-typeset .led--breathe { animation: led-breathe 3s ease-in-out infinite; } +@keyframes led-blink { + 0% { background: var(--led-on); box-shadow: var(--led-glow); } + 50% { background: var(--led-off); box-shadow: none; } +} +@keyframes led-breathe { + 0%, 100% { background: var(--led-off); box-shadow: none; } + 50% { background: var(--led-on); box-shadow: var(--led-glow); } +} +@media (prefers-reduced-motion: reduce) { + .md-typeset .led--blink, + .md-typeset .led--blink-slow, + .md-typeset .led--blink-fast, + .md-typeset .led--breathe { + animation: none; + background: linear-gradient(90deg, var(--led-on) 50%, var(--led-off) 50%); + outline: 1px dashed currentColor; + outline-offset: 2px; + } +} +/* Static timing strip shown next to an animated LED: 3 seconds of the pattern drawn as a bar + (green = on, dark = off), so patterns can be compared at a glance, in print, and with reduced + motion. Decorative: mark it aria-hidden, the LED span carries the accessible label. + + Scale: the strip is 4.5rem wide = 3 s, so 1 s = 1.5rem. */ +.md-typeset .led-wave { + --led-on: #2ecc40; + --led-off: #3a3a3a; + display: inline-block; + width: 4.5rem; + height: .5rem; + margin-left: .4rem; + border-radius: .15rem; + border: 1px solid rgba(0, 0, 0, .45); + background: var(--led-off); + vertical-align: middle; +} +[data-md-color-scheme="slate"] .md-typeset .led-wave { border-color: rgba(255, 255, 255, .5); } +.md-typeset .led-wave--on { background: var(--led-on); } +.md-typeset .led-wave--blink { background: repeating-linear-gradient(90deg, var(--led-on) 0 .75rem, var(--led-off) .75rem 1.5rem); } +.md-typeset .led-wave--blink-slow { background: repeating-linear-gradient(90deg, var(--led-on) 0 1.875rem, var(--led-off) 1.875rem 3.75rem); } +.md-typeset .led-wave--blink-fast { background: repeating-linear-gradient(90deg, var(--led-on) 0 .1875rem, var(--led-off) .1875rem .375rem); } +.md-typeset .led-wave--breathe { background: repeating-linear-gradient(90deg, var(--led-off) 0, var(--led-on) 2.25rem, var(--led-off) 4.5rem); } + +/* Keep the LED column of indicator tables narrow and centred. */ +.md-typeset table td:has(> .led-wave) { white-space: nowrap; } /* In dark mode, paint a white backing behind content images so any transparent PNG with dark content (line art, diagrams) stays legible on the dark page; for the many photos and diff --git a/docs/explorer-kit/locators/locator-u1.md b/docs/explorer-kit/locators/locator-u1.md index 0388f98d..85ecbce6 100644 --- a/docs/explorer-kit/locators/locator-u1.md +++ b/docs/explorer-kit/locators/locator-u1.md @@ -2,66 +2,16 @@ [Buy Locator-U1 here!](https://waterlinked.com/product/locator-u1/) -## Description +The Locator-U1 is a battery-powered, digital hydroacoustic locator device with an internal GPS-based time-sync module, so no tether is required. It has its own pressure sensor and measures its own depth. -The Locator-U1 is a battery powered, digital hydro acoustic locator device. It carries an internal GPS based time sync module, which means no tether is required. This Locator fits well for divers, ROVs where power is not easily accessible, or other underwater applications. +The Locator-U1 used with the Explorer Kit is the same device that is used with the Underwater GPS G2 system, and it is documented in one place: -The internal battery is rechargeable using the USB-C cable that follows and standard 5V USB charger. Before deployment in water, the Locator-U1 needs to achieve a GPS lock. The integrated status-LED shows the condition of the GPS lock. Once the Locator-U1 has lock it can operate for approximately 6 hours befor needing resync with GPS. +[**Locator-U1 documentation**](../../underwater-gps/locators/locator-u1.md){ .md-button } -The Locator-U1 has a rotary switch located on the inside of the cap. This switch is used to change the channel on which the Locator is transmitting. The same channel needs to be selected in the Water Linked Underwater GPS GUI. +That page covers charging (including the LED behavior for each serial-number range), powering on and off, the LED signals, channel selection, operating time, troubleshooting, and the dimensions. -The Locator has 3 mounting holes on each side for M3 screws. A default bracket is included. - -## Charging - -Insert included USB-C cable into a wall adapter (2A/5V) and connect it to the Locator-U1. The Locator LED will normally start pulsating while charging and turn solid green once charging has finished. - -*Note*: If battery is fully discharged the pulsating will not be activated. The Locator will still charge regardless of the LED not showing the charge indication. The Locator will in this cause show searching for GPS lock or GPS lock achieved indication. - -*Note*: Some Locator-U1 units are produced with a fault that causes them to never be able to show the charge indication. The Locator will still charge and operate as normal during use. - -Charging time is 7 hours. - -## Powering on/off - -To power **on** the Locator-U1 simply tighten the lid over the charging port. The the LED will start to blinking indicating that the Locator is searching for GPS lock. The Locator is ready to use when the LED stops blinking and turns solid. -Before powering on, ensure the O-ring within the lid is without damage. - -To power **off** the Locator-U1 unscrew the back lid until the LED turns off. - -## LED Signals - -* No green light: Power is off and the unit is **not ready** for diving. - -* Flashing green light (once a second): Searching for GPS lock. The unit is **not ready** to dive. - -* Fixed green light: GPS lock is acheived. The unit is ready to dive. - -* Flashing green light (slow): GPS lock has been acheived but lost. The unit is ready to dive. - -* Pulsating green light : The Locator-U1 is charging. The unit is **not ready** to dive. See charge description above. - -* Fast flashing green light (multiple times pr second): Error indication. The unit is **not ready** to dive. Typically this is caused by exceeding dive time and the pressure sensor needing to dry. Charging the Locator is the fastest way to dry the pressure sensor. - -!!! warning - The Locator-U1 can only be submerged for about 6 hours. It then needs to dry the pressure sensor in order to give correct depth readings. - -## Wiring interface - -Because the U1 is battery powered the only interface for it is the charing port which is a standard USB-C type connector. - -## Included in package - -* Locator-U1 - -* USB-C charging cable - -* Bracket for mounting - -## Dimensions - -![u1_dimensions](../../img/u1_dimensions.png) - -## Datasheet - -[Datasheet](https://waterlinked.com/underwater-gps-accessories#Downloads%2FResources) \ No newline at end of file +!!! Note + The Explorer Kit is retired. On the Explorer Kit, the channel of the Locator-U1 is selected in + [Settings](../gui/settings.md) in the Explorer Kit GUI, and it must match the rotary switch inside + the cap of the Locator-U1. Other references on the Locator-U1 page point to the Underwater GPS G2 + interface. diff --git a/docs/underwater-gps/integration/bluerov-integration-a1.md b/docs/underwater-gps/integration/bluerov-integration-a1.md index ce42e856..1db7dd52 100644 --- a/docs/underwater-gps/integration/bluerov-integration-a1.md +++ b/docs/underwater-gps/integration/bluerov-integration-a1.md @@ -15,8 +15,8 @@ It contains the following parts (purpose in parentheses) * rubber pad * 2 M4x35 Socket head cap screws * 2 M4 Lock Nuts -2. A female-to-female jumper wire, white/Blue (for locator connection in FXTI) -3. A Binder-connector-pigtail-assembly, with [Binder 770 Series NNC Miniature Cable Connector](https://octopart.com/99-0771-002-08-binder-39031370), pins 1/2: white/blue, pin 7/8: white/brown (analog connection and Powerline connection in FXTI) +2. A female-to-female jumper wire, white/blue (for locator connection in FXTI) +3. A Binder-connector-pigtail-assembly, with [Binder 770 Series NNC Miniature Cable Connector](https://octopart.com/99-0771-002-08-binder-39031370), pins 1/2: white/blue , pin 7/8: white/brown (analog connection and Powerline connection in FXTI) 4. Powerline communication (PLC) module [LX200V30](https://www.rakwireless.com/en-us/products/plc-boards-and-modules/lx200v30-plc-homeplug-av-module) (for Powerline communication in UGPS Topside) 5. 30cm Cat5e cable (for Powerline connection in UGPS Topside) 6. 8 m cable with [Binder 770 connectors](https://www.binder-connector.com/en/products/miniature-circular-connectors/bayonet-ncc-1/99-0771-002-08-bayonet-ncc-male-cable-connector-contacts-8-60-80-mm-unshielded-solder-ip67) "deck extension cable"(for analog connection and Powerline communication between FXTI and UGPS Topside)) @@ -73,7 +73,7 @@ It contains the following parts (purpose in parentheses) ## Modifications to the BlueROV2 -The Locator-A1 will use one of the spare cable penetrators in the back of the BlueROV2 and will connect to the spare green and white twisted pair in the tether. The locator is attached with a mounting bracket included in the BlueROV2 Integration Kit. +The Locator-A1 will use one of the spare cable penetrators in the back of the BlueROV2 and will connect to the spare green and white twisted pair in the tether. The locator is attached with a mounting bracket included in the BlueROV2 Integration Kit. ### Open the electronics enclosure @@ -132,7 +132,7 @@ Install the WetLink penetrator with the Locator-A1 cable onto the end cap in the ### Connect Locator-A1 wires to ROV tether -One pair of twisted wires from the Locator-A1 (blue/white) must be connected to a spare twisted pair on the BlueROV2 tether. To solder the wires together you will need: +One pair of twisted wires from the Locator-A1 (blue/white ) must be connected to a spare twisted pair on the BlueROV2 tether. To solder the wires together you will need: * A soldering iron and solder * A utility knife, or a sharp blade @@ -146,7 +146,7 @@ Remove 5mm wire insulation on both the tether wires and the locator wires with a Put heat shrink tube onto the wires before soldering. -Connect the Locator-A1 wires (blue/white) to a spare twisted pair of the tether (recommended: green/white) by soldering. +Connect the Locator-A1 wires (blue/white ) to a spare twisted pair of the tether (recommended: green/white ) by soldering. Pull the the heat shrink tube over the solder-connection and shrink it with a hot air gun or alternatively with your soldering iron turned to low. @@ -260,7 +260,7 @@ In this step the FXTI will be modified to firstly connect the analog signal of t In order to make these connections, you will need the following parts and tools: * Binder-connector-pigtail-assembly (included in the BlueROV2 Integration Kit) -* A female-to-female jumper wire, white/green (included in the BlueROV2 Integration Kit) +* A female-to-female jumper wire, white/green (included in the BlueROV2 Integration Kit) * 2 mm hex key Unscrew the connector panel from the FXTI with the hex key and remove one of the black plastic plugs from one of the auxiliary ports. @@ -271,11 +271,11 @@ Thread the Binder-connector-pigtail-assembly into the open port and secure in pl ![fxti-add-bulkhead](../../img/fxti-add-bulkhead.png) -Connect the green and white twisted pair of the tether connector to the brown and brown/white pair on the new Binder-connector-pigtail-assembly with the included female-to-female jumper wire. +Connect the green and white twisted pair of the tether connector to the brown and brown/white pair on the new Binder-connector-pigtail-assembly with the included female-to-female jumper wire. ![fxti-connect-locator-a1](../../img/fxti-connect-locator-a1.png) -Connect the blue and white twisted pair of the Binder-connector-pigtail-assembly to the FXTI Tether Connection PCB, matching the orientation of the pre-installed blue and white wire connections. +Connect the blue and white twisted pair of the Binder-connector-pigtail-assembly to the FXTI Tether Connection PCB, matching the orientation of the pre-installed blue and white wire connections. ![fxti-connect-plc](../../img/fxti-connect-plc.png) diff --git a/docs/underwater-gps/integration/bluerov-integration.md b/docs/underwater-gps/integration/bluerov-integration.md index 53a3ba54..67c73a73 100644 --- a/docs/underwater-gps/integration/bluerov-integration.md +++ b/docs/underwater-gps/integration/bluerov-integration.md @@ -11,7 +11,7 @@ The Water Linked Underwater GPS G2 (from now UGPS) system can be integrated with ## Alternative integration methods * If you wish to use a [Locator-A1](../locators/locator-a1.md), however you wish to avoid purchasing the full integration kit then this can be done. The Locator-A1 must be installed on the ROV and connected to the G2 Topside and then it is necessary to set-up a network bridge. The steps in these sections are relevant * [Modifications to the BlueROV2](bluerov-integration-a1.md#modifications-to-the-bluerov2) - * [Modifications to the FXTI](bluerov-integration-a1.md#modifications-to-the-fxti) with the deviation that the blue/white twisted pair between Tether Connection PCB and Binder-connector-pigtail-assembly does not need to be connected. + * [Modifications to the FXTI](bluerov-integration-a1.md#modifications-to-the-fxti) with the deviation that the blue/white twisted pair between Tether Connection PCB and Binder-connector-pigtail-assembly does not need to be connected. * [Establish a network connection with a network bridge](bluerov-integration-u1.md#establish-a-network-connection-between-ugps-topside-bluerov2-and-topside-computer) * [Final steps](#final-steps-of-integration-independent-of-locator) @@ -19,7 +19,7 @@ The Water Linked Underwater GPS G2 (from now UGPS) system can be integrated with * If you wish to use the [Locator-U1](../locators/locator-u1.md), however you wish to avoid the complication in setting up a network bridge, it is possible to integrate by using the [BlueROV2 Integration Kit](https://waterlinked.com/shop/underwater-gps-g2-bluerov2-integration-kit-103). The steps in these sections are relevant * [Mount the Locator-U1 to the BlueROV2 frame](bluerov-integration-u1.md#mount-the-locator-u1-to-the-bluerov2-frame) * [Modifications to the UGPS Topside](bluerov-integration-a1.md#modifications-to-the-ugps-topside) - * [Modifications to the FXTI](bluerov-integration-a1.md#modifications-to-the-fxti) with the deviation that the green/white twisted pair between tether and Binder-connector-pigtail-assembly does not need to be connected. + * [Modifications to the FXTI](bluerov-integration-a1.md#modifications-to-the-fxti) with the deviation that the green/white twisted pair between tether and Binder-connector-pigtail-assembly does not need to be connected. * [Establish a network connection with powerline communication](bluerov-integration-a1.md#establish-a-network-connection-between-ugps-topside-bluerov2-and-topside-computer) * [Final steps](#final-steps-of-integration-independent-of-locator) diff --git a/docs/underwater-gps/interface/ugps-led.md b/docs/underwater-gps/interface/ugps-led.md index 1747b3e6..345ca5aa 100644 --- a/docs/underwater-gps/interface/ugps-led.md +++ b/docs/underwater-gps/interface/ugps-led.md @@ -1,20 +1,20 @@ # LED Indicators -Only the topside box and the Locator U1 has LED indicators. +Only the topside box and the Locator-U1 have LED indicators. ## Topside -|LED name | Description | -|-----------|---------------------------------------------------------------------------| -| Power | Solid green: Topside has power | -| Ready | Solid Green: Topside has booted successfully | -| GPS | Blinking green: Searching for GPS lock, solid green: Topside has GPS lock | -| LED 1 | Solid green: Firmware successfully loaded | -| LED 2 | Not in use | -| Locator | Solid green: Locator D1 is connected | -| Receiver 1| Solid green: Receiver 1 connected | -| Receiver 2| Solid green: Receiver 2 connected | -| Receiver 3| Solid green: Receiver 3 connected | -| Receiver 4| Solid green: Receiver 4 connected | +|LED name | LED | Description | +|-----------|:---:|---------------------------------------------------------------------------| +| Power | | Solid green: Topside has power | +| Ready | | Solid green: Topside has booted successfully | +| GPS | | Flashing green: Searching for GPS lock, solid green: Topside has GPS lock. The topside uses GPS both for its own position and to synchronize its clock | +| LED 1 | | Solid green: Firmware successfully loaded | +| LED 2 | | Not in use | +| Locator | | Solid green: Locator D1 is connected | +| Receiver 1| | Solid green: Receiver 1 connected | +| Receiver 2| | Solid green: Receiver 2 connected | +| Receiver 3| | Solid green: Receiver 3 connected | +| Receiver 4| | Solid green: Receiver 4 connected | !!! Note There is **No** indication when the **Antenna** is connected. @@ -29,21 +29,23 @@ Only the topside box and the Locator U1 has LED indicators. ## Locator-U1 -- **No green light** - Power is off; the Locator-U1 is not ready for diving. +When powered on by screwing on the cap, the LED of the Locator-U1 shows whether its clock is synchronized with GPS time. The Locator-U1 uses GPS only for this time synchronization, not to find its own position. -- **Flashing green light (once per second)** - The Locator-U1 is searching for GPS lock and is not ready to dive. +| LED | Signal | Meaning | Ready to use? | +|:---:|--------|---------|:--------------:| +| | **No light** | Power is off, or the battery is empty. | No | +| | **Flashing green light** (once per second) | Searching for a GPS signal. The clock is not synchronized yet. | No | +| | **Solid green light** | The clock is synchronized with GPS time. | **Yes** | +| | **Flashing green light** (slow) | The GPS signal has been lost, for example because the Locator-U1 is in the water. The time synchronization is still valid, so the Locator-U1 keeps working. | **Yes** | +| | **Fast flashing green light** (multiple times per second) | Error. Often the operating time has been exceeded and the pressure sensor needs to dry; charging the Locator-U1 helps the sensor dry more quickly. It can also be another internal failure. | No | -- **Fixed green light** - The Locator-U1 has GPS lock and is ready to dive. +When connected to a charger, the LED behavior depends on the serial number (SN): -- **Flashing green light (slow)** - The Locator-U1 previously had GPS lock but lost it. It is still ready to dive. +| SN | LED while charging | +|----|--------------------| +| **0556 and higher** | The Locator-U1 only charges and does not power on. Breathing green: charging. Solid green: fully charged. | +| **0555 and lower** | The Locator-U1 powers on while charging. The LED does **not** show the battery or charging status. | -- **Fast flashing green light (multiple times per second)** - Error indication. The Locator-U1 is not ready to dive. This often happens if the device has exceeded its dive time and the pressure sensor requires drying, or if the battery power is very low. Charging the Locator helps to dry the sensor more quickly. +Charge the Locator-U1 with a 5 V / 2 A wall adapter before use: on SN: 0556 and higher until the LED is solid green, on SN: 0555 and lower for at least 7 hours. - -!!! Note - The LED does not say anything about the battery status of the Locator-U1. The locator always needs to be charged for at least 7 hours with a proper 5V/2A charger befor use. \ No newline at end of file +The serial number is printed on the flat side of the Locator-U1, where the bracket is mounted. See [Locator-U1](../locators/locator-u1.md#led-signals) for full details on the LED signals and [charging](../locators/locator-u1.md#charging). diff --git a/docs/underwater-gps/introduction.md b/docs/underwater-gps/introduction.md index f0d73b95..5e479b63 100644 --- a/docs/underwater-gps/introduction.md +++ b/docs/underwater-gps/introduction.md @@ -39,16 +39,16 @@ Compared to USBL systems, the UGPS G2 system has the advantage of working well i Please read the following carefully before the UGPS G2 system is installed and used for the first time. -| | | -| ------------------- |:------------------- | +| Topic | Warning | +| ----- | ------- | | **Operation medium** | The Underwater GPS G2 system is designed only to work in water. It will not work if the locator and/or antenna/receivers are out of water. | | **Max voltage** | The absolute maximum voltage rating of the equipment is 30V. Voltages above this will damage the electronics. | | **Temperature** | Make sure the system does not overheat. Avoid placing it in direct sunlight over extended periods of time. | | **Salt water** | The contents of the topside housing will corrode and/or short if in contact with salt water. Keep the housing lid closed when in the field to avoid salt water getting inside. | | **Force** | Avoid using excessive force on connectors, screws and other parts of the system, as this can lead to mechanical failure. | -| **Locator U1** | It will discharge when not in use, so **always charge it before operation**. See [U1 charging procedure.](locators/locator-u1.md#charging)| +| **Locator U1** | **Always charge the Locator-U1 before operation.** See the [U1 charging procedure](locators/locator-u1.md#charging). | | **External position and U1** | You can use external position data to give a better position estimate, however, if using the U1 the topside will still need GPS lock for time synchronization purposes. | -| **Implementing an external compass** | In a static environment manually setting the current heading based on a reliable compass will be sufficient. In more dynamic/challenging environments it is neccessary to provide compass heading from an external compass, to achive accurate position data. | +| **Implementing an external compass** | In a static environment manually setting the current heading based on a reliable compass will be sufficient. In more dynamic/challenging environments it is necessary to provide compass heading from an external compass, to achieve accurate position data. | ## Discussion diff --git a/docs/underwater-gps/locators/locator-a1.md b/docs/underwater-gps/locators/locator-a1.md index deb70f03..e592bb8d 100644 --- a/docs/underwater-gps/locators/locator-a1.md +++ b/docs/underwater-gps/locators/locator-a1.md @@ -4,11 +4,11 @@ ## Description -The Locator-A1 has the smallest physical footprint in our series of locators. It can be integrated into even the most compact ROVs. The Locator-A1 does not carry its own depth sensor, so the UGPS G2 system requires that the depth be provided from your underwater vehicle (ROV, etc.) This can achieved by means of the [UGPS API](../integration/api.md). +The Locator-A1 has the smallest physical footprint in our series of locators. It can be integrated into even the most compact ROVs. The Locator-A1 does not carry its own depth sensor, so the UGPS G2 system requires that the depth be provided from your underwater vehicle (ROV, etc.) This can be achieved by means of the [UGPS API](../integration/api.md). ## Wiring interface -The tables below shows the pinning of the A1 interface connectors. +The table below shows the pinning of the A1 interface connectors. ![a1_connector_binder](../../img/a1_connector_binder_v2.png) diff --git a/docs/underwater-gps/locators/locator-d1.md b/docs/underwater-gps/locators/locator-d1.md index 893acaf3..b0bb46a7 100644 --- a/docs/underwater-gps/locators/locator-d1.md +++ b/docs/underwater-gps/locators/locator-d1.md @@ -4,7 +4,7 @@ ## Description -The Locator-D1 carries its own depth sensor and can therefore operate fully stand-alone and independent of the device you want to position. +The Locator-D1 carries its own depth sensor and can therefore operate fully stand-alone and independent of the device you want to position. It is offered with a 50 m or 100 m integrated cable that connects directly to the topside box. !!! warning The Locator-D1 can only be submerged for about 6 hours. It then needs to dry the pressure sensor in order to give correct depth readings. @@ -12,7 +12,7 @@ The Locator-D1 carries its own depth sensor and can therefore operate fully stan ## Wiring interface -The tables below shows the pinning of the D1 interface connectors. +The tables below show the pinning of the D1 interface connectors. ![d1_connector_gh](../../img/d1_connector_gh.png) diff --git a/docs/underwater-gps/locators/locator-u1.md b/docs/underwater-gps/locators/locator-u1.md index e98f03d5..77bac701 100644 --- a/docs/underwater-gps/locators/locator-u1.md +++ b/docs/underwater-gps/locators/locator-u1.md @@ -6,87 +6,146 @@ The Locator-U1 is a battery-powered, digital hydroacoustic locator device. It includes an internal GPS-based time-sync module, eliminating the need for a tether. This makes it ideal for divers, ROVs lacking convenient power sources, or other underwater applications. -Before deployment, the Locator-U1 must obtain a GPS lock. The integrated status LED indicates the lock status. Once locked, the Locator-U1 can operate for around 6 hours before it needs to resync with GPS. +The Locator-U1 has its own pressure sensor and measures its own depth. The topside uses this depth together with the acoustic signal to calculate the position of the Locator-U1. -A rotary switch is located inside the cap, allowing you to select the channel on which the Locator transmits. The same channel must be set in the Water Linked Underwater GPS GUI. Each side of the Locator has three M3 mounting holes, and a standard bracket is included. +The Locator-U1 uses GPS only to synchronize its clock, not to find its own position. The topside needs GPS as well: for its own position and for the same clock synchronization. Both clocks must be synchronized for the topside to position the Locator-U1. The synchronization of the Locator-U1 is what its status LED reports, and it is often called *GPS lock*. !!! Note You will need GPS lock on the topside as well when using the U1. This is for timing purposes, it will not help to use only external GPS position as this can not be used for time synchronization. It is not enough to only have GPS lock on the U1. +## Before each use + +Use this checklist to get the Locator-U1 ready. Each step links to the detailed description further down the page. + +| Step | What to do | LED | +|:----:|------------|:---:| +| 1 | [Charge](#charging) the Locator-U1 with a 5 V / 2 A wall adapter, within 24 hours before use. On SN: 0556 and higher the LED turns solid green when the battery is full; on SN: 0555 and lower, charge for 7 hours. | →
SN: 0556 and higher | +| 2 | Unplug the charger. With the cap off, set the [channel](#channel-selection) on the rotary switch to the same channel as in the GUI. | | +| 3 | Check that the O-ring in the cap is clean and undamaged, then [screw the cap on](#powering-on-and-off) to power on. The Locator-U1 searches for a GPS signal to synchronize its clock. | | +| 4 | Keep the Locator-U1 in open sky until the LED turns solid green. Its clock is now synchronized and it is ready to use. | | +| 5 | Make sure the topside also has GPS lock, then deploy. Recover the Locator-U1 within about [6 hours](#operating-time). | | + ## Charging -The Locator-U1 has an internal rechargeable battery. Use the included USB-C cable and a 5 V / 2 A (or higher) wall adapter to charge it. The U1 will require to be fully charged before each operation as it will discharge over time when left with the cap off. Depending on the age of the U1 and the temperature in the environment the discharging effect will be worse. +The Locator-U1 has an internal rechargeable battery. Use the included USB-C cable and a 5 V / 2 A (or higher) wall adapter to charge it. Always fully charge the Locator-U1 before each operation. -!!! Note -Do not use your computer to charge the locator, the computers USB port does not supply enough power to charge the locator. Charge for at least 7 hours. Note that a steady green light only indicates gps lock, and has nothing to do with the charging status. +!!! warning + Do not use your computer to charge the locator. A computer USB port does not supply enough power to charge the Locator-U1. + +1) **Remove the cap** + Unscrew the cap completely to access the USB-C charging port. -1) **Insert the USB-C cable** +2) **Insert the USB-C cable** Plug one end of the cable into the Locator-U1’s charging port. -2) **Connect to a suitable power source** - Attach the other end of the cable to a wall adapter providing at least 5V/2A. - Avoid charging from a computer USB port. +3) **Connect to a suitable power source** + Attach the other end of the cable to a wall adapter providing at least 5 V / 2 A. -3) **Charge for 7 hours** - Leave the Locator-U1 connected for a full 7 hours to ensure a complete charge. You can then disconnect the cable and use the Locator-U1. Charging overnight the night before use is a recommended routine. +4) **Charge the battery** + On **SN: 0556 and higher**, the LED shows when the battery is full: charging is finished when the LED stops breathing and is solid green. + On **SN: 0555 and lower**, the LED does not show the charging status, so leave the Locator-U1 connected for a full 7 hours. + Charging overnight the night before use is a recommended routine. -### LED Behavior While Charging +### LED behavior while charging -When the Locator-U1 is connected to a charger, the LED does not indicate charging progress. You may see: +The LED behavior while charging depends on the serial number (SN) of your Locator-U1. The serial number is printed on the flat side of the Locator-U1, where the bracket is mounted. Select the tab that matches your unit. -1) **Blinking green LED** - The Locator-U1 is powered on and functioning normally (such as searching for GPS). This does **not** reflect charging status. +=== "SN: 0556 and higher" -2) **No LED (off)** - The battery is too low to power on, but the device is still charging. Once it has enough power, the LED will start blinking. + When connected to a charger, the Locator-U1 only charges. It does **not** power on, does **not** search for GPS, and the LED shows the charging status only: -3) **Solid green LED** - The Locator-U1 is powered on and has a GPS lock (see [LED Signals](#led-signals)). This does **not** mean it is fully charged. Keep charging for the full 7-hour period. + | LED | Signal | Meaning | + |:---:|--------|---------| + | | **Breathing green light** (slowly fading in and out) | The Locator-U1 is charging. | + | | **Solid green light** | The battery is full. Here solid green means *fully charged*, not time synchronized. | -!!! warning - Do not charge the Locator-U1 using a computer USB port. + Screw the cap on to power the Locator-U1 on. The LED then shows the time synchronization status instead, as described in [LED behavior while in use](#led-signals). + +=== "SN: 0555 and lower" + + When connected to a charger, the Locator-U1 powers on and charges at the same time. The LED does **not** indicate charging progress: -## Powering On and Off + | LED | Signal | Meaning | + |:---:|--------|---------| + | | **Flashing green light** | The Locator-U1 is powered on and working normally, for example searching for a GPS signal. This does **not** reflect charging status. | + | | **Solid green light** | The Locator-U1 is powered on and its clock is synchronized. This does **not** mean it is fully charged. Keep charging for the full 7 hours. | -- **To power on** the Locator-U1, securely tighten the lid over the charging port. The LED will begin blinking to indicate that it is searching for a GPS lock. Once the LED stops blinking and becomes solid, the Locator-U1 has acquired a GPS lock and is ready for use. - Ensure the O-ring on the lid is undamaged before submerging the device. +## Powering on and off -- **To power off** the Locator-U1, unscrew the back lid until the LED turns off. +- **To power on** the Locator-U1, securely tighten the cap over the charging port. The LED will begin flashing to indicate that it is searching for a GPS signal. Once the LED stops flashing and becomes solid, the clock of the Locator-U1 is synchronized and it is ready for use. + Ensure the O-ring in the cap is undamaged before submerging the device. -## LED Signals +- **To power off** the Locator-U1, unscrew the cap until the LED turns off. -- **No green light** - Power is off; the Locator-U1 is not ready for diving. +## LED behavior while in use { #led-signals } -- **Flashing green light (once per second)** - The Locator-U1 is searching for a GPS lock and is not ready to dive. +These signals apply when the Locator-U1 is powered on by screwing on the cap. The LED shows whether the clock of the Locator-U1 is synchronized with GPS time, which it needs in order to be positioned by the topside (the topside must be synchronized too). For the LED while connected to a charger, see [LED behavior while charging](#led-behavior-while-charging). + +| LED | Signal | Meaning | Ready to use? | +|:---:|--------|---------|:--------------:| +| | **No light** | Power is off, or the battery is empty. | No | +| | **Flashing green light** (once per second) | Searching for a GPS signal. The clock is not synchronized yet. | No | +| | **Solid green light** | The clock is synchronized with GPS time. | **Yes** | +| | **Flashing green light** (slow) | The GPS signal has been lost, for example because the Locator-U1 is in the water. The time synchronization is still valid, so the Locator-U1 keeps working. | **Yes** | +| | **Fast flashing green light** (multiple times per second) | Error. See [Error indication](#error-indication). | No | + +!!! Note + The animations above illustrate the LED patterns. The exact timing on the Locator-U1 may vary slightly. -- **Fixed green light** - The Locator-U1 has a GPS lock and is ready to dive. +### Empty battery -- **Flashing green light (slow)** - The Locator-U1 previously had a GPS lock but lost it. It is still ready to dive. +A completely empty battery looks the same as a Locator-U1 that is switched off: the LED stays dark. So if the LED is dark with the cap screwed on, the Locator-U1 most likely needs [charging](#charging). -- **Fast flashing green light (multiple times per second)** - Error indication. The Locator-U1 is not ready to dive. This often happens if the device has exceeded its dive time and the pressure sensor requires drying, or if the battery power is very low. Charging the Locator helps to dry the sensor more quickly. +If the LED also stays dark when the Locator-U1 is connected to the charger, the battery is so deeply discharged that it may be damaged. Leave the Locator-U1 connected to the charger, as this can recover the battery. If the LED is still dark after a full charge, contact [support](https://support.waterlinked.com/en/knowledge). + +### Error indication + +A fast flashing LED often means one of the following: + +- The Locator-U1 has exceeded its [operating time](#operating-time) and the pressure sensor needs to dry. Charging the Locator-U1 helps the sensor dry more quickly. +- Another internal failure. If the LED keeps flashing fast after the pressure sensor has dried, contact [support](https://support.waterlinked.com/en/knowledge). + +## Channel selection + +The channel is selected with the rotary switch inside the cap. Unscrew the cap completely to access the switch. The channel on the Locator-U1 must match the channel selected in the [GUI settings](../interface/ugps-gui.md#settings). Channel 3 is usually a good choice. See the [channel overview](../ugps-sysconfig.md#channel-overview) for the frequency band of each channel. + +## Operating time + +The Locator-U1 can be used for about 6 hours at a time. After this it needs to be brought to the surface, because all three of the following have run out: + +- The pressure sensor needs to dry, otherwise the depth readings become inaccurate. +- The battery needs recharging. How long the battery lasts varies with the water temperature, and is shorter in cold water. +- The GPS time synchronization needs refreshing, which the Locator-U1 does in open sky. !!! warning - The Locator-U1 can only be submerged for about 6 hours. It then requires charging and time to dry the pressure sensor in order to provide accurate depth readings. + Do not keep the Locator-U1 submerged for longer than about 6 hours. It then requires charging and time to dry the pressure sensor in order to provide accurate depth readings. + +## Troubleshooting -## Wiring Interface +| Problem | What to check | +|---------|---------------| +| The LED is dark when the cap is screwed on | Make sure the cap is fully tightened. If the LED stays dark, see [Empty battery](#empty-battery). | +| LED keeps flashing once per second | The Locator-U1 has not synchronized with GPS time yet. Move it outdoors with a clear view of the sky. Indoors, a GPS repeater or similar is needed. | +| No signal from the Locator-U1 in the GUI | Check that the LED of the Locator-U1 is solid or slowly flashing green, that the topside has GPS lock, and that the channel on the rotary switch matches the GUI. See also [Warnings](../interface/warnings.md). | +| Fast flashing LED | See [Error indication](#error-indication). | +| Battery runs out sooner than expected | Charge within 24 hours before use with a 5 V / 2 A wall adapter, not a computer. The battery also lasts shorter in cold water. | + +## Wiring interface Since the Locator-U1 is battery powered, its only interface is the charging port, which is a standard USB-C connector. -## Included in Package +## Included in package - Locator-U1 - USB-C charging cable - Mounting bracket -## Dimensions +## Mounting and dimensions { #dimensions } + +Each side of the Locator-U1 has three M3 mounting holes, and the included bracket fits these. The serial number is printed on the flat side where the bracket is mounted. ![u1_dimensions](../../img/u1_dimensions.png) ## Datasheet -[Datasheet](https://waterlinked.com/underwater-gps-accessories#Downloads%2FResources) \ No newline at end of file +[Datasheet](https://waterlinked.com/underwater-gps-accessories#Downloads%2FResources) diff --git a/docs/underwater-gps/network-settings.md b/docs/underwater-gps/network-settings.md index 0139529c..176c32af 100644 --- a/docs/underwater-gps/network-settings.md +++ b/docs/underwater-gps/network-settings.md @@ -9,12 +9,12 @@ The Underwater GPS GUI is web based, and can be accessed using your favorite web The local Underwater GPS WiFi is configured as: -| | | -| ---------- | :------------ | -| Mode : | Access Point | -| SSID : | UnderwaterGPS | -| Password : | waterlinked | -| Security : | WPA2-Personal | +| Setting | Value | +| -------- | :------------ | +| Mode | Access Point | +| SSID | UnderwaterGPS | +| Password | waterlinked | +| Security | WPA2-Personal | To connect to the UGPS over it's local wifi - Power on the UGPS and wait for GPS lock and the Ready LED to be lit. diff --git a/docs/underwater-gps/power-supply.md b/docs/underwater-gps/power-supply.md index 0efcbd1d..3319b831 100644 --- a/docs/underwater-gps/power-supply.md +++ b/docs/underwater-gps/power-supply.md @@ -13,10 +13,13 @@ The Underwater GPS G2 can be powered using either the provided power cable conne The power cable comes with a blunt cut end. Strip the jacket and connect the wires to your favorite 12V power source. -| | | +| Wire colour | Connection | +| ----------- | :--------- | +| Black | Negative | +| White | Positive | + +| Specification | Value | | ---------------------- | :--------------- | -| Black | Negative | -| White | Positive | | Input voltage | 10V – 30V | | Current consumption | 0.25A at 12V | | Power-on current surge | 2.30A at 12V | diff --git a/docs/underwater-gps/ugps-sys-setup.md b/docs/underwater-gps/ugps-sys-setup.md index 903f4fa8..4c8fbe28 100644 --- a/docs/underwater-gps/ugps-sys-setup.md +++ b/docs/underwater-gps/ugps-sys-setup.md @@ -13,9 +13,9 @@ The antenna can be placed anywhere up to 10m from the topside housing (limited b By the _antenna base_ is meant the joining point of the three prongs with the receivers at their ends. -| | | +| Consideration | Guidance | | ------------------- | :------------------- | -| **Alignment** | Ensure that the 'Forward' direction of the antenna as defined by a label on one of its prongs (see also the figure below) is aligned with the 'Forward' direction of the topside housing (indicated by a label on the lid).

If it is not possible to physically align them, in *Baseline -> Antenna configuration -> Advanced settings*, specify the clockwise angle in degrees from the forward axis of the topside to the forward axis of the antenna.

If this alignment is not carried out, the [global](../underwater-gps/reference-frames.md#global-frame) position outputted by UGPS G2 will be incorrect. +| **Alignment** | Ensure that the 'Forward' direction of the antenna as defined by a label on one of its prongs (see also the figure below) is aligned with the 'Forward' direction of the topside housing (indicated by a label on the lid).

If it is not possible to physically align them, in *Baseline -> Antenna configuration -> Advanced settings*, specify the clockwise angle in degrees from the forward axis of the topside to the forward axis of the antenna.

If this alignment is not carried out, the [global](../underwater-gps/reference-frames.md#global-frame) position outputted by UGPS G2 will be incorrect. | | **Line-of-sight** | Ensure that there will be line-of-sight between the antenna and locator. | | **Antenna depth** | Ensure that the base of the antenna is at a depth of at least one metre (as indicated by a label upon the top folding joint of the pole of the antenna), to avoid acoustic disturbance.

The depth of the antenna base (relative to the sea surface) must be specified in *Baseline -> Antenna configuration -> Advanced settings -> Antenna depth*. If it is not, both the [acoustic](./reference-frames.md#acoustic-frame) and [global](../underwater-gps/reference-frames.md#global-frame) positions may be incorrect. | | **Antenna stability** | Secure the antenna tightly to the vessel using the provided Ram Mount. | @@ -25,15 +25,14 @@ The antenna can be placed anywhere up to 10m from the topside housing (limited b !!! Note - - **Directivity** : the antenna and locators are omnidirectional, that is, signal strength should be good in all directions + **Directivity** : the antenna and locators are omnidirectional, that is, signal strength should be good in all directions ## Receivers Loose receivers can be placed anywhere up to 100m from the topside housing. Go through the following, and configure the placement of the receivers in the graphical pane at *Baseline -> Receiver and range configuration* so that their positions relative to the origin and their depths are correct. See [System Configuration](../underwater-gps/ugps-sysconfig.md#baseline-settings) -| | | +| Consideration | Guidance | | ------------------- | :------------------- | | **Line-of-sight** | Ensure that all the receivers will have line-of-sight to the locator. | | **Separation** | Ensure that the receivers are not too close, and are not all in a line. A grid of 2x2 metres should typically be sufficient for good performance, but experiment with different configurations if you experience sub-optimal performance. | @@ -54,18 +53,27 @@ The figure below indicates a typical loose receiver configuration when the topsi ## Locator setup Select the type of locator ([U1](../underwater-gps/locators/locator-u1.md), [A1](../underwater-gps/locators/locator-a1.md), or [D1](../underwater-gps/locators/locator-d1.md)) which you are using, and which [channel](../underwater-gps/ugps-sysconfig.md#channel-overview) you wish to use. -No matter what locator that is in use, it always need to be placed within line of sight from the receivers. This will in most cases be somewere on top of the unit that is to be tracked. +No matter which locator is in use, it always needs to be placed within line of sight of the receivers. In most cases this will be somewhere on top of the unit that is to be tracked. + +| Feature | [Locator-U1](../underwater-gps/locators/locator-u1.md) | [Locator-A1](../underwater-gps/locators/locator-a1.md) | [Locator-D1](../underwater-gps/locators/locator-d1.md) | +|---|---|---|---| +| **Connection** | Wireless, battery powered | Cable to the topside, directly or through a vehicle integration | 50 m or 100 m integrated cable to the topside | +| **Depth** | Internal depth sensor | No depth sensor. Depth must be provided through the [API](../underwater-gps/integration/api.md) | Internal depth sensor | +| **Status LED** | [Yes](../underwater-gps/interface/ugps-led.md#locator-u1) | No | No | +| **GPS lock on the locator** | Required before deployment | Not needed | Not needed | +| **Max. submerged time** | About 6 hours, then charge and let the pressure sensor dry | — | About 6 hours, then let the pressure sensor dry | ### Locator U1 As the U1 is a wireless locator it can easily be mounted on your vehicle with the included bracket. -- Remember to charge the locator for at least 7 hours before use with a 5V/2A charger. -- Use the rotary switch at the back of the U1 (screw the lid completely off to access the switch) to adjust which [channel](../underwater-gps/ugps-sysconfig.md#channel-overview) you will be using. Channel 3 is a good option. Remember to adjust the channel in the GUI's [Settings](../underwater-gps/interface/ugps-gui.md#settings) +- Remember to [charge](../underwater-gps/locators/locator-u1.md#charging) the locator for at least 7 hours before use with a 5V/2A charger. +- Power on the U1 and wait for GPS lock (solid green [LED](../underwater-gps/locators/locator-u1.md#led-signals)) before deploying it. +- Use the rotary switch at the back of the U1 (screw the cap completely off to access the switch) to adjust which [channel](../underwater-gps/ugps-sysconfig.md#channel-overview) you will be using. Channel 3 is a good option. Remember to adjust the channel in the GUI's [Settings](../underwater-gps/interface/ugps-gui.md#settings) ### Locator A1 The A1 needs to be physically connected to the G2 Topside, either directly or through a full system integration.
-For wiring details of the A1, se [locator-A1][A1](../underwater-gps/locators/locator-a1.md). +For wiring details of the A1, see [Locator-A1](../underwater-gps/locators/locator-a1.md). If you are using the A1 on a Bluerov, see [Bluerov integration](./integration/bluerov-integration-a1.md) @@ -73,7 +81,7 @@ If you are using the A1 on a Bluerov, see [Bluerov integration](./integration/bl If using the [A1](../underwater-gps/locators/locator-a1.md) locator, the depth of the locator must be inputted by means of the UGPS [API](../underwater-gps/integration/api.md). ### Locator D1 -The D1 comes with 50m integrated cable that is coupled directly into the topside box. +The D1 comes with a 50 m or 100 m integrated cable that is coupled directly into the topside box. For more information on the D1, go to [Locator D1](../underwater-gps/locators/locator-d1.md) diff --git a/docs/underwater-gps/ugps-sysconfig.md b/docs/underwater-gps/ugps-sysconfig.md index 3d160733..a0889395 100644 --- a/docs/underwater-gps/ugps-sysconfig.md +++ b/docs/underwater-gps/ugps-sysconfig.md @@ -25,7 +25,7 @@ Cofigurations of the topside and locator settings is conducted in [Settings](../ Select the type of locator ([U1](./locators/locator-u1.md), [A1](./locators/locator-a1.md), or [D1](./locators/locator-d1.md)) which you are using, and which [channel](#channel-overview) you wish to use. !!! Note - If using the [U1](./locators/locator-u1.md) locator, the channel must match the rotary switch at the back of the U1 (screw the lid completely off to access the switch). + If using the [U1](./locators/locator-u1.md) locator, the channel must match the rotary switch at the back of the U1 (screw the cap completely off to access the switch). !!! Note If using the [A1](./locators/locator-a1.md) locator, the depth of the locator must be inputted by means of the UGPS [API](./integration/api.md). diff --git a/docs/underwater-gps/ugps-topside.md b/docs/underwater-gps/ugps-topside.md index 9f618a95..732d3ef6 100644 --- a/docs/underwater-gps/ugps-topside.md +++ b/docs/underwater-gps/ugps-topside.md @@ -14,18 +14,18 @@ #### LED Indicators -|LED name | Description | -|-----------|---------------------------------------------------------------------------| -| Power | Solid green: Topside has power | -| Ready | Solid Green: Topside has booted successfully | -| GPS | Blinking green: Searching for GPS lock, solid green: Topside has GPS lock | -| LED 1 | Solid green: Firmware successfully loaded | -| LED 2 | Not in use | -| Locator | Solid green: Locator D1 is connected | -| Receiver 1| Solid green: Receiver 1 connected | -| Receiver 2| Solid green: Receiver 2 connected | -| Receiver 3| Solid green: Receiver 3 connected | -| Receiver 4| Solid green: Receiver 4 connected | +|LED name | LED | Description | +|-----------|:---:|---------------------------------------------------------------------------| +| Power | | Solid green: Topside has power | +| Ready | | Solid green: Topside has booted successfully | +| GPS | | Flashing green: Searching for GPS lock, solid green: Topside has GPS lock. The topside uses GPS both for its own position and to synchronize its clock | +| LED 1 | | Solid green: Firmware successfully loaded | +| LED 2 | | Not in use | +| Locator | | Solid green: Locator D1 is connected | +| Receiver 1| | Solid green: Receiver 1 connected | +| Receiver 2| | Solid green: Receiver 2 connected | +| Receiver 3| | Solid green: Receiver 3 connected | +| Receiver 4| | Solid green: Receiver 4 connected | !!! Note There is **No** indication when the **Antenna** is connected. @@ -41,25 +41,25 @@ | Signal | Pin | Pin | Signal | Function | | --------- | --: | :-- | :-------- | :-------: | -| GPIO 2\* | 1 | 2 | GPIO 3 | | +| GPIO 2\* | 1 | 2 | GPIO 3 | GPIO | | D1 TX+ | 3 | 4 | D1 TX- | Locator-D1 | -| D1 RX+ | 5 | 6 | D1 RX- | \| | +| D1 RX+ | 5 | 6 | D1 RX- | Locator-D1 | | **GND** | 7 | 8 | **12 V** | Power out | | R1 TX+ | 9 | 10 | R1 TX- | Receiver-D1 | -| R1 RX+ | 11 | 12 | R1 RX- | \| | +| R1 RX+ | 11 | 12 | R1 RX- | Receiver-D1 | | **GND** | 13 | 14 | **12 V** | Power out | | R2 TX+ | 15 | 16 | R2 TX- | Receiver-D1 | -| R2 RX+ | 17 | 18 | R2 RX- | \| | +| R2 RX+ | 17 | 18 | R2 RX- | Receiver-D1 | | **GND** | 19 | 20 | **12 V** | Power out | | R3 TX+ | 21 | 22 | R3 TX- | Receiver-D1 | -| R3 RX+ | 23 | 24 | R3 RX- | \| | +| R3 RX+ | 23 | 24 | R3 RX- | Receiver-D1 | | **GND** | 25 | 26 | **12 V** | Power out | | R4 TX+ | 27 | 28 | R4 TX- | Receiver-D1 | -| R4 RX+ | 29 | 30 | R4 RX- | \| | +| R4 RX+ | 29 | 30 | R4 RX- | Receiver-D1 | | ANT RX 1+ | 31 | 32 | ANT RX 1- | Antenna | -| ANT RX 2+ | 33 | 34 | ANT RX 2- | \| | -| ANT RX 3+ | 35 | 36 | ANT RX 3- | \| | -| ANT RX 4+ | 37 | 38 | ANT RX 4- | \| | +| ANT RX 2+ | 33 | 34 | ANT RX 2- | Antenna | +| ANT RX 3+ | 35 | 36 | ANT RX 3- | Antenna | +| ANT RX 4+ | 37 | 38 | ANT RX 4- | Antenna | | A1 TX+ | 39 | 40 | A1 TX- | Locator-A1 | \* *Used to control relays for switching between Receivers and Antenna.* @@ -77,7 +77,7 @@ | Signal | Pin | Pin | Signal | | ---------------- | --: | :-- | :----- | | **GND** | 1 | 2 | **12 V** | -| NMEAS COMPASS TX | 3 | 4 | NMEA COMPASS RX | +| NMEA COMPASS TX | 3 | 4 | NMEA COMPASS RX | | *NC* | 5 | 6 | **GND** | #### 6 pin NMEA 0183 Out (not currently implemented) @@ -122,7 +122,7 @@ Fits Molex Micro-Fit 3.0 43645 series. * If using the Locator-A1, connect this to the bulkhead marked "Locator" on the housing. -* If using the Locator-U1, no connections to the housing is needed. Just power the Locator and make sure both status leds on U1 and Master-D1 are solid green. +* If using the Locator-U1, no connections to the housing is needed. Just power the Locator and make sure both status LEDs on U1 and Master-D1 are solid green. ![pelicase_cables_connected](../img/topside-with-locator-and-receivers.jpg)