This article provides instructions for connecting two Swift Navigation devices using TCP/IP. This approach to connectivity may be useful where typical serial and radio communications are not possible.
Prerequisites
Connecting to Piksi Multi - USB to Serial Adapter
TCP/IP Support
The Swift devices Piksi Multi and Duro support TCP/IP connections. This functionality is provided through TCP servers and clients. Each device provides two servers and two clients. The TCP client of one device can be used to connect to the TCP server of another device. When configured properly, this will create a bidirectional stream of SBP data between the devices.
TCP Server and Client Modes
- Disabled - interface is disabled
- SBP - configures the interface to transmit messages specified in the enabled_sbp_messages setting and to receive incoming SBP messages. If the mode is changed from SBP the console will no longer be able to communicate over the interface.
- NMEA_OUT - configures the interface to transmit the GGA, RMC, GGL, VTG, ZDA, GSA, and GSV NMEA 0183 messages. The interface will not receive incoming messages.
- RTCMv3.1_IN - configures the interface to receive RTK corrections in RTCM format. The interface will receive 1002, 1004, 1005, 1006, 1010, and 1012 RTCM v3.1 messages and will not transmit or receive any other messages.
TCP Server
Two servers are provided for TCP/IP communication, tcp_server0 and tcp_server1. These servers can be configured from Swift Console and provide options for mode, port, and enabled_sbp_messages. The default configurations are detailed in the tables below.
TCP Client
Two clients are provided for TCP/IP communication, tcp_client0 and tcp_client1. These clients can be configured from Swift Console and provide options for mode, address, and enabled_sbp_messages. The default configurations are detailed in the tables below.
Example System Configuration
The following configuration provides an example for establishing communications between base and rover using TCP/IP for the purpose of transmitting RTK corrections.
Base Station Configuration
Rover Configuration
Network Configuration
After the devices have been configured, connect the devices as shown in the diagram below. Ensure both antennas have good sky view.
You should now be able to verify connectivity across the devices. To check the base station, complete the following steps.
- Open Swift Console
- Select TCP/IP
- For IP Address enter 192.168.0.222
- For IP Port enter 55555
- Click OK
- Select the Observations tab
- In the Remote section you should see observation data from your rover device
To check the rover, complete the following steps
- Open Swift Console
- Select TCP/IP
- For IP Address enter 192.168.0.223
- For IP Port enter 55555
- Click OK
- Select the Observations tab
- In the Remote section you should see observation data from your base station device