Motus Reference Manual
Page 91 of 146
Version 1.1
29/11/2019
15 Interfacing
15.1
Communication
Communication with Motus is over the primary RS422 or RS232 interface in the
Advanced Navigation Packet Protocol (ANPP). The RS422 or RS232 format is fixed at 1
start bit, 8 data bits, 1 stop bit and no parity. See section 16 for details on the protocol.
Model
Primary Port
Auxiliary Port
GPIO Port
Motus Rugged RS232
Yes
Yes
Yes
Motus Rugged RS422
Yes
No
Yes
Table 21: I/O ports available
The primary port is used to communicate with Motus Rugged using the ANPP format.
Any required data in ANPP packet format can be configured to output on request or at
predetermined rates.
15.1.1
Baud Rate
The default baud rate for all the ports of Motus Rugged is 115200 bps. The primary
port baud rate can be set anywhere from 2400 to 2000000 baud and can be modified
using the Motus Manager software (see section 12.8.5) or the Baud Rates packet, see
section 16.10.3. It is important to select a baud rate that is capable of carrying the
amount of data that Motus is configured to output. See Packet Rates in section 16.5 for
more details on the data output calculation. The data rate in bytes per second can be
calculated by dividing the baud rate by 10. For example, if the baud rate is 115200,
then the data rate is 11520 bytes per second.
15.2
External Data
External sources of position, velocity and/or heading can be integrated into Motus's
filter solution. The data can be sent to Motus in the ANPP format over the primary port
or through one of the GPIO pins in a number of different formats. If using the ANPP,
please use Table 22 below to find the relevant section. If using the GPIOs, please see
section 15.3.
Packet
Section
External Position and Velocity
External Position
External Velocity
External Body Velocity
External Heading
External Time
External Depth
