Blueprint Subsea seatrac X100 Series, Manual, Page: 22 / 140

SeaTrac Serial Command Interface Reference
Page 22
Magnetometer Calibration
 To give user feedback, turn on the outputting of magnetometer sensor and calibration
status information using either the
CID_SETTINGS_SET or CID_STATUS_CFG_SET
command. It is recommend that the output rate be chosen to be either 5Hz or 10Hz
with the
STATUSMODE_E enumeration, and the STATUS_BITS_T type for
STATUS_OUTPUT contain the MAG_CAL and AHRS_RAW_DATA bits.
 Send the CID_CAL_ACTION command with the ACTION parameter chosen to be
CAL_MAG_RESET from the CAL_ACTION_E enumeration. This resets the
magnetometer measurement buffer ready for a new set of data about the surrounding
magnetic environment.
 Prompt the user to start rotating the beacon around all 3-axis in 3D space. As the
beacon is rotated the Pitch and Roll information is used to build up a 3D magnetic map
surrounding the beacon in the calibration buffer.
 Displaying the MAG_CAL_BUF value output in CID_STATUS message can give the user
feedback on the calibration process. When the value reaches 100, calibration is
complete and the user can be prompted to stop movement.
 Send the CID_CAL_ACTION command with the ACTION parameter chosen to be
CAL_MAG_CALC (from the CAL_ACTION_E enumeration) to compute the Hard and
Soft Iron compensation coefficients. The new calibration will be applied immediately.
 Optionally at this point the Magnetometer Calibration could be stored to EEPROM using
the
CID_SETTINGS_SAVE command.
4.7. Acoustically Pinging Beacons
There are many different ways that Beacons can be made to acoustically interact with each
other depending on the developer’s operational requirements.
This section covers the use of basic interrogation and operating a simple network that tracks
the position of several beacons using the PING protocol. Information on other protocols can be
found in section 8 from page 105 onwards.
Using a process similar to that described in section 4.3 above, a single beacon can be Pinged
using the following commands…
Configuring Remote Beacons (to be interrogated)
For each beacon that will be deployed and Pinged, you may wish to apply/check the following
settings prior to use.
 Start as described previously in section 4.4 by retrieving the beacon settings into a
SETTINGS_T structure.
 Check that each remote beacon is assigned a unique beacon ID for the network
addressing in the XCVR_BEACON_ID field.