User Manual English www.bandg.
Certification This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference, the user is encouraged to try to correct the interference by relocating the equipment or connecting the equipment to a different circuit.
Product Liability and Safety Warnings Brookes and Gatehouse Limited accept no responsibility for the use and/or operation of this equipment. It is the user’s responsibility to ensure that under all circumstances the equipment is used for the purposes for which it has been designed. Warning: Calibration The safe operation of this equipment is dependent on accurate and correct calibration.
Contents Introduction ��������������������������������������������������������������������������������������������������������5 CPU �������������������������������������������������������������������������������������������������������������������������������������������������������������������������������� 6 Interface Modules ���������������������������������������������������������������������������������������������������������������������������������������������������� 8 System Architecture �����������
Installation ��������������������������������������������������������������������������������������������������������73 Physical Installation �����������������������������������������������������������������������������������������������������������������������������������������������73 Fastnet Network Installation ������������������������������������������������������������������������������������������������������������������������������73 Mounting Instructions ��������������������������������������������
Introduction The B&G Wave Technology Processor (WTP) in combination with the B&G Deckman software and B&G displays creates the world’s leading yacht instrument system for Grand Prix racing and Superyachts. Central to this high performance is the WTP, a powerful processor running an embedded linux operating system that runs hundreds of times faster than standard instrument systems.
CPU The WTP CPU is the core of a WTP system. Lightweight and robust, a hard anodised case protects the CPU from the elements, making it perfectly suited to the harsh environment found onboard racing yachts. On the top of the CPU there are 7 diagnostic LED’s enabling the user to see at a glance the status of the CPU and its I/O interfacing. These LED’s will flash or change colour to indicate system status as detailed in the table below.
Connectors There are eight connectors on the CPU.
Interface Modules There are 2 types of WTP module, Analogue and Serial. The modules act as the interface between analogue sensors, serial devices and other inputs and the CPU. The correct module must be used in conjunction with its corresponding sensors. All modules are powered from the CAN Bus and can supply power to the sensors connected. Analogue Module The analogue module has 6 analogue inputs and 2 pulse inputs.
System Architecture WTP3 interface modules are connected via multiple CAN bus networks. The system is completely flexible in how these are implemented, the sensor input is configured by the system installer based on: a) CAN channel used b) Device ID of the interface module, set by DIP switch in hardware c) Interface Port in use For example a GPS input may be on Channel 0, Device 3, COM1. Below is an example of the system architecture and how the interface modules could connect to the network and CPU.
System Planning A single CAN network configured to a baud rate of 250k is recommended to make system configuration straightforward while allowing for interfacing of NMEA2000 compatible sensors for certain functions. A dual or triple CAN network configuration is recommended where the system has network cable lengths of over 75 metres, or there is a requirement for redundant systems.
guideline maximum drop cable length For best performance it is recommended that drop cables (x) are kept short, to approximately 0.4m. However in some cases it may be necessary to utilise longer drops, in this case we recommend the following guidelines. Baud Rate Max Length 125k 6m 250k 4m 500k 2m 1M 0.
12 GPS 2 GPS 1 Compass Serial Modules Depth Sensor Terminator GFD/FFD Rudder Angle 6-Axis IMU Alarm 10/10 HV Analogue Module 12V Heel Angle 3D Rate Gyro WTP CPU Deckman (PC) GFD/FFD Loadcell Amplifier 20/20 HV Mastbase Pressure Masthead Unit Speed Sensor Analogue Modules Terminator Loadcell Amplifier Mast Rake Stringpot Loadcell System Example Below is an example of a system for a typical race boat. This system show a variety of sensors and displays common on a WTP system.
Deckman Deckman is the world’s most advanced tactical navigation software and is used by winners in every field. This software is required to navigate and interface with the WTP3 processor.
Calibration Controls the calibration of variables by allowing you to input a calibration value to a particular variable , WTP3 has a sample set of calibration data as follows Bspd_port and Bspd_stbd Boat speed calibrations for the port and starboard side sensor respectively in knot. If you have only one boat speed sensor connected to both inputs enter the same value in both port and starboard. If you do not know what these values are, the boat speed can be calibrated using the cal boatspeed option.
Settings The settings dialogue controls all the normal items required to setup the WTP3. mast_height Used for wind calculations involving the rate gyros. This should be set to the distance from the waterline to the masthead sensor in feet. leeway_cal Leeway calibration value. A value between 8 and 13 is usually appropriate for most modern boats. heel_enable Should be set to 1 if you have a heel sensor and 0 if you do not. A heel sensor is highly recommended to achieve accurate wind data.
3D_damp Damping for the 3D compass algorithms. should not be changed under normal use (0.970 is the default value). sel_comp, sel_heel & sel_trim Control which input is used for heading, heel and trim respectively. Refer to ‘Multiple Compass, Boat Speed and GPS Inputs’ for more information. sel_speed Controls which input is used for boat speed. Refer to ‘Multiple Compass, Boat Speed and GPS Inputs’ for more information. sel_gPS Controls which set of GPS data is used for position, SOG, COG etc.
Calibrate Boatspeed This function helps you to calibrate your boat speed correctly, and works in exactly the same way as the traditional method of measuring the time taken to cover a known distance. Deckman will automatically calculate the calibration values from the tests you select. Click Start run at the beginning of the run, and then End run to finish.
Input Selection via Deckman Multiple Compass, Boat Speed and GPS Inputs WTP3 is able to handle up to three compass inputs (as well as associated heel and trim values), two boat speed inputs and two GPS inputs. This is useful for testing purposes, to compare different sensors, or as a backup. Variables to handle data from all of these inputs exist on the system. To select which input you wish to use in the calculations on the WTP3 use the Instrument Control option in Deckman.
Boat Speed Selection 1 2 3 Port_vs (63) Starboard_vs (64) vs2pad (87) Boatspeed (2) Boatspeed2 (86) Selected Boatspeed (91) Selected SOG (27) For boat speed there are a couple of extra steps to take account of the damping and the fact that there may be separate port and starboard paddlewheels. The raw data from the standard port and starboard paddle inputs (63 and 64 respectively) are combined to make Boatspeed, the WTP3 uses Heel Angle or MWA to determine which of the two inputs to use.
Use of a PC Apart from the normal use of Deckman software to control WTP3 in the normal racing environment there are other times when it is necessary to communicate with WTP3 via a PC. Direct file modifications, file backup, file restore and diagnostics can be carried out via PC using Deckman, FTP or HyperTerminal (or similar terminal program).
These functions are accessed via the menu button whilst Deckman’s Instrument Control function is in use. Use of the dialogue itself is very straight-forward, simply highlight the file you wish to view or modify in the left hand column by clicking on it with the mouse, and then click the ‘Get File’ button. The file content will be displayed in the right hand window. At this stage it is possible to make any modifications before clicking the ‘Save File’ button to save the file back to the WTP3.
Connecting to WTP3 Assuming that the network is correctly configured it is only necessary to open Windows Explorer and type in the following into the address line: ftp://192.168.0.2 (where 192.168.0.2 is the IP address of WTP3). Backing up WTP3 files To make a backup of the WTP3 files simply select all the files and directories and drag them (or copy/paste) to a folder on your PC. Editing WTP3 files To edit WTP3 files drag the individual file from the WTP3 to a local folder (e.g.
Data Files Caution: It is only recommended that advanced users or installers alter the data files directly, as described in this chapter. Most calibration, damping etc. can be controlled from Deckman as described in ‘Deckman Control Facilities’, The configuration of the WTP3 can be changed to suit individual requirements by using the data files. The data files described below control how data is input onto the WTP3, stored in the variable database and output to Deckman and the displays.
Defining the variables bg_vars.d Note: It is possible to write comments within a text file. WTP will ignore any text line that starts with a # symbol. Use the # symbol at the beginning of a comment line or any text line you wish to ignore. If you use the = symbol all information thereafter on any line will be ignored. Example.
30 31 Opt_VMC Cse_OVMC OVC COC 2 0 0 0 0 2 32 33 34 35 36 37 38 Vs_target Vs_targ% TWA_targ Vs_perf Vs_perf% Vs_nav Vs_nav% Vt Vt% WAt PPV PP% PNV PN% 2 0 0 2 0 2 0 0 0 1 0 0 0 0 0 0 1 0 0 0 0 39 40 41 Brg_o_Mrk Dst_t_Mrk Tm_t_Mrk BOM DTM TTM 0 2 0 0 0 0 2 4 3 42 43 44 45 46 47 Curr_Rate Curr_Dir MCur_Rate MCur_Dir DCur_Rate DCur_Dir CrR CrD MCR MCD DCR DCD 2 0 2 0 2 0 0 0 0 0 0 0 0 2 0 2 0 2 48 49 50 Battery Rudder Rake Bat Rud Rke 0 1 1 0 1 0 5 0 0 51 52 53 54 55 56 gyro_hl
78 79 SelSVA SelQHD SVA QHD 1 1 0 0 0 0 80 81 82 Heading2 Heel2 Trim2 Hg2 Hl2 Tm2 1 1 1 0 1 0 2 0 0 83 84 85 Heading3 Heel3 Trim3 Hg3 Hl3 Tm3 1 1 1 0 1 0 2 0 0 86 87 BoatSpd2 VS2pad VS2 V2p 1 2 0 0 0 0 88 89 90 91 SelHdg SelHeel SelTrim SelBoatSpd SHg SHl STm VSS 1 1 1 1 0 1 0 0 2 0 0 0 92 93 94 95 Hdg2_Heave GGBrg GGRng HHDiff Hv2 GGB GGR HHD 1 1 1 1 0 0 0 0 0 2 0 1 96 97 98 99 MastWnd AnSp4 AnSp5 ANSp6 MWM AS4 AS5 AS6 0 0 0 0 0 0 0 0 0 0 0 0 100 101 102 103 104 g
Input Configuration Files Defining Analogue Inputs and derived variables sample.d This file lists all the analogue inputs, pulse inputs, derived variables and user variables to the WTP3. The variables are split into sections according to the type. Each column then defines a particular item: the first column gives the name of the variable (from bg_vars.d) and the last four show the variable number (from bg_vars.d) and the names of the calibration, filtering and alarm files (*.cal, *.fil and *.
VMG VMC OptVMC CseOVMC TWAOVMC OppTrkW OppTrkG GyroHdg GyroHl GyroTrm Leeway pitchRMS pitchPrd CMWA CMWS Boatspd2 WindToMast TargetBSpd variation [uservars] 28 19 29 30 31 69 72 73 55 51 53 12 75 76 65 66 86 96 32 110 null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal null.cal mwa.cal null.cal null.cal vmg.fil vmc.fil optvmc.fil cseovmc.fil twaovmc.fil null.fil null.fil gyrohdg.fil gyrohl.fil gyrotrm.
Compass input compass1.d; compass2.d; compass3.d The compassX.d files define the inputs of serial or networked compass sensors and their associated heel and trim sensors (see Supported Compass Types). Three examples of compass configuration files are shown below: Example A: Using a NMEA serial compass In this example we are configuring a standard NMEA compass input with heel and trim data, the format is as follows: Channel 0 Device 4 Com 1 NMEA0183 4800 N 8 1 heading1 heel1 trim1 1 1 1 13 0 57 heading1.
Example B: Using a B&G networked compass - Halcyon Gyro-Stabilised Compass. In this example we are configuring a B&G Halcyon Gyro-Stabilised compass sensor which is present on the B&G Fastnet network (typically attached directly to an ACP Pilot). When using a networked compass there are some specific changes to the compass file: 1. Next to ‘Com’ Add text ‘FASTNET BGGYRO’ to identify the port as Fastnet and the compass type as a Halcyon Gyro-Stabilised Compass. 2.
GPS input gps1.d; gps2.d The gpsX.d files define the inputs of GPS units and the location of the antenna relative to the bow of the yacht. An example of a GPS configuration file is shown below: Channel 1 Device 1 Com 1 RS232 19200 N 8 1 Offset 0.0 Bow 55.0 COG SOG QHD SVA UTC 100 101 102 103 104 null.cal null.cal null.cal null.cal null.cal null.fil null.fil null.fil null.fil null.fil null.alm null.alm null.alm null.alm null.alm Line 1 defines the CAN Channel the module is connected to.
NMEA input nmeain.d This file controls NMEA inputs excluding any that may be for GPS or Compass sensors. A typical use for this file is to define the decoding of Depth and Sea Temperature from an active NMEA sensor. File example (Depth and Sea Temperature): Channel 1 Device 0 Com 2 NMEA0183 4800 N 8 1 SDDBT YXMTW 1 1 67 60 depth.cal seatemp.cal null.fil null.fil null.alm null.alm Line 1 defines the CAN Channel the module is connected to.
Channel 1 Device 0 Com 2 NMEA0183 4800 N 8 1 IIXDR P 2 62 baro.cal null.fil null.alm Line 1 defines the CAN Channel the module is connected to. Line 2 defines the Device ID of the Module (NOTE: this is set via the DIP switch inside the module).
Display Output configuration files Fixed Fastnet menus fixmenu.d This file controls the configuration of the standard function menus onto the displays – the menu items which are standard parts of the WTP3 system but are not declared normally by the display are declared here. Modifying this file is not recommended. It is suggested that users adjust the usermenu.d file to alter network output settings. The format of the file is shown below for completeness.
Fixed Fastnet output fixout.d This file controls the standard data outputs onto the B&G Fastnet network – variables such as Boat Speed, Wind data, Heading etc. (which are common to all systems) are defined here. Modifying this file is not recommended. It is suggested that the users adjust the userout.d file if it is necessary to alter network output settings. The format of the file is shown below for completeness.
2 9 1 1 C1 /DEPTH____M 1F /SEA_TEMP_C 67 60 1 1 3 9 3 5 87 /BAROMETRMB 82 /LEEWAY___@ 9a /OPP_TACK@M 62 12 72 1 1 0 3 9 5 9 e8 /DTW_GC__NM e6 /BTW_GC__@M ee /XTE_____NM 40 39 68 1 0 2 4 4 0 5 9C /MAST_ANG_@ 9D /WA_MAST__@ 9B /TRIM_____@ 34 /HEEL_____@ 25 96 90 89 0 0 1 1 4 4 2 9 ea /COG_____@M eb /SOG_____KT 84 /TIDE_SET@M 83 /TIDE_RTEKT 28 27 43 42 0 1 0 1 Line 1 defines the number of Transmit Groups in the file The first line of each Transmit Group defines: Number of variables Up to a maxi
Defining Custom Fastnet Menus usermenu.d This file enables you to either add a function to an existing menu or add a new menu with associated functions. In the file example shown below we have added two new menus called DECKMAN and SAILS with functions and we have also added two functions to the existing PARAMTR menu. Note that the Deckman functions are all named RemoteX as the Deckman software will send the relevant function text with the function – here we are just defining a placeholder in the menu.
New functions should use Fastnet function numbers a1-a4 and a8-ae. If further function numbers are required please contact B&G. New menus use ID numbers 01b1, 01b2, 01b3 etc. Existing menus are numbered as follows: SPEED 0102 LOG 0103 DEPTH 0104 NAVIGATE 0105 WIND 0106 PERFORM 0107 WAYPOINT 0108 MOTOR 0109 TEMP 010a TIME 010b MISC 010c PARAMTR 0112 EXTERNAL 0113 Note: Any items added in any of the menu or output files need to be defined correctly in bg_vars.d etc.
Example of Transmit delay and offset on Fastnet Traffic: Delay = 2, Offset = 1 Delay = 2, Offset = 0 No Delay or Offset Time 0.1 Second Further lines in each group: Fastnet Function No. Function name Must match the number defined for the menu (usermenu.d) / Function name Name displayed on the display once data is transmitted, see below for options Variable Number From bg_vars.d Decimal Places The number of decimal places shown on displays Variable Switching The userout.
The format for the context switching is: /upwind section [/reach section] [/downwind section] [/start section], the sections within [brackets] are optional. If information is not specified for all of these sections, the information for the upwind section will be repeated for all missing sections.
Deckman Output configuration files Data output to Deckman dmnvars.d This file defines which variables are output to Deckman. 88 18 17 91 2 89 10 11 88 18 17 91 2 22 23 90 77 78 79 88 18 17 91 2 24 16 88 18 17 91 2 Each line defines a single variable that is output to Deckman; the operation of this file varies slightly depending on whether the communication with Deckman is serial or Ethernet. For Ethernet communication each unique item in the file is sent at the rate detailed in ethernet.
Settings control in Deckman setting.d This file defines the settings which are controllable from Deckman, these values are fixed in the source code so must not be changed. It is not necessary to modify this file directly.
Description of each item: mast_height Mastheight (feet) leeway_cal Leeway calibration value heel_enable Use heel in calculations (0 off, 1 on) gyro_enable Use gyro in calculations (0 off, 1 on) mag_var Magnetic variation (+East, -West) dsp_time Time (in tenths of seconds) for oscillating variables (see userout.
Calibration control in Deckman svcals.d This file defines which variables have calibration control available in Deckman. The following format is the default file, it is flexible for the user to add/delete items as required.
Damping control in Deckman damping.d This file defines which variables have damping control available in Deckman. The following format is the default file, it is flexible for the user to add/delete items as required.
Each line defines a separate item, format as follows: networkON Use Ethernet communications (1) UDPfrequency Sets the frequency (Hz) that data is sent to Deckman on Ethernet (max 10) UDPprotocol 1 multicastaddr The network address that the WTP3 data is sent from (default value shown) multicastport The port used for WTP3 data (default value shown) Note: Many PCs will require firewall settings to be altered to allow WTP3 UDP multicast data to be accepted on port 5602. Polar Tables navpol.
Log Mileage boatlog.d This file simply contains the total mileage travelled, the value can be modified using settings in Deckman’s Instrument Control dialogue. CAN Baud Rate can.d can.d file is pre-loaded on the WTP. As standard the Baud Rate is set to 250 for all channels on the network. If you wish to use different Baud Rates for channels then you can create a can.d file as shown below where you can set different rates for each channel.
NMEA output nmeaout.d When present this file controls the NMEA output from the WTP3. A typical use for this file is to output wind and other instrument data onto another NMEA enabled device such as a chartplotter. It is possible to define multiple NMEA out ports in the system. For each NMEA out port you can define multiple NMEA sentences to be transmitted and their frequency.
Fast Serial Output fastout.
The output file is made up as: timestamp,lat1,long1,lat2,long2 id variable id variable etc Where: timestamp seconds (since 1 Jan 1970) lat1 GPS1 Latitude (Degrees x 360000), bow position long1 GPS1 Longitude lat2 GPS2 Latitude long2 GPS2 Longitude Decoded example: 1140700826.78 23/02/2006 13.20 18178469 GPS1 Latitude: -467165 GPS1 Longitude: 1º 17.861’ W 18178472 GPS2 Latitude: -467167 GPS2 Longitude: 1º 17.861’ W 50º 29.744’ N 50º 29.75’ N Serial Loadcell Configuration loadcell.
Line 1 defines the COM port settings: COM Port WTP3 COM port used Baud Rate Baud Rate setting Parity Parity setting to suit the input (usually ‘N’ for no parity) Data Bits 7 or 8 to suit the input Stop Bits 1 or 2 to suit the input The additional lines control the input variables, as follows: Variable Name variable name for reference Sentence ID “n” in the example sentence above Variable Number Variable number where data is added to (from bg_vars.
Example on using the data files Imagine you wanted to add a linear displacement transducer to your system to tell you the forward or aft position of the mast foot. This would give out a voltage that would need to be fed into an analogue module. In this example we will add a variable called ‘mastfoot’ which we will input into an analogue module set to channel 0, device id 1, analogue input channel 3. In bg_vars.
Modified file: 2 2 9 7 A8 /CWA______@ 65 A9 /CWS_____KT 66 1 4 1 A1 /MASTFOOT 111 1 1 2 As can be seen, in addition to adding the extra transmit group we have also modified the first line of the file to read ‘2’, which identifies the number of transmit groups that follow. The final thing to do would be to create new calibration and damping files (mastfoot.cal and mastfoot.fil) in the relevant folders with appropriate values, and, if required, add the new variable into damping.d and/or svcals.
Option 1: Standard User Variables Standard User Variables are new variables based on one existing variable (additional variables may be included in the calibration). In sample.d we add the new User Variable to the [uservars] section: [uservars] MA_TWD 111 18 null.cal ma_twd.fil null.alm Where: MA_TWD Name of our User Variable (note in this example we have changed the name from uservar1) 111 Number of our User Variable, from bg_vars.
[uservars] TargRudder 112 -1 targ_rud.tab null.fil null.alm Where: TargRudder Name of our user variable 112 Number of our User Variable, from bg_vars.d -1 A placeholder for consistency with other uservar types (table lookups are always “-1”) targ_rud.tab Lookup table file in use null.fill Filter file (none in use in this example) null.alm Alarm file (none in use in this example) The table file (targ_rud.
Option 3: JavaScript Advanced users are able to execute a JavaScript and the resultant value returned from the script is stored in the User Variable. Scripts are calculated at 10Hz, prior to the main wind & navigation calculations. In sample.d we add the new script based User Variable to the [uservars] section: [uservars] TargDagger 113 -1 dagger.js null.fil null.alm TargDagger is the name of the variable 113 is the variable number defined in bg_vars.
The JavaScript required is: var TargDaggerBoard; TargDaggerBoard = 0.25 * ((0.1 * Math.abs(bgvars.value(17))) + ((Math.abs(bgvars.value(89)) + Math.abs(bgvars.value(59))) / bgvars.value(91)) ); Return TargDaggerBoard; Where 17 is TWS, 89 is Heel Angle, 59 is Keel Angle and 91 is Boat Speed. Note: WTP3 supports ECMAScript scripting language, as defined in standard ECMA-262. For an overview of ECMAScript, see the ECMAScript reference.
Parameters Note: It is only recommended that advanced users alter the parameter files directly as described in this chapter. Most simple calibration, damping etc. can be controlled from Deckman as described in Chapter 2: Basic Operation. Calibration Each variable requiring calibration has its own calibration file (.cal file extension), all calibration files are located in the Calibs directory.
The first line of the file still works the same as before but the result is then further calibrated from the table. The –1 following the word Table indicates that the corrections are applied directly to the output from the initial calibration. Next, the addition sign (+) after the –1 indicates that the corrections in the table are to be added.
Here you can see that, as well as interpolating within the calibration points you enter, the WTP3 will also extrapolate outside them. Advanced calibration example 3 It is also possible to multiply, subtract and divide in your corrections. For example, a table to alter boat speed with respect to angle of heel might look like: 4 0 0 1 1 table 0 * -40 0.95 -30 0.95 -25 0.975 -20 0.99 -15 1.0 15 1.0 20 0.99 25 0.975 30 0.95 40 0.
Calibration example 5 As an example we will attempt to recreate the leeway calculation that WTP3 does as standard. The standard calculation is based on the formula: Leeway = K x Heel Boatspeed2 Refer to the setting.d file for more information. Let us suppose we wish to recreate this but artificially limit heel to 25 degrees and using a leeway constant of 6.4. The file (leeway.cal) would look like this: 4 0 0 1 0 table 89 = -30 –25 -25 -25 25 25 30 25 constant 6.
Sensor Calibration Rate Gyros During assembly the output of each channel is measured as mV per degree per second. So if, for example, the measured response of the gyro was 111.1 mV/degree/sec then a 1.0 volt input would indicate a pitch or roll rate of 9.0 º/s. A reading from the analogue board of 0V indicates a rate of 0 º/s, therefore appropriate calibration values would be 0.0, 0.0) and (1.0, 9.0).
Filtering and Damping Damping Types Like calibration, all the variables that require filtering have their own filter file in the filters directory. The various damping functions are specified by the first number in the damping file (ID in the table below).
The first damping number in the filter file is as for functions 1-3 (i.e. - inverse of required damping time in secs/10); the second specifies the bound - outside this value, the damping becomes less until at 8 times the bound value there is almost no damping at all. These functions are particularly useful for boat speed and heading when coming out of a tack.
Wind To fully understand the filtering of the wind functions it is necessary to consider the order in which WTP3 calculates the various functions and where filtering is applied. When the wind is measured it is initially corrected for masthead unit offset and mast rotation (or twist), then the rate-gyro corrections for pitching and rolling are applied and then the triangulation with Boat Speed is done and Course added to get the Original Wind speed and Wind Direction.
Sensor Damping Boat Speed To understand the filtering of the boatspeed functions it is necessary to consider the order in which WTP3 calculates the various functions and where filtering is applied, this is shown in the flowchart below: Port Paddlewheel Stbd Paddlewheel Paddlewheel 2 portpad input stbdpad input vs2pad input portpad.cal portpad.fil stbdpad.cal stbdpad.fil vs2pad.cal vs2pad.
Rate Gyros The rate gyro filters are specified in gdheel.fil, gdpitch.fil and gdyaw.fil for heel, pitch and yaw respectively. The rate gyros are susceptible to drift and so a band-pass filter used. The values in these files should not be altered. They should read: 5 0.5 .001 Whenever the WTP3 is switched on, the measured Pitch and Roll are likely to have values that are well away from zero and it will take 15 minutes or so for the numbers to settle down.
Data Logging WTP3 will log data internally in the form of a SQLite database. To enable and configure data logging it is necessary to add a datalog.d file to the current config directory. This file contains the criteria to start and stop the logging of data at desired frequencies. An example of the datalog.d file can be found below. The first line ‘START’ is the trigger to start data logging.
Exporting the �sqlite file The data log is an SQLite database. For reference on SQLite go to www.sqlite.org The .sqlite file that is stored on the CPU can be exported by copying the file via the FTP to your PC or auto transfer by inserting a memory stick. Exporting �sqlite file via Memory Stick 1. Ensure WTP CPU is on 2. Plug a memory stick into the USB port 3. As soon as the memory stick is inserted into the CPU it will transfer the LOG file to the USB stick.
SQLite Database Structure The database used in WTP3 consists of the following tables Logs The logs table contains data that identifies the individual data logging sessions: ID unique identifier for each logging session Start start date and time of the session Stop stop data and time of the session if stopped via duration or manual control. “Power off” stop times are not recorded Notes Records assistance text, identifying how the log session was started e.g.
Alarms WTP3 provides an alarm output via the digital output terminals in the Serial Interfaces. In the case of an alarm being triggered all digital outputs which are configured to Alarm output will be enabled, Displays will show an alarm on the assigned function. Alarms are cancelled via the display, or if the value drops outside the alarm range. Configuring Alarms Configuring a function to use an alarm file Alarms are configured by assigning an alarm file to a function in any configuration files where .
file content is valid: Depth 67 C1 Lo 2.5 On Note: Ensure that the Fastnet function number (C1 in the example) is output in either fixmenu.d or usermenu.d, if it is not present then the function will not be available on a display, so cannot be cancelled via display. Advanced Alarms Use of Javascript Advanced users can use Javascript to construct more complex alarm criteria. The JavaScript can be used for defining complex alarm conditions for each ‘High’ and ‘Low’ condition.
Installation Physical Installation Processor The WTP3 unit should be installed in a dry place with easy accessibility. The enclosure is water resistant to IP67 but will not survive prolonged immersion. The engine box is NOT a good place to install your instrument system processors; it is hot and electrically noisy.
Mounting Instructions WTP3 CPU Step 1: Find a suitable location to position the CPU. Mount the CPU vertically.
WTP3 Module Step 1: Find a suitable location to position the module. Mount the module vertically. Ensure that there is at least 100mm clearance between the connector and grommet and any surface to enable easy access to cables Step 2: Mark the hole positions, drill pilot holes and fix into position with 2 self tapping screws 10 ss Ro d 20 war Ho Step 3: To remove the lid, unscrew the 2 lid screws. Note: The lid hinges at the bottom edge of the module.
Module Wiring The analogue and serial module connector terminals have differing functions. Below is a list of the connectors their terminal numbers and their functions.
Analogue Module Wiring Example Below is an example of how to wire a analogue module with a masthead unit and paddle wheel sensor.
Analogue Module Wiring Masthead Unit 8 7 6 5 4 3 2 1 TERMINAL COLOUR INPUT 1 - Screen 2 Orange 12 Volts 3 Black 0 Volts 4 N/A N/A 5 Blue Wind Angle Phase 6 Green Wind Angle Phase 7 Red Wind Angle Phase 8 Violet Wind Speed 5V Analogue Input / -5V to +5V Signal CONNECTOR 1 (TOP TERMINALS) 8 7 6 5 4 3 2 1 TERMINAL COLOUR INPUT channel 1 - Screen - 2 N/A N/A - 3 Black 0 Volts - 4 Red 5 Volts - 5 Sensor Dependent Signal -5V to +5V Analogue 1 6 Sensor Depe
Rate Gyro TERMINAL COLOUR INPUT 1 - Screen 2 Red 12 Volts 3 Black 0 Volts 4 N/A N/A 5 Green Roll Rate 6 Violet Pitch Rate 7 Blue Yaw Rate 8 N/A N/A TERMINAL COLOUR INPUT 1 - Screen 2 N/A N/A 8 7 6 5 4 3 2 1 Paddle Wheel 3 Black 0 Volts 4 Red 5 Volts 5 N/A N/A 6 N/A N/A 7 N/A N/A 8 Green Speed TERMINAL COLOUR INPUT 1 - Screen 2 N/A N/A 3 Black 0 Volts 4 Red & White 5 Volts 5 Yellow Sea Temperature 6 N/A N/A 7 N/A N/A 8 Green S
Analogue Speed Sensor CONNECTOR 2 (BOTTOM TERMINALS) TERMINAL 8 7 6 5 4 3 2 1 COLOUR INPUT channel 1 - Screen - 2 N/A N/A - 3 N/A N/A - 4 N/A N/A - 5 N/A N/A Analogue 4 6 Red Analogue Input + Analogue 5 7 Black Analogue Input - Analogue 6 8 N/A N/A - Note: Analogue speed sensors must be wired into the bottom connector (connector 2) 80
Serial Module Wiring NMEA0183 - GPS Antenna 8 7 6 5 4 3 2 1 TERMINAL COLOUR INPUT 1 - Screen 2 Red 12 Volts 3 Black 0 Volts 4 N/A N/A 5 Sensor Dependent TX + 6 Sensor Dependent TX - 7 Sensor Dependent RX + 8 Sensor Dependent RX - Note: A link wire may be required between terminals 3 & 6 and 6 & 8 depending on the sensor.
Setting the Module Address When adding any module to the network you will need to allocate a unique address to that module so that it can be referenced with the WTP. To set the address there are 8 dip switches inside the module located between the two terminals as shown below. As default all of these switches are set to the ‘OFF’ position, making the address code zero.
Dip Switch Binary Address Codes Below is a table showing all of the possible binary code dip switch positions.
Fastnet Installation Network Terminator The Network Terminator (B&G part 239-00-099) is a black two-wired component with a resistance of 100 Ohms. Two are supplied with insulating sleeving to prevent shorting of the wires. A Network Terminator must be fitted across the Green and White Fastnet databus wires of the last unit of junction box at each end of the network cable.
WTP3 Variables Normal Fastnet Func No. Variable Number Name Short Name Description 0 Heel Hl Heel 1 dotHeel dHl Rate of change of heel 2 Boatspeed VS Boat speed 3 dotVS dVS Rate of change of boat speed, i.e.
86 Normal Fastnet Func No.
Normal Fastnet Func No.
88 Normal Fastnet Func No.
Normal Fastnet Func No.
Compass Sensor Input Sentence Hdg Heel Trim Heave Rates Supported Compass Types Label in File B&G Halcyon 2000 B&G Fastnet Y N N N N HALCYON B&G Halcyon Gyro B&G Fastnet Y Y Y N N BGGYRO B&G IMU Binary Y Y Y N Y BGIMU Crossbow AHRS Binary Y Y Y N Y XBAHRS CSI Vector GPS $PSAT,HPR,hhmmss.ss,h.h,p.p,r.r,*KK Y Y Y N N PSAT $PFEC,GPatt,hhh.h,+pp.p+rr.r (Ver. 1.5) Y Y Y N N $PFEC,GPatt,hhh.h,+pp.p+rr.r*KK (Ver. 2.
Wind Calculation Flowchart Raw Masthead Unit Data Adjustemt for MHU offset & Filtered mast roation MWA MWS Gyro corrections for yacht motion (use_gyro = 1) CMWA CMWS Heading Leeway, Filtered Vs Orig... TWA Orig... TWS Orig... TWD Wind Shear then True Wind CALs TWA TWS TWD AWA AWS Note: If use_gyro is set to ‘0’ (OFF) then the CMWA, CMWS stage is bypassed.
Upgrading the WTP3 Software CPU To upgrade your WTP3 CPU Software to the latest version all you will need is the .upd file (upgrade file) and a USB memory stick. (Must be FAT or FAT32 format, NTFS is not supported) 1. Save .upd file to a USB Stick 2. Turn off power to the WTP CPU 3. Place USB stick into the USB port in the front of the CPU 4. Turn on power to the WTP CPU 5. The CPU will automatically recognise the .upd file and begin the upgrade process 6.
WTP3 File Structure When a user logs in via FTP into the CPU, The user will be presented with the following file structure: 1. wtp_config.d Details the set of config files to use via a directory name. 2. network.d Details IP address to use (see Ethernet Configuration) 3. wtp3-datalog.sqlite is the SQL data logging database. 4. Bootlog directoy - contains a set of text files. Each file contains the terminal output fromthe power cycle. To be used for diagnostics. 5.
Diagnostic Messages via Terminal On boot the terminal window will display several messages detailing the boot up and configuration file load of the unit, these are summarized below. If you require support on a WTP3 installation it is helpful to have a copy of the configuration files in use and a log of a system boot to send to the WTP support specialist. Error Types Error messages are categorised into four types: • Info • Warning • Critical • Fatal Info General message displayed for information, e.g.
MHU_VA portpad Multiple Pulse Definition : 0 1 1 • “MHU_VA” and “portpad” functions are configured to the same input (channel 0, device 1, input 1): Multiple Devices defined on the same Channel, Device & Port with differing settings 1 1 2 • there are two devices (unknown) on the same physical serial port but with different hardware (RS232 etc.), baud rate, data, stop or parity settings.
Ethernet configuration Identifies CPU IP address and start of UDP task: My Local IP Address for eth0 : “192.168.0.2” IP Address of CPU UDP Thread Running CAN Modules present Details the modules connected to each CAN Channel, allowing the system engineer to confirm the devices visible on each CAN network, their address, type, serial number and software version. ******************* CAN Device List ******************* Channel 0 : Device : 2, WTP3 ANALOG IO MODULE, 123456789001, S/W Version R1.
NMEA0183 Configuration Details the NMEA0183 interfaces. Including CAN Channel, Device ID and Port settings used. Installing NMEA0183 Input... NMEA0183 In : Channel : 1, Device : 4, Port: 1, Baud: 4800 Installing NMEA0183 Output... NMEA0183 Out : Channel : 1, Device : 4, Port: 1, Baud: 4800 Loadcell Configuration Details of serial Loadcell inputs. Including CAN Channel, Device ID and Port settings used. LOADCELL Channel : 1, Device : 5, Port: 1, Baud: 4800 Fast Output Configuration (fastout.
Startup confirmation Following the loading of the configuration files the unit will report: WTP3 Startup Complete....... Serial Port Config Each serial port is configured with the settings defined in the configuration files.
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