NOTE: WiFi is necessary when loading maps/charts in Command Maritime UI; ensure to turn WiFi off when using Greensea UI or network errors may occur.

When VideoRay’s Command Maritime UI is launched, the software automatically reconfigures the Attitude & Heading Reference Sensor (AHRS) of the connected Mission Specialist ROV. This reconfiguration allows for proper and accurate functioning of AHRS sensors with the Command Maritime UI. However, this subsequently results in unexpected problems in Greensea UI related to AHRS functions – heading, attitude (pitch/roll), and depth. The solution is to revert the ROV’s AHRS back to its Greensea UI configuration.

One-Time Installation

Complete this section if the configuration utility is not already installed. An internet connection is required for downloading the utility and installing any missing dependencies.

1. On the VideoRay controller computer, connect to Wi-Fi and open Firefox.
2. Go to https://videoray.files.com and sign in using:
   1. Username: quarterdeck
   1. Password: VideoRay!!0
3. Open the xcopy folder, select flighthack.ZIP, and click Download.
4. Open the file explorer and navigate to Downloads. Locate the downloaded flighthack.ZIP file.
5. Right-click flighthack.ZIP and select Extract Here. Confirm that a folder named flighthack appears and contains vr_ahrs_config_standard.sh.
6. Navigate to Home (/home/videoray). If a flighthack folder already exists, rename it to an unused backup name, such as flighthack-backup, before proceeding.
7. Move the newly extracted flighthack folder from Downloads into Home. Confirm that the script is located at:
   /home/videoray/flighthack/vr_ahrs_config_standard.sh
8. Open a terminal. Enter the following command and press Enter to make the utility files executable:
   chmod +x /home/videoray/flighthack/*
9. Check whether Python 3 can load NumPy:
   python3 -c “import numpy; print(‘NumPy is available’)”
10. If NumPy is available appears, installation is complete. If the command reports No module named numpy, run the following commands individually, allowing each to finish:
    sudo apt install python3-pip
    pip3 install numpy
11. Repeat the check in step 9. If installation fails or the check reports another error, contact VideoRay Support before proceeding.

Configure the ROV for Greensea

Complete this section whenever returning to Greensea after using Command Maritime. If the utility is already installed and its dependencies are available, the installation section does not need to be repeated.

1. Close both Command Maritime and Greensea.
2. Connect and power on the ROV. Keep both applications closed during configuration and observe the ROV’s permitted operating time out of water.
3. Open a terminal and enter:
   cd /home/videoray/flighthack
4. Run the configuration utility:
   ./vr_ahrs_config_standard.sh
5. Wait for the utility to finish and the terminal prompt to return. Check the output for errors. If an error appears, retain the output and contact VideoRay Support before proceeding.
6. Open Greensea and verify that heading, depth, pitch, and roll readings are reasonable for the ROV’s actual position and orientation. Resolve any unexpected readings before operating.
7. Close the terminal after configuration and verification are complete.