AHRS Configuration Solution – Using Command Maritime & Greensea UI

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.

For VideoRay topside computers without factory-installed Command Maritime UI software/ISO, steps 1-22 will need to be completed once; after which (or with factory-installed Command Maritime UI software/ISO), only steps 18-22 will need to be completed:

1. You will need a Wi-Fi connection for this process; preferably use Firefox on the VideoRay controller computer for ease of file transfer
2. Go to videoray.files.com
3. Enter ‘quarterdeck’ for the username
4. Enter ‘VideoRay!!0’ for the password
5. Scroll down and select the xcopy folder
6. Select the flighthack.ZIP folder
7. When the folder opens, select ‘download’
8. From the VideoRay controller computer desktop, open the file explorer
9. In the Home folder, right-click the existing flighthack folder and select, ‘Move to Trash’
10. Navigate to the Home directory’s Downloads folder
11. Right-click the flighthack.ZIP folder and select ‘Extract Here’; the new flighthack folder should appear in the folder
12. Right-click the flighthack.ZIP folder and select ‘Move to Trash’
13. Right-click the new flighthack folder and select ‘Copy’ – Storing this in the downloads folder allows you to skip steps 1-12 next time.
14. Navigate to the Home folder and select ‘Paste’ anywhere in the blank space; the new folder should appear
15. Open the terminal, type: chmod +x /home/videoray/flighthack/* and hit enter
16. Type: ls and hit enter
17. The text that appears should be mostly green – if it is white, type:                        sudo apt install python3-pip and hit enter, then type:                              pip3 install numpy and hit enter
18. Connect and power on the ROV – do not open Greensea UI
19. In the terminal, type: cd flighthack and hit enter
20. Type: ./vr_ahrs_config_standard.sh and hit enter
21. Open Greensea and confirm heading, depth, and pitch/roll are as expected
22. Close the terminal