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WTP3 User Manual - A and T Instruments

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1. Address Dip Switch Selection Address Dip Switch Selection ON on ON 1 Pam E 0 m m m m 8 db IHHHE 1234667 8 12345 67 8 ON ON Ej a Ej 1 m m ml O o o o 9 m w C o o o o 2345678 1234567 8 on L I ON m E 2 k P G aH HHE 10 Ae 123 465 67 8 1234567 8 ON PRESE mH HN ON gnUA BddHH E 3 12346567 8 11 at 7 2 34 ON I Ld HN mH HN 4 mm add 12 d Haug 123 45 2345 67 8
2. 5 13 ON ON ees mu m mm 6 Uk 14 BIUHHL 1 2 9 4 5 y 8 12345 6 7 8 ON 7 ON mm E E jm mj 8 7 Td ES lel i id 15 HHHH 12345 6 7 8 12345 6 7 8 84 Fastnet Installation Network Terminator The Network Terminator B amp 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 Refer to the examples below When adding more displays or units to the system ensure that the terminator is moved to the ends of the Fastnet databus cable Never fit more than two terminators to the system All systems no matter how large or small must have two terminators installed across the Green and White wires WTP3 12V Fastnet Cable Insert Grommet Plug Network Terminator Network Terminator WTP3 Variables
3. 8765432 1 olololololo amp mu eer rue EUR Lu EUR Eu bz HE oN 87654321 Paddle Wheel Sensor 1 Shield 2 3 Black 4 Red 5 6 7 8 Green Masthead Unit Paddle Wheel Sensor Module Jumpers If a sensor or combination of sensors connected to an analogue or serial module draw more than 300 mA current total then a terminal link must be placed onto both jumpers located above the can input inside the module as shown below This bypasses the isolated power supply within the module e tH Ust vM o 41 NA s 4 o om z o o n nn n mi Tu o o 9 o M o s Pu Oot o s J n t a ss n 2015 7 7 Analogue Module Wiring Mas
4. The address allocation switches work on a binary code system where Switch 1 1 Switch2 2 Switch3 4 Switch4 8 Note Only switches 1 to 4 are used to set the module address Switches 5 to 8 are not used and should be left in the OFF position at all times Binary Code Example 1 2 4 8 Binary Value FERREE The address is set by moving a combination of switches and adding the binary value of each switch in the ON position together This binary code system makes it possible to set a total of 16 address codes 0 to 15 The example above show s switches 1 4 and 8 in the ON position So the binary total will be 1 4 8 13 This would set the address to 13 Note Fach module must have a unique address allocated to it Module Hot Swap If any changes are required on the system it is recommended that the system power is turned off However if necessary sensor interfaces can be replaced while the system is powered on If replacing a module ensure that you set the address of the new module to match the unit being replaced then the system will not require any re configuration Dip Switch Binary Address Codes Below is a table showing all of the possible binary code dip switch positions
5. itn NAME RE DESCRIPTION NOTES BE FUNC NO 0 Heel HI Heel 1 dotHeel dHI Rate of change of heel Not implemented 2 Boatspeed VS Boat speed 41 3 dotVS dVS male ol change zi peat epee Not implemented i e acceleration 4 SmoothVS sVS Moving average of boat speed Not implemented 5 MHU AR A_R Masthead unit red phase 6 MHU A G A G Masthead unit green phase 7 MHU A B A B Masthead unit blue phase 8 MW angle MWA Measured wind angle 5A 9 MW speed MWS Measured wind speed 57 10 AW angle AWA Apparent wind angle 51 11 AW_speed AWS Apparent wind speed 4D 12 Leeway Lee Leeway 82 13 Heading Hdg Magnetic compass heading Not including leeway 49 14 Course Cse Course NCHOIRO ane Euer 69 combined 15 dotCourse dCs Rate of change of course 16 TW angle TWA True wind angle 59 17 TW speed TWS True wind speed 55 18 TW dirn TWD True wind direction 6D 19 VMG VMG Velocity made good 7F 20 GW speed GWS Ground wind speed 86 VARIABLE SHORT NORMAL NAME DESCRIPTION NOTES FASTNET NUMBER NAME FUNC NO 21 GW_dirn GWD Ground wind direction 22 Orig_TWA ta Original true wind angle 23 Orig_TWS ts Original wind speed 24 Orig TWD td Original True Wind Direction 25 MastRot MRo Mast Rotation 9C 26 TWD_Off wdo True Wind Direction offset 27 selSOG SOG Selected SOG selected from GPS1 or 2 EA 28 selCOG COG Selected COG selected from GPS
6. Lu COMPASS INPUT 9u 2 A cC u SENSOR SENTENCE I Ire T FILE B amp G Halcyon 2000 B amp G Fastnet Y NINI N N HALCYON B amp G Halcyon Gyro B amp G Fastnet YIYJYININ BGGYRO B amp G IMU Binary YINI Y BGIMU Crossbow AHRS Binary Y NY XBAHRS CSI Vector GPS SPSAT HPR hhmmss ss h h p p r r KK Y N N PSAT SPFEC GPatt hhh h pp p rrr Ver 1 5 Y NN nolabel Furuno SC60 SPFEC GPatt hhh h pp p rr r KK Ver 2 0 Y NN nolabel Honeywell HMR3000 SPTNTHPR h h a p p a r rra KK Y NI N HMR3000 Keppel HPRO3 SHPR h h p p r r Y N N KEPPEL KVH GyroTrac pppp rrrr Ahhh Y N N lt no label gt SxxHDT h h T N N N lt no label gt NMEA 0183 Heading Sensor SxxHDM h h M N N N nolabel xxHDG h h d d a v v a KK N N N lt no label gt PNI Corp TCM2 SCh hPp pRr rXxx xxYyy yyZZz ZZTcc c Y N N TCM2 PNI Corp TCM2 Heel Trim sensor only ee AM EE Ie PRDID Proprietary NMEA SPRDID p p r r h h KK Y NN PRDID Simrad EM series input format Binary Y Y Y NIN EM3000 EM1000 EM3000 Xsens Binary Y Y Y NN XSENS SHEHDT x xx T hh SPHTRO x xx a y yy hh Estos SPHLIN x xxx y yyy z zzz hh ESSET peius SPHROTx xxx y yyy z zzz hh Gladiator Landmark Binary Y Y Y NY GLD Microstrain 3DM GX3 Binary Y Y Y NY MS3DM SHEHDT x xx T hh SPHTRO x xx a y yy hh eae SPHLIN x xxx y yyy z zzz hh e eie Ls ne PHROT x xxx y yyy z zzz hh 90 Wind Calculation Flowchart Raw Masthead Un
7. 78 Rate Gyro O O0 O O0 09089 8765432 1 Paddle Wheel o Oo Oo O0 02 2980 82 8765432 1 Paddle Wheel amp Sea Temperature o Oo o O0 O 09082 8765432 1 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 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 amp White 5 Volts 5 Yellow Sea Temperature 6 N A N A 7 N A N A 8 Green Speed 80 Analogue Speed Sensor Oo O6 O O0 O 8290 82 8765432 1 CONNECTOR 2 BOTTOM TERMINALS TERMINAL 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 Serial Module Wiring NMEA0183 GPS Antenna TERMINAL COLOUR INPUT 1 Screen 2 Red 12 Volts 3 Black 0 Volts 4 N A N A 5 Sensor
8. TargDagger is the name of the variable 113 is the variable number defined in bg vars d 1 A placeholder for consistency with other uservar types scripts are always 1 dagger js is the JavaScript file stored in the scripts directory Filename must end with js null fill Filter file none in use in this example null alm Alarm file none in use in this example Return Value The uservar will contain the result of the Javascript evaluation Therefore the Javascript must return a floating point value The script will return a value to be stored in bg vars with the keyword return For example return x Where x is a floating point value Read Access to BG VARS A user creating a JavaScript has read access to all variables defined in bg vars A user can reference a variable and access its value via the object interface bgvars For example bgvars value 17 will return to the script the floating point value of variable 17 Errors Syntax errors in scripts will be reported as soon as a script is evaluated This will be reported in the terminal window on WTP3 Scripts that do not evaluate correctly will not be executed by the WTP Print Any output from the JavaScript using the print command will be directed to the terminal window on WTP3 Worked Example Here we are using JavaScript to provide target daggerboard position based on a fictitious algorithm the algorithm is 0 1 ABS TWS ABS Heel ABS Keel Angle
9. W I r3 User Manual English For Support please contact A T Instruments 235 Bentley Way LYMINGTON infoco AandTinstruments com www AandTinstruments com 44 0 1590 718182 www bandg com CE 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 Consult an authorised dealer or other qualified technician for additional help if these remedies do not correct the problem The Wave Technology Processor 3 WTP 3 meets the requirements for CFR47 Part 15 of the FCC limits for Class B equipment WTP 3 meets the standards set out in European Standard EN 60945 1997 IEC 945 1996 for maritime navigation and radio communication equipment and systems Trademarks All rights reserved No part of this manual may be reproduced or transmitted in any form or by any means including photocopying and recording for any purpose without the express written permission of Navico UK Information in this document is subject to change without notice Navico reserves the right to change or improve its products and
10. 3 50 1 0 Both port and starboard should be calibrated i IUD UUU 20 2 00 Wind Speed The B amp G systems use W 1 A H B where A is calibration in Hz kt H is the anemometer frequency and B is an offset So for the standard of A 1 04 and B 1 04 the equivalent WTP3 calibration is 0 1 04 and 10 4 11 04 1 0 00 1 04 10 4 11 04 Mast Rotation The pre set value for this is for it not to be used It is straightforward to use if you have the facility and is a requirement for accurate wind data if you have a rotating mast The options are for mast rotation correction to be off 0 in absolute value mode for mast twist 1 or in mast rotation mode 2 for fully rotating masts If the mast rotation correction is used set to either 1 or 2 then it is necessary to have a suitable input configured for the mast angle information on variable number 25 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 DAMPING TYPE NOTES Ordinary exponential ene palace y Exp inverse of required damping time in secs 10 n One parameter EXponstitalTeFegg inverse of required damping time in secs 10 o One parameter PSpOUEHUQUIOD TRU inverse of required damping time in secs 10 Two term Kalman filter Refer to B amp G Band pass mainly for rat
11. cal Gai cal ca cal cal cal cal cal Gal cal ca cal cal cal mwa cal null null cal cal vmg fil Vine TL optvmc fil cseovmc fil twaovmc fil null fil nulo gyrondgetil gvrohl Hnl OVEOULEN JL nor eT pitonrme lu prtchprd ni cmwa fil cmws fil boatspd2 fil null nl targbspd fil mallem Compass input compass 1 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 O0 Device 4 Com 1 NMEAO183 4800 N 8 1 headingl 1 13 headingl cal headingl fil null alm heell I O heell cal heell fil null alm ee Ti 1 57 triml cal Lxamu inl null alm Line 1 defines the CAN Channel the module is connected in the format Channel n where n is O 1 or 2 Line 2 defines the Device ID of the Module NOTE this is set via the DIP switch inside the module Line 3 defines the COM port settings possible settings COM Port COM port used 1 or 2 Hardware Type Hardware settings for the type of data RS232 RS485 RS422 NMEAO0183 Baud Rate Baud Rate setting to suit the input 1200 2400 4800 9600 19200 28800 38400 57600 115200 Parity Parity setting to suit
12. 0 1 MWM 0 0 O AS4 0 O 0 AS5 O 0 O AS6 O 0 O cgl 0 0 2 sol 2 0 0 ghl 0 O 0 Syl 0 O 0 ubl O 0 O Gu 0 0 z Sg2 2 0 0 qh2 0 O 0 72 0 O 0 uc O 0 0 Var 2 0 1 The lines define the variables as follows Variable Number Long Name Short Name Decimal Places Absolute Value Data Type The unique identifying number for the variable Descriptive name for the variable must not contain spaces Short name for the variable will only be 3 characters The number of decimal places that data is stored with Absolute value 1 or not 0 new variables should be set to 0 Standard data 0 180 1 0 to 359 2 time 3 distance 4 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 alm respectively In the analogue section the second column is the CAN Channel which the Analogue Module is connected to 0 1 or 2 the third column is the Device ID of the module and the fourth column is the analogue channel 1 6 In the pulse section the second column is the CAN Channel which the Analogu
13. 2 single i p 3 SOG GPS select Total distance travelled nm Boatspeed switching mode 0 heel 1 mwa Datalog 0 off 1 on Note Order of parameters is fixed and must not change Each line is the same format as follows Item name ugn Item ID Width of field Decimal places Value As it appears in Deckman Denotes a Setting item Numeric ID in sequence fixed in the application do not change Width of display field in characters inc decimal point Number of decimal places required The value of the setting item Note 7he standard leeway calculation is Leeway Boatspeed2 Where K is the leeway constant as set in the setting d file 43 44 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 Bepd pori Bspd stbd Headingl heell triml MHU angle depth Each line defines a separate calibration option format as follows Variable Name As it appears in Deckman K Denotes a calibration value Variable Number The variable number to calibrate from bg_vars d Width of field Width of display field in characters inc decimal point Decimal places Number of decimal places required Calibration Type Sets type intercept 0 slope 1 inverted slope 2 set value 3 Note There are no actual damping values in this fil
14. Navico SWUP Software Upgrade tool procedure 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 wtp files directory Contains the standard set of WTP3 files 6 Any additional WTP3 file directories added by the user Below is an example of the wtp_config d file where test1 is the name of the directory where the current config file is stored Config Dir testi 93 94 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 e Warning e Critical Fatal Info General message displayed for information e g software version number Warning An indication that a configuration error exists The error does not need the system to stop but
15. Port_vs 63 Boatspeed Starboard_vs 2 vs2pad Boatspeed2 Selected Boatspeed 87 86 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 The raw data from any additional speed sensor is used to make Boatspeed2 Note This stage is necessary to enable users to filter the raw data from the sensors If you enter a 1 in sel speed in the Settings dialog see Settings then Boatspeed 2 will be copied into SelBoatSpd 91 if you enter a 2 in the dialog then Boatspeed2 87 will be copied and if you enter a 3 SelSOG 27 will be copied By default WTP3 is setup to look at Boatspeed 2 GPS Selection GPS 1 COG1 100 1 SOGI 101 QHD1 102 SVA1 103 Selected GPS UTC1 104 selCOG 28 selSOG 27 selQHD 79 GPS 2 selSVA 78 COG2 105 selUTC 77 2 SOG2 106 OHD2 107 SVA2 108 UTC2 109 19 20 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
16. RESULT OF FIRST LINE RESULT AFTER TABLE You can see the interpolation for headings between those at which the corrections are specified and that the calibrations in the table are applied to the output from the first line of the file rather than the original input It is also possible to calibrate your variable with respect to another variable in the WTP3 database Advanced calibration example 2 For example you could enter FO UI 29 table 1 0 10 1950 10 360 10 table 0 2 10 0 0 20 LO The first line and first table of this are identical to above but the outcome of the first table is then further modified by the second table In the example the 1 after the word table indicates that the correction was applied to the variate itself Entering any other number after the word table means that we are calibrating with respect to another variable in the WTP3 s database with the variables referred to by the bg vars identification number see bg vars d In the example above the 0 refers to the bg vars identification number for Heel The second table therefore applies corrections depending on the angle of heel the fist column is the angle of heel and the second is the correction to be applied to the compass The result of the second table in the above example would be INPUT FROM 1ST TABLE ANGLE OF HEEL RESULT AFTER 2ND TABLE 20 Here the offset to the compass heading is altered by the heel angle Of course the correct
17. YXMTW 60 seatemp 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 Line 3 defines the COM port settings COM Port COM port used 1 or 2 Hardware Type Hardware settings for the type of data RS232 RS485 RS422 NMEAO0183 Baud Rate Baud Rate setting to suit the input 4800 9600 19200 28800 38400 57600 115200 Parity Parity setting to suit the input N no parity Data Bits To suit the input 7 or 8 Stop Bits To suit the input 1 or 2 Each additional line controls the decoding of NMEA sentences as follows Variable Name Name of the variable for user information only NMEA Field Position in NMEA sentence for required data Variable Number Variable number where data is stored from bg vars d Calibration File Filename of the calibration file to use Filter File Filename of the filter damping file to use Alarm File Filename of the alarm file to use optional Where the NMEA code is all the characters between the and the first comma in the NMEA sentence and the input field number is equal to the number of commas before the required value for example the file above would decode the following input correctly note that Depth is read in feet by default itis converted to metres in the calibration file OSDDBT 32 91 t 4010 00 M 5 40 R hh CR LbB where f is feet M is metres and F is Fa
18. and the CAN Channel Device ID and Port settings used for each input Installing GPS GPS Channel 1 Device 4 Comm Port 2 Baud 4800 NMEA0183 Configuration Details the NMEA0183 interfaces Including CAN Channel Device ID and Port settings used Installing NMEA0183 Input NMEAO183 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 d Details of the output configuration of the optional fast output function Including CAN Channel Device ID and Port settings used FASTOUT Channel 1 Device 6 Port 1 Baud 57600 File Consistency Checks On boot the system checks the consistency of files called in configuration files e g sample d with the existence of the files on the unit The example warnings below indicate two files are referenced in a file but do not physically exist Loading Sample 24 05 4 Warning QFileSystemWatcher failed to add paths wtp default filters vmg fil Warning QFileSystemWatcher failed to add paths wtp default filters vmc fil Sampler Loaded Sample File Sampler Initialised derived variables This may be due to the file not being present the filename being misspelt or the use of upperca
19. 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 15 WTP CPU C X 11 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 Mo jod6uu1sg ayey ISEW o2peo3 JOjeuiuue Jayl duiy Ip2peo Josuag peedsg n a eJnssaJg aseqise s jnpow enboJ euy HUN peeuisew x Jayl duiy eE2peo7 AH 07 07 e Duy 98H miewouna yo 5 00281H98 OJ C Oey qe oJKo eye dM EXT e s Nd dLM Dd ueu peg Q33 035 9 npolWw enboJ euy d ajbuy sappny NNI SIXY 9 wuejy H OL OL Josuas yidaq sajnpo w Jeuas 4 4 LJ ssedwo gt LOW p JOojeuluue Qq33 d35 SqD L SdD 12 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 All configuration damping and calibration functions are performed via Deckman software running on a 32 Bit Windows PC connected to the CPU via Ethernet Deckman Control Facilities To access the WTP3 control facilities in Deckman choose gmenu instrument control You will then see a dialog on the screen Each box along the top of the dialo
20. are updated correctly These rate values are displayed in the PARAMETR menu by default Pitch is taken to be positive when the top of the mast is swinging forwards roll is taken to be positive when the top of the mast is rolling from starboard to port yaw is taken to be positive when the boat is moving in an anti clockwise direction i e turning to port Heel Heel should read positive on starboard tack i e with the boat heeling to port The Heel sensor B amp G part 690 00 004 should be installed on an aft facing bulkhead Fastnet Network Installation General Layout The Fastnet network cabling should be such that the network cable run is predominantly in a linear layout with a definite start point and end point which are terminated Star shaped layouts are inefficient may cause incorrect operation and should be avoided 73 74 Mounting Instructions WTP3 CPU Step 1 Finda suitable location to position the CPU Mount the CPU vertically Ensure that there is at least 150mm clearance between the connectors and any surface to enable easy access to cables 150 mm Step 2 Mark the hole positions Step 3 Drill pilot holes and fix into position with 4 self tapping screws and split ring insulating washers 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
21. gyro dhl gyro trm gyro dpt gyro ndg gyro dyw Prim forestay AnSp2 seatemp airtemp Barometer port VS stbd VS CMW angle CMW speed Depth XIrkErr IWA OVMC VMG Targ VMG Targ OppTrkW OppTrkG Log PLUCHRMS pPLEchPra SelUTC OVC COC VE Vt WAt PPV PNV BOM DTM TIM Crk CrD MCR MCD DCR DCD Bat Rud Rke GHI GdH GTm GdP GHg GdY Tm1 CrS Sp2 sea air Bar PYS Syo CWA CWS Dep XTE AOC VGI VGP OTW OTG Log PMS FPd UTC C NN O NM NOO IN O N O NORNODN FPrROOF MWONFNE Fr Oo FO p Nl P O O O O Ip Co OOO OF OC C C O C O O O O O C OOO OO C2 OF Oo OD O O OOO gt a OO cC OOF O c N O NO OOO OF OC C CO A UI R2 CO ho hO C O O rH OO CO O O OO C O MP O O cC Oor Be O NO 25 26 78 79 80 81 82 83 84 85 86 oF 88 99 90 J1 92 93 94 ae 96 27 98 29 100 ID 102 103 104 103 106 107 108 109 SelSVA SelQHD Heading2 Heel 2 Terim Heading3 Heel3 Teima BoatSpd2 VS2pad selHdg selHeel SelTrim selBoatSpd Hdg2 Heave GGBrg GGRng HHDaft MastWnd Ansp4 AnSp5 ANSp6 gpslcog gpslsogq gpsighd gpslsva gps lute gps2cog gJDpS2sog gps2qhd gps2sva gps2utc Variation SVA 1 O O QHD 1 0 O Hg2 1 O 2 nl 1 il 0 Tm2 1 0 O Hg3 1 O 2 115 1 i 0 Tm3 1 0 0 WSZ 1 0 0 V2p 2 O O SHO it O 2 SI 1 I 0 STm 1 0 O MSS 1 0 O Hy 2 1 0 0 GGB i O 2 GGR 1 O 0 HAD 1
22. gyro enable mag var dsp time dsp up ang dsp dn ang TWS factor mast ror 3D enable 3D damp sel comp sel heel Sel trim sel speed Sel GPS log miles bspd switch datalog COD I Oy QI e Go Noe Ke PRPrRPRPRP Pp YOO WNE G2 02 U2 CO CO G2 U UJ UO CO CO UO UO UO UO CO GG US CO rm O CO I Co O A U IA A A A aU A A A A A AUM 4 0 O O PMP O O O OOU XC XX ME LOCO xc O O H H OD OC 2 FP fe hs Oo eo Hm WO Each line defines a different setting item All these items can be modified from within the Instrument Control option in Deckman Description of each item mast_height leeway_cal heel_ enable gyro_enable mag_var dsp_time dsp up ang dsp dn ang TWS factor mast rot 3D enable 3D damping sel comp sel heel sel trim sel speed sel GPS log miles bspd switch datalog Mastheight feet Leeway calibration value Use heel in calculations 0 off 1 on Use gyro in calculations 0 off 1 on Magnetic variation East West Time in tenths of seconds for oscillating variables see userout d Angle for switch between upwind and reaching variables Angle for switch between reaching and downwind variables TWS adjustment value Use mast rotation 0 off 1 absolute value 2 full rotation Use 3D gyro correction in heading 0 off 1 on 3D damping parameter DO NOT CHANGE should be 0 970 Compass select 1 2 or 3 Heel select 1 2 or 3 Trim select 1 2 or 3 Boatspeed select 1 p s paddle
23. invalidated Caution Display Installation Displays installed into locations manufactured from conductive materials e g Steel Carbon Fibre etc Should be insulated from the structure to prevent damage to the casings as a result of the effects of electrolysis Contents PEF OC CULO is EET 5 d YIY M 6 Interface dou BS caauranm utinam dI qai EE A 8 Systeni AI CHILOCCUN GS cseesesscicasdsccercesccocnsancsovsacsvsscacdesvesvestavissusessevessacssceiseseveavsetes 9 SY SECT EX AVC ee 12 BI e I TETTE ELI LI TET 13 Deckman Control Facilities Nc 13 RD TO III A EO A E E A N E E A E E A EE Y 13 Ba Sae PEE E A E A N A vss EN A N NA E E A 13 IMO AUN OWA cased cers E A A A E E A EE E E E T 14 SNCS 15 51019 proi CCN ME E A s 16 Calibrate DOdtsDeetlucssesmuetentitiiitvmretenemtatdaren deteriore ori NES EEE ENEE EEEa Edu Eii 17 Advanced Deckman Controls s sesssessessessesssessessessesseessessessesseeseessessesseoseeseeseesseoseoseeseessesseoseeseosersseoseoseoseoseessess 17 Input Selection via Deckman s sessessessesessessesseosessessessesesseseseeseeseeseoseoseosessesseseseeseeseeseoseoseoseseeeeseeseoneoreoseesesss 18 RISC OF PG E E E E S A T A EA E 20 Communication Options and configuration ssesseessesseesseessesseesseossesseossceseesseeseesseenecoseeseeoseeuseesseos
24. on the Yaw Rate of the vessel the first column is the Yaw Rate and the second is the time constant to be used as in functions 1 2 and 3 i e inverse of required damping time in secs 10 This file would result in the following damping being applied YAW RATE S DAMPNG 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 The adjustment tables for wind shear and gradient are applied to get True Wind speed and True Wind Direction and then these variables are filtered From these filtered variables the True Wind Angle is calculated and a back triangulation is done to calculate Apparent Wind Speed and Apparent Wind Angle Therefore the order of wind calculations is measured wind gt corrected wind gt original wind gt true wind gt apparent wind It is the data from the last two steps of the calculation that you actually see on the displays The various stages in the calculation can be seen in more detail in Wind Calculation flowchart 65 66 Sensor Damping Boat Speed To understand the filteri
25. rate gyro 44 57 trim trm Trim 9B 58 forestay frs Forestay load CC 59 keel kel Keel angle C9 60 seatemp sea Sea temperature 1F 61 airtemp air Air temperature 1D 62 barom bar Barometer 87 63 port_VS pVS Port boat speed paddlewheel 6A stbd VS SVS Starboard boat speed paddlewheel 65 CMW angle CWA Corrected Measured Wind A8 Angle 66 CMW speed CWS Corrected Measured Wind A9 Speed 87 88 NORMAL init NAME RU DESCRIPTION NOTES FASTNET FUNC NO 67 Depth Dep Depth OB 68 XTrkErr XTE Cross track error EE 69 TWA OVMC AOC True Wind Angle for Optimum VMC 70 VMG Targ VGT Target VMG 71 VMG_Targ VGP VMG as a percentage of Target 32 VMG 72 OppIrkW OTW Opposite tack track Mind ee n maton 9A Calculated from COG polar tabl 73 OppTrkG OTG Opposite tack track COG atte Can be reset from the i 2 99 Settings dialog Ed 75 pitchRMS PMS Pitch Root Mean Squared wea noia oi wave amplitude 76 pitchPrd PPd Pitch period Dean dics oi wave period Time in seconds since 77 selUTC UTC midnight 0000 hours UTC selected from GPS1 or 2 DD Digit 1 number of satellites 78 selSVA SVA niai Angs GPS IPIS cond selected from GPS1 or 2 Digit 1 quality of GPS fix 79 selOHD OHD Digits 2 4 HDOP in metres selected from GPS1 or 2 80 Hdg2 HG2 Heading 2 81 Hdg2 hl H2H Heel 2 82 Hdg2 trm H2T Trim 2 83 Hdg3 Hg3 Heading 3 84 Hdg3_hl H3H Heel 3 85 Hdg3_trm H3T Trim 3 86
26. second for boat speed and wind speed and y is the Dependent variable that we need to calibrate We will use the example of calibrating a compass A possible simple calibration file heading cal might look like This would add a 20 offset it is unlikely that you would ever have to apply such a large offset to a compass the large numbers are just to illustrate the functionality below Functions 4 5 and 6 are more complicated The first line of the file is the same as for calibrations 1 2 and 3 after this you create one or more tables to further calibrate the variable and these operate on whatever the output is from the first line The first way that this can be done is with one simple table of corrections Advanced calibration example 1 A sample file might look like D U 20 Zo Table 1 O 10 190 10 360 10 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 Then the numbers in the left column indicate values of the incoming data while the right column indicates the correction to be applied with interpolation for values between the defined values The table below indicates the result of this two stage calibration ORIGINAL DATA
27. the number defined for the menu usermenu d Function name 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 d file can be configured so that variables oscillate on a time basis on a context sensitive basis where the variables switch whether the boat is sailing upwind reaching downwind or is in the pre start or on a port and starboard basis These options are shown in the modified example below 7 410 Al MAIN POS 111 2 A2 JIB CAR P 112 2 JIB CAR S 113 2 A3 AWA 10 0 TWA 16 0 TWA 16 O TIMER 1 0 A4 TARG SPDKT 34 1 FORESTAY T 50 2 zc B A8 CWA 65 1 A9 CWS KIT 66 1 Here we have three changes 1 The two Jib Car variables oscillate automatically the time delay is set via the osc time value in Deckman Instrument Control Settings 2 We have added an output that switches on the sailing context AWA upwind TWA when reaching or downwind and Timer during the start sequence The True Wind Angles for switching between upwind reaching and downwind variables are set using the dsp up ang and dsp dn ang values in Deckman Instrument Control Settings 3 We have added an output that changes from tack to tack When sailing on Port Tack the display will show Target Boat Speed When we tack over to Starboard the display will change and show Fore
28. to make changes in the content without obligation to notify any person or organisation of such changes Navico B amp G Wave Technology Processor WTP WTP2 amp WTP3 are all trademarks of Navico UK Ltd and may not be used without the express permission of Navico UK Ltd 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 Incorrect calibration of this equipment may lead to false and inaccurate navigational readings placing the yacht into danger Warning Navigation Hazard The WTP3 system is an Electronic Navigation aid and is designed to assist in the navigation of your yacht It is not designed to totally replace conventional navigation procedures and precautions and all necessary precautions should be taken to ensure that the yacht is not placed into danger Caution Electrical Supply This equipment is designed for use with a power supply source of 12V dc The application of any other power supply may result in permanent damage to the equipment and invalidating the warranty Caution Cleaning The use of alcohol or solvent based cleaners will damage this equipment and any warranty in force will be
29. userout d section Further lines in each group Fastnet Function No Must match the number defined in the menu see fixmenu d Function name Name displayed on the display not transmitted in fixout d reference only Variable number From bg vars d Decimal Places The number of decimal places shown on displays Note 7he fixout d file does not support context switching or time based oscillation of functions userout d should be used for this purpose 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 DECKMAN REMOTE 1 REMOTE 2 REMOTE 3 REMOTE 4 SAILS MAIN POS JIB CAR P JIB CAR S CWA CWS The file format here is best dealt with by looking at part of the example above SAILS MAIN POS JIB CAR P JIB CAR S The first line creates a new menu called SAILS format as follows Menu name As is appears on the display SAILS in the example above Menu ID number New menus use ID numbers 01b1 01b2 01b3 etc Menu position Identifies where the menu appears in the Displ
30. using userout d as described in the next section Fixed Fastnet output fixout d This file controls the standard data outputs onto the B amp 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 AWA TWS AWS TWA 0 5 MWS KT MWA a HDG 4M HDGR 4M 0 AWSR KT TWD M TWDR QM AWAR a VS VSR VMG 1 0 5 YAW RTE S PTCH RTEGS ROLL RTEGS TIMER MS 1 X 5 POL SPD KT TARG SPDKT REACHINGKT TARG TWA 2 9 1 1 Cl DEPTH M SEA TEMP C 9 3 5 BAROMETRMB LEEWAY Q OPP TACKGM 9 5 39 DTW GC NM BTW GC M XTE NM 4 0 5 MAST ANG WA MAST TRIM HEEL 4 2 9 COG QM SOG KT TIDE SET M TIDE RTEKT 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 maximum of 5 in each group Transmit delay Sets the update rate 0210Hz 1 5Hz 2 3 3Hz 4 2Hz 9 1Hz Transmit offset Allows spacing of data transmission on network to optimise bandwidth Transmit Node ID Allows full system compatibility with other Fastnet devices Example of Transmit delay and offset on Fastnet Traffic can be seen in the
31. 1 or 2 EB 29 VMC VMC Velocity Made Good relative to EC Course 30 Opt VMC OVC Optimum VMC 31 Cse OVMC COC Course for Optimum VMC 32 Vs target TS Target Boat Speed 7D Boat Speed as a percentage of 0 0 Va tago i Target Boat Speed 34 TWA_targ AT Target True Wind Angle 53 35 Vs per PPV Boat speed derived from 7E performance polar 36 Vs perf PP Boat speed as a percentage of 33 performance polar 37 TER PNV Boat speed derived from navigation polar 38 TE PN Boat speed as a percentage of navigation polar 39 Brg_o_Mrk BM Bearing of mark E6 40 Dst_t_Mrk DM Distance to mark E8 41 Tm_t_Mrk TM Time to mark 35 42 Curr_Rate CrR Current rate Written from Deckman 43 Curr_Dir CrD Current direction Written from Deckman NORMAL T NAME xd DESCRIPTION NOTES FASTNET FUNC NO 44 MCur Rate MCR Measured current rate Written from Deckman 45 MCur Dir MCD Measured current direction Written from Deckman 46 DCur Rate DCR Diamond current rate Written from Deckman 47 DCur Dir DCD Diamond current direction Written from Deckman 48 Battery Bat Battery volts 8D 49 Rudder Rud Rudder Angle OC 50 Rake Rke Mast Rake CA 51 gyro hl GHI Gyro Heel 52 gyro dhl GdH glide a OGNIE Input from rate gyro 3C 53 gyro_trm GTm Gyro trim 54 gyro_dpt GdP Pitch rate of change of trim Input from rate gyro 9C 55 gyro_hdg GHg Gyro heading 49 Yaw rate of change of 56 gyro_dyw GdY heading Input from
32. 12V DC Provides system power to fastnet and CAN Fastnet Display connection Compatible sensor support Pilot CAN x 3 I O Module networks Independently Configurable 125 kbit gt 1 Mbit Speed options Default 250Kbit Terminal System monitoring LAN 100 Mbit Ethernet Deckman Comms FTP Access File system and datalog USB Port Software updates Configuration updates Data log file off load 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 This allows the unit to act as an interface for masthead units soeed sensors analogue rate gyros potentiometer etc Serial Module The serial module has 2 COM ports each with input amp output Supported baud rates are 1 200 to 115 200 The modules support RS232 RS422 RS485 and NMEA0183 devices Modules can be located wherever is most convenient for the installer and can connect anywhere on the CAN networks On the top of the Module there is a diagnostic LED enabling the user to see at a glance the status of the module This LED will
33. 38400 57600 115200 Parity Parity setting to suit the input N no parity Data Bits To suit the input 7 or 8 Stop Bits To suit the input 1 or 2 Compass Type Identifies special compass types see compatible compass types Line 4 defines the GPS antenna position Offset GPS Antenna offset from centreline Port Starboard in feet Bow to GPS GPS Antenna distance from Bow in feet The additional lines define the variables Normally this should not be changed though for example you may wish to add a link to a filter file for SOG Variable Name Name of the variable for user information only COM Port Same port as line 3 above Variable Number Variable number where data is stored from bg vars d Calibration File Filename of the calibration file to use Filter File Filename of the filter damping file to use Alarm File Filename of the alarm file to use optional Note For NMEA0183 GPS inputs the preferred inputs are as follows Position GGA GLL If GGA or GLL is not available then RMC can be used for Position in this case VTG must be disabled Velocity VTG 31 52 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 NMEAO183 4800 N 8 1 SDDBT 67 depth cal null fil null alm
34. BoatSpd2 VS2 Boat speed 2 87 VS2pad V2p Boat speed 2 raw data 88 SelHdg SHg Selected heading 49 89 SelHeel SHI Selected heel 34 VARIABLE SHORT NORMAL NAME DESCRIPTION NOTES FASTNET NUMBER NAME FUNC NO 90 SelTrim Stm Selected trim 96 91 SelBoatSpd VSS Selected boat speed 41 92 Hdg2_Heave Hve Heave from Compass 2 e a Pence compass 93 GGBrg GGB GPS1 to GPS2 bearing i a i inputs 94 GGRng GGR GPS1 to GPS2 range Pope oper borerGrs inputs 95 HHDIff HHD Heading 1 to Heading 2 For compass difference comparison 96 MastWind MWM Wind Angle measured relative For rotating mast 9D to mast systems 97 FwdRud FWR Forward Rudder Angle 28 98 CodeO CdO Code 0 load A3 99 Vang Vng Vang position CB 100 gps1cog cg1 COG from GPS1 101 gps1sog sg SOG from GPS1 From a position fixer These functions are 102 gpsiqhd qh1 OHD from GPS1 used when GPS 1 is selected 103 gps1sva sv1 SVA from GPS1 104 gpstutc ut1 UTC from GPS1 105 gps2cog cg2 COG from GPS2 106 gps2sog sg2 SOG from GPS 2 From a position fixer These functions are 107 gps2qhd qh2 QHD from GPS 2 used when GPS 2 is selected 108 gps2sva sv2 SVA from GPS 2 109 gps2utc ut2 UTC from GPS 2 110 Variation Var Magnetic Variation e IKOIT IDIOT GPS source 111 New functions can be added from here onwards 89 Supported Compass Types
35. C2 00 OQO CO C CO OO Coco OOO COO OC C 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 Channel O 250 Channel 1 125 Channel 2 500 Note Baud Rate speeds should be 125 250 500 or 1000 KBits per second See system architecture for details Data Logging datalog d See Data Logging Optional Files Advanced Pre Start True Wind Correction Tables adjstrwa d adjstrvt d These files define the corrections applied to True Wind Angle adjstrwa d and True Wind Speed adjstrvt d data when the WTP3 is in pre start mode The format of both files is the same as the normal correction tables If these files are not present the normal tables will be used at all times this is the default setting The pre start wind files can be loaded and modified in Deckman using the Adjust start wind angle and Adjust start wind speed options in the Start screen menu 47 48 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 ont
36. Dependent TX PEU IU CR Ge 6 Sensor Dependent TX 7 Sensor Dependent RX 87654321 8 Sensor Dependent RX Note A link wire may be required between terminals 3 amp 6 and 6 amp 8 depending on the sensor RS232 TERMINAL COLOUR INPUT 1 Screen 2 N A N A 3 Black 0 Volts 4 N A N A 5 Sensor Dependent TX e e p Nis ue 7 Sensor Dependent RX 87654321 8 N A N A Note A ink wire must be inserted between terminals 3 amp 6 and 6 amp 8 RS485 amp RS422 TERMINAL COLOUR INPUT 1 Screen 2 N A N A 3 Black 0 Volts A N A N A 5 Sensor Dependent TX I pU E E ee 6 Sensor Dependent TX 7 Sensor Dependent RX D 7 6 54 357 8 Sensor Dependent RX 82 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 Pa amp amp 8 sJele a aArarana R ri
37. Module Module Rudder 20 Speed 1 2c Main Car 2c Keel 2 Serial Serial Module Module Compass 2 gt lt Depth 1 gt lt 10 10 Hv Displays F S Load Fastnet CAN 0 Analogue Module CAN 1 Analogue Module CAN 2 10 System Planning A single CAN network configured to a baud rate of 250k is recommended to make system configuration straight forward 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 For example a dual CAN network could allow a Forward and Aft CAN networks effectively doubling the possible network length b Key systems operating on separate networks for example one GPS unit on each network Cable lengths Maximum cable lengths vary depending on the installation For example a long cable with one interface on the end will be very different to a similar length cable with 16 interfaces all powering sensors As such the following data is a guide only Guideline max cable length per CAN channel 250k 75m 500k 35m Maximum cable length is measured from the two end devices on the network a b c or the distance between terminating resistors whichever is greater Guideline maximum drop cable length For best performance it is recommended that drop cables x
38. Target Daggerboard 0 25 x Boat Speed The JavaScript required is var TargDaggerBoard TargDaggerBoard 0 25 0 1 Math abs bgvars value 1 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 If you are not familiar with the ECMAScript language there are several existing tutorials and books that cover this subject such as JavaScript The Definitive Guide 57 58 Parameters Note t 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 Various calibration functions are available to the WTP3 but most of them are variations on linear as in the diagram The first parameter describes the type of calibration 0 ealibrationtype 0 Nullcalibration 6 Tablefor 180 to 180 The next two numbers are x1 y1 and the final two are x2 y2 xis the independent variable which is actually a voltage or pulses per
39. ading 1 to correct the MHU angle compass bearing on the instruments until it matches the known bearing of depth 0 0 the object A positive offset will increase the reading of the compass heading Heel 1 Offset value for the first heel sensor If the heel angle does not read zero when the boat is sitting upright in the water it is necessary to enter a correction value here The heel sensor shows positive values when you are heeled to port as on starboard tack upwind Trim 1 Offset value for the first trim sensor If the trim angle does not read zero when the boat is sitting upright in the water it is necessary to enter a correction value here The trim sensor shows positive values when the bow is trimmed down MHU angle Offset angle for the masthead unit sensor at the top of the mast If you enter a positive value it will decrease the Apparent Wind Angle on starboard tack and increase the Apparent Wind Angle on port tack Depth Offset for adjusting the depth sensor reading from the transducer position to either the keel negative values or the waterline positive values Note You can control which variables you are able to calibrate from this dialogue by adjusting the svcals d data file Settings The settings dialogue controls all the normal items required to bo 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 mas
40. al if calibration is required ma_twd fil Filter file for this variable null alm file for this variable replace with uservar1 alm if alarm is required Note Jo have no calibration filtering or alarm for a user variable we use null cal null fil or null alm as the filenames WTP3 ignores any file named null At this stage the User Variable MA TWD will simply be equal to variable 18 TWD we modify it by applying calibrations or filters For example if we wanted a 10 second moving average of TWD then we would use the following filter file ma_ twd fil 6 100 Where 6 Filter Type 6 a moving average filter 100 10 seconds of filtering The value is in 1 10th of a second Now we have two TWD variables e The original TWD variable 18 e A 10 second moving average of TWD 111 Option 2 2D Variable Lookup Table 2D lookup tables allow the user to produce a new variable based on a linear interpolation of two existing variables for example a design team may have provided an expected rudder angle based on True Wind Angle and True Wind Speed The lookup table is defined in a tab file which is located in the calibs directory In sample d we add the new User Variable to the uservars section uservars TargRudder 117 1 farg rud tab nulli 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 alway
41. ay here it is 4th in the chain The following lines add functions to the menu here we are adding three functions to the menu the Mainsheet Traveller position and Jib Car positions port and starboard The format is as follows Function Name As is appears on the display e g MAIN POS in the example above Menu group ID The ID number of the menu group the function is to appear in Function order The position in the menu the function should appear simple 01 02 03 etc Fastnet Function No The hexadecimal value of the fastnet function number f you wish to display units use for a space for a degrees sign Function Name As is appears on the display e g MAIN POS in the example above Menu group ID The ID number of the menu group the function is to appear in Function order The position in the menu the function should appear simple 01 02 03 etc Fastnet Function No The hexadecimal value of the fastnet function number 37 38 New functions should use Fastnet function numbers a1 a4 and a8 ae If further function numbers are required please contact B amp G New menus use ID numbers 0161 0162 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 so that t
42. be lost Edit WIP config files Channel Device 3 Com 2 RS5232 4900 campass1 d Offset O 0 compass d Bow O 0 damping d Os 100 TELE Advanced file editing dialogue WTP Guru shown Advanced Calibration The Advanced Calibration function allows file edit access to any of the calibration files stored in the WTP3 calibs directory Advanced Damping Identical operation to Advanced Calibration except by using this option the filter files filters directory are displayed rather than the Calibration files WTP Guru WTP Guru allows access to the system data files that directly affect the configuration of inputs variables and outputs to Deckman and displays data directory Note that if you modify files with WTP Guru you will need to re boot the WTP3 before they take effect as such it is just as easy and recommended to use the FTP access to the files for this purpose which allows the backup of the existing files before making changes FTP The WTP3 uses the File Transfer Protocol FTP to carry out file management tasks Windows Explorer in the most recent versions of Windows has FTP functionality as this is straight forward and available to most users this is the program we will use for our examples Other FTP clients may be used 21 22 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 lin
43. calculation a mathematical symbol indicates what operation is to be performed There are also a number of mathematical operators that you can use Add Subtract Multiply Divide Assigns a value to the variable you are calibrating Calibration example 4 The line Constant 3 23 would mean that we are multiplying by a constant value of 3 3 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 K x Heel Leeway 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 table 89 30 e25 B S20 29 2 30 Zo constant Variable Variable The first line of this is taking the input from sample d for Leeway and ensuring it is set to 0 the output of the first line is 0 no matter what the input refer to example 1 above The table then takes the value of Selected Heel bg_vars variable 89 and the equals signs means that we are assigning values for leeway based on heel The effect of this table would be that for Heel values up to 25 the value assigned would be exactly the same as the Heel angle Above 25 the assigned value will stay at a constant of 25 since when the system will interpolate between 25 and 30 the a
44. 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 Step 3 Jo remove the lid unscrew the 2 lid screws Note The lid hinges at the bottom edge of the module To close the lid you need to locate the bottom edge first Step 4 Cut the grommet indicated to a length that creates a tight fit for the cable to be fed Feed the cable through and wire into the module plug Ensure the cables are positioned to the left of the centre pillar and the plug can reach the connectors without placing tension on the wires C G L I jeeeeeoeoee Q Lo 75 76 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 CONNECTOR A CONNECTOR B ANALOGUE MODULE TERMINAL CONNECTOR A CONNECTOR B SERIAL MODULE TERMINAL CONNECTOR A CONNECTOR B Analogue Module Wiring Example Below is an example of how to wire a analogue module with a masthead unit and paddle wheel sensor Masthead Unit Shield Orange Black Blue Green Red Violet CON DUN BWHDN
45. cularly useful for boat soeed and heading when coming out of a tack For example we might use non linear damping on our heading so that when it is changing rapidly after a manoeuvre it is less damped than when we are sailing a steady course A typical filter file would look like 12 0 1 4 This gives a damping of 1 second in normal use inverse of 0 1 divided by 10 however when difference between the new data and the last value is greater than 4 the damping gradually reduces until at 32 difference no damping is applied Damping example 2 Dependent Damping Damping functions 16 17 and 18 are exponential functions similar to functions 1 2 and 3 except that the time constant for the damping can be determined with respect to another variable in the WTP3 database During a manoeuvre True Wind Direction TWD can be unsteady If we wish to use some damping to display TWD more steadily based upon data from before the start of the manoeuvre then we could filter it based on the value of Yaw Rate using damping function 17 Exponential 360 To do this we could create the following filter file twd fil The first line of the file indicates the damping type to be used In the example the 56 after the word Table indicates that the damping will be calculated with respect to Yaw Rate as 56 is the variable number for gyro_dyw see bg_vars Therefore in this example the table controls the time constant for the exponential damping depending
46. d it is normal to use an analogue device and to connect to analogue inputs on the WTP3 The loadcell input accepted via loadcell d is as follows additional loadcells increment n as their identifier 11 XXX KKK CRO LES Channel 1 Device 0 Com 1 s4232 9600 N S 1 forestay 0 58 forestay cal null fil null alm Note Multiple outputs can be listed in one file 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 d Calibration File Filename of the calibration file to use Filter File Filename of the filter damping file to use Alarm File Filename of the alarm file to use optional Fastnet data fastnet d Allows for the provision of data on fastnet to be received by the WTP3 calibrated filtered and mapped to a variable in bg_vars For example rudder angle or loadcells An example of this is shown below 49 rudder cal rudder fil Note The variable name is used for reference only and is not used in the WTP system The variable name must not contain spaces name lt B amp G function number in hex no
47. de lt variablebg_vars d gt lt calfile gt lt filfile gt lt alm file gt 51 52 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 d we add a line to define the new variable in this case the next variable number is 111 so we add the following line setting variable 111 to be mastfoot and having two decimal places 111 mastfoot mst In sample d we need to define the sampling of the analogue channel so we modify the line for the analogue section to look for channel 0 device id 1 analogue input channel 3 as shown below mastftoot 0 1 3 111 masttoot cal masttfoot 11 null alm This defines that the function called mastfoot is sampled on analogue module on channel 0 Device 1 analogue Input 3 and mapped onto variable 111 being calibrated and filtered with the listed files with the possiblility of an optional alarm file At this stage we would like to show the variable on the displays as an example we will add the function MASTFOOT to the PARAMETER menu First we need to add the menu item in usermenu d for this we add one line MASTFOOT 0112 al 4 Th
48. e 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 the Desktop make a backup then modify it using a suitable text editing tool Wordpad supplied with Windows is recommended To update the WTP3 select the modified file and drag it back into the relevant WTP3 directory in the Explorer window confirm the file transfer if prompted Terminal The WTP3 has a Terminal connection that allows technicians or advanced users to diagnose operational issues To view the diagnostic text it is necessary to use a terminal package such as HyperTerminal which is supplied with Windows Connect a suitable serial lead to the WTP The only connections required for diagnostic use are Rx Tx and Ground Configure your terminal program with the following information and then establish the connection in HyperTerminal this is achieved simply by clicking the connect button other terminal programs may use different logic COM port The serial port you have connected the lead to on your PC Baud Rate 115 200 Data Bits 8 Parity None Stop Bits 1 Flow Control None When the WTP3 is booting or running you will be able to see status messages on the screen refer to Diagnostic messa
49. e these are stored in the relevant cal file Changing calibration settings through Deckman that are listed in the svcals d file only controls the calibration in the first line of the cal file Additional calibration settings within the file e g a table must be edited directly within the file itself The way in which the first line of the cal file is altered by Deckman is controlled by the Calibration Type setting within svcals d The first line of the cal file is always a straightforward linear calibration and Deckman can alter this in four ways 0 Change the intercept changes the value of the calibrated output when the input is zero but keeps the gradient of the calibration the same This effectively offsets the output by the amount the intercept is changed by and is commonly used for sensors such as depth rake or rudder where the zero position may have to be changed 1 amp 2 Change the slope or inverse slope alters the gradient of the calibration without changing the offset The inverse slope option is typically used in boatspeed calibration where the slope is normally presented as its inverse in Hz Knot 3 Set the value alters the slope to match the output to the value entered without changing the intercept This is often used on load sensors where the intercept is known to be zero tonnes at zero volts and then the sensor is attached to a known load for calibration Damping control in Deckman damping d This file de
50. e Module is connected to 0 1 or 2 the third column is the Device ID of the module and the fourth column is the pulse input port 1 or 2 derived variables are fixed and should not be altered except if possible to set calibration filter and alarm files if these are desired uservars is a section for user defined variables For details on this see the uservars section can channel device id analogue input variable number file fil file alarm file analogue MHU A B AU Cal null hl MHU A G null cal naoll nr MHU A R nv Gal null fil gyro dhl gdheel cal gdheel fil gyro dpt gdpitch cal gadpxtelsrnl gyro dyw gdyaw cal gdyaw fil rudder null cal nui i Battery null cal null nr MastRot null cal Hid TIL Sparel nud cod niuLk L Spare2 null cal nall mL airtemp null cal null pulse MHU VA MHUVA cal null nl portpad portpad cal portpad nl stbdpad stbdpad cal stbdpad fil VS2pad vs2pad cal vodpod ln derived MW angle mwa cal null nl Boatspeed null cal boatspda nl Orig TWD null oal orig twd fil Orig TWS null cal orig tws fil TW dirn n ll cal tw dirn fil TW speed nullocal tw speed fil Course Hull cal course fil 2 28 VMG VMC Opt VMC CseOVMC TWAOVMC OppTrkW OppTrkG GyroHdg GyroHl GyroTrm Leeway pitchRMS pitchPrd CMWA CMWS Boatspda2 WindToMast TargetBSpd Variation uservars null null null DL t a null null null DULL null null null tl s Hula null tul Gal
51. e Refer to B amp G gyros k term moving average Refer to B amp G SION ida One parameter damping in secs ripple fraction O 1 P ping As 7 for 360 One parameter damping in secs As 7 for 180 One parameter damping in secs 3rd order Chebyshev band DO NOT CHANGE pass fixed coefs used for rate gyros see below Non linear See explanation below Non linear for 360 See explanation below Non linear for 180 See explanation below RMS calculation ee oe e g for calculating wave amplitude Period calculation Period calculation er e g for calculating time between waves Ordinary exponential Table with independent variable and inverse of dependent damping required damping time in secs 10 Exponential dependent Table with independent variable and inverse of damping for 360 required damping time in secs 10 Exponential dependent Table with independent variable and inverse of damping for 180 required damping time in secs 10 Damping example 1 Exponential Damping BH Damping functions 11 12 and 13 are exponential functions that will cause the data to move more quickly if the difference between the new data and the last value moves outside a bound 63 64 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 parti
52. e WTP3 23 24 Defining the variables bg_vars d Note t 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 acomment line or any text line you wish to ignore If you use the symbol all information thereafter on any line will be ignored Example Variable No Long Name Short Name Decimal Places Absolute Value Data Type Everything below the symbol will be ignored Only 1 needs to be used but a line of shows a clear separation This file is the most important on the WTP3 as it lists all of the variables in the system if variables are not listed here then they will not be in the WTP3 at all variables 0 Heell il dotHeel Z Boatspeed 6 dotvs 4 SMOOLAYS MHU A R MHU A G MHU A B MW angle MW speed AW angle AW speed Leeway Headingl Course dotCourse TW angle TW speed TW dirn VMG GW speed GW Dirn Orig TWA Orig TWS Orig TWD MastRot TWD Off SelSOG SelcoG VMC 30 31 32 33 34 eis 36 27 38 J9 40 41 42 43 44 45 46 4 48 49 50 EE 52 I3 54 Ja 56 57 58 99 60 61 62 63 64 65 66 67 68 69 TO 71 T2 T9 14 Ta 706 T1 Opt VMC Cse OVMC MS target Vs targy TWA targ VS DSTI Vs perf Vs nav Vs nav Brg o Mrk Dst t Mrk Imt t MER Curr Rate Cure DIE MCur Rate MCur Dir DCur Rate Dear Die Battery Rudder Rake gyro nL
53. e system Must not contain spaces 67 The function number to apply the alarm to from bg vars d In this example 67 Depth C1 Fastnet function used to display the alarm on displays hexadecimal C1 2 Depth Hi 40 0 Off Configures a High Hi alarm at a value of 40 0 which is currently disabled Off Lo 2 5 On Configures a Low Lo alarm at a value of 2 5 which is currently enabled On Either the Hi or Lo lines may be omitted from the file so if only the low value alarm was required the following 71 72 file content is valid Depth 67 Cl Lo 2 9 Cn 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 The JavaScript must return a Boolean true or false to indicate if the alarm condition passes or fails A value of false indicates the alarm should be raised The JavaScript has read access to all the variables defined in bg vars d in its evaluation A JavaScript file is referenced from the alm file in the following format IWS L7 53 HI script highwind js ON Where script highwind js References the JavaScript highwind js s
54. eesseosees 20 Advanced Calibration via Deckman s ssessessssssessessessesssessessesseeseessessesseoseeseeseesscoseoseeseessesseoseeseoseesseosesseoseoseessess 20 Data FOS acs cncns ees TOTEM 23 BENNIE ValidblBs sectetur EE EE E OSEAS IER abu enti ten 24 Apur OFAN AU ton Fe Saane beret atii ed vedo etn A DAETA NISL n f nude 27 Display Output configuration Tl BS ocius tan mduqio dr UU oe bI OG RO DRDen adn NUM pe EIE 34 Deckman Output configuration files sscnsidioeemitasis or ena oA Da duc OEC E eHro n ODER EROS 41 OO TON WS AAVA OO ERR m 47 Parade tels cccsscccsncscesscsaccsesccasssavastaveiavscencseesessescseeasecesssaseassevsececsssnsscensscosseccceusns 58 Sleep PER RC n 58 BETIS OF lloro e NN Ms 62 Fiitenngand Damping MR mm 63 SFIS OF MO AOI IG E cmm 66 Pata LOGOM PR N 68 Exporting the sqlite TAG cacecihecezenssessncavsatsecxscase betreuen inira itia Pr trea itis iru drt Git eed ERR 69 SOLite Database SUI CUE Nm 70 ATO P A E E E A A 71 CORRON ATOETOS eiaa aa E E EEA EE me EEE E S 71 Srl an e p ccscecccccescoecseccscacecesacesccesccasceecssucesscescsessscsacenecs lt occcesesesesesecesceeseseccesesses 73 Paya a istalla O aeaa E AE A A E E E IM 73 FASE VST Network Metala MO osise Risa Ea a AE E aE A EAA A 73 MOUDA EASE UIC TO S ett a E E EEE TETEE EEEE E MN MEE 74 Module WV WEEE 1 eera an EA EE mm 76 Analogue Moaule VUTEC sscecesuteowaseiessovesvncavssts tedyessonadsussuutenussd eaticutyuassavanoenssyayse
55. entifies CPU IP address and start of UDP task My Local IP Address for ethO 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 Channel 0 Device 2 WTP3 ANALOG IO MODULE 123456789001 S W Version R1 00 10 Dec2010 Device 1 WTP3 ANALOG IO MODULE 123456789002 S W Version R1 00 10 Dec2010 Device 3 WTP3 SERIAL IO MODULE 123456789003 S W Version R1 00 10 Dec2010 Channel 1 Device 1 ZG50 B amp G _ Active GPS ant TFFFFFZ 01200 E 0005 Device 1 WTP3 SERIAL IO MODULE 123456789004 S W Version R1 00 10 Dec2010 KERREKERERERREEREREREREERERERERE ICE HE EICICC CERE RE ERERERERERRE CREE EE Compass Configuration Details the compass types installed and the CAN Channel Device ID Port settings and compass variables used for each input Installing Compass Compass 1 HALCYON Fastnet headingl Node 1 Function 116 Variable 13 heell Node 1 Function 0 Variable O0 trimi Node 1 Function 0 Variable 57 Compass 2 BGIMU Channel 0 Device 8 Comm Port 0 Baud 28800 heading2 Variable 80 heel2 Variable 81 trim2 Variable 82 Roll Variable 111 Pitch Variable 112 Yaw Variable 113 Accx Variable 114 Accy Variable 115 Accz Variable 116 GPS Configuration Details the GPS types installed
56. ents Control dialog is open in Deckman clicking the menu button will give you some controls specific to the WTP3 The Advanced Calibration or Advanced Damping options allow you to access the calibration and damping files described below The WTP Guru option allows the advanced user to access system files do not use the guru option if you are not familiar with the file level operation of WTP3 See Use of a PC for further details on these functions 17 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 Whichever input is selected is then copied into the SelHdg 88 SelHeel 89 SelTrim 90 SelBoatSpd 91 or Selected GPS multiple functions variables this is then used in the calculations and output to Deckman and displays as required This selection is shown below for each of the selectable variables in each case the standard variable number is shown in brackets Heading selection Heading 1 13 Selected Heading 88 Selected Heel 89 Selected Trim 90 18 Boat Speed Selection
57. fines 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 boatspeed headingl gyrohdg course TW speed TW dirn Each line defines a separate damping option format as follows Variable Name As it appears in Deckman D Denotes a damping value Variable Number The variable number to calibrate from bg vars d Width of field Width of display field in characters inc decimal point Decimal places Number of decimal places required Note there are no actual damping values in this file these are stored in the relevant fil file Ethernet Configuration network d network d defines the IP address and subnet used by the WTP3 Ipaddress 192 168 0 2 Netmask 255 255 255 0 Note This file may contain ipaddress x x x x amp netmask x x x x as shown above OR ipaddress dhcp as shown below If it is desired to use IP addresses assigned by an external DHCP server then you should change the file as below ipaddress dhcp Note 4 f dhcp networking is selected then the operating system will attempt to gather network configuration from a dhcp server If no dhcp server is found then the device will fall back to zeroconf networking where an un used ip in the 169 254 x x range is used ethernet d ethernet d defines the settings for the data transmission on Ethernet networkON i UDPfrequency 10 UDPprotocol 1 milt
58. g NMEA sentence it will be checked and the sentence discarded if incorrect if checksums are not present the sentence will be accepted as is It is recommended to implement checksums where possible to avoid incorrect data being accepted 34 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 POL SPD KT TARG SPDKT REACHINGPC MEAS W A MEAS W SKT TARG TWA HEEL a TRIM a YAW RTE S PTCH RTE S ROLL RTE S The format is Menu item name Menu number Order in chain Fastnet Function No Node This name is defined in the menus Defines which menu contains the function see usermenu d for full list The position of the function in the menu The Fastnet function number of the function in hexadecimal The Node number that the menu is declared from for system compatibility Note The text in the first column e g POL SPD KT etc is not seen on the displays and is only to make it easier to recognise what the numbers refer to if custom titles for the menu items are required then the items should be sent
59. g accesses a different control facility as described below Output C Controls the output of Deckman variables to the WTP3 to be viewed on the displays In addition to the standard WTP3 system variables it is possible to output up to ten variables from Deckman to WTP3 for transmission to displays As supplied WTP3 declares a Deckman menu containing four functions variables chan data remote 1 remote 2 if more than four Deckman variables are required sraao C additional menu items will need to be added to the usermenu d file SES Le UNE DST PORT em cael To output a variable click on the first blank line of the variables column select the appropriate Deckman variable from the list followed by OK The UIC 2 BED variable will be displayed on that line with the channel column showing TM STAB 1 h5838h 1 and the current data shown in the final column The 1 indicates that output of this variable is currently disabled To enable the output click on the channel number currently 1 and assign a channel number of either 1 2 3 or 4 on the standard configuration If the same channel number is assigned to more than one variable then the data will oscillate between those variables on the displays Damping Allows you to alter the damping values on WTP3 The values are Mee read directly from the WTP3 and any changes you make are sent as soon as they are entered Each of the menu options has a numbe
60. ges displayed via Terminal for full details Data Files Caution t 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 All of the variables in the WTP3 database are listed in the file bg_vars d Inputs from the various components masthead unit paddle wheels strain gauges and so on are fed into the WTP3 via the sample d compassX d gpsX d and nmeain d files The structure of the menus on the displays is controlled by the fixmenu d and usermenu d files and the outputs to these menus are controlled by fixout d and userout d Deckman is sent data from WTP3 defined by the content of the dmnvars d file and allows control of WTP3 settings calibrations and damping values via setting d svcals d and damping d respectively There are other files which are not shown for clarity but are detailed in the following chapter Input Files Variable Control Output Files Output Devices T fixmenu d fixout d BEEN gpsX d loadcell d Lm I l l l l l BEEN Serial NMEA I I I I The structure of the main data files on th
61. glow green if there is power and will flash to indicate that it is sending receiving data ANALOGUE INTERFACE MODULE PORT ALLOCATION DESCRIPTION 3x 5V to 5V 4 x Analogue Input 12 Bit 1x OV to 5V 2 x Analogue Input 10 Bit 2x OV to 5V 2 x Pulse Inputs eg Paddlewheel Speed Sensor or Masthead Unit Note f the system is to use an analogue speed input then terminals 5 amp 6 may be used for this purpose SERIAL INTERFACE MODULE PORT ALLOCATION DESCRIPTION 2 x Bi Directional COM Ports RS232 NMEAO183 RS422 RS485 Each module contains DIP switches to enable the installer to give it a unique network address Device number Instructions on how to do this can be found in the installation section of this manual 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 20 20 HV 20 20 Hv GFD FFD Fastnet Fastnet Serial Module WTP CPU GPS 1 20Hz 9 Power 12V Serial Terminal Ethernet Analogue Analogue
62. he function exists in WTP3 in the first place Defining Custom Fastnet Outputs userout d This file controls how additional user data is sent from the WTP3 to the displays and allows you to have different variables shown according to your point of sailing and or to have oscillating variables on a time basis Any variable detailed in this output must have been defined in bg vars d and a menu item defined using usermenu d to enable you to access the data from a display The only exception to this rule is remote Deckman outputs that are dealt with automatically by WTP3 MAIN POS JIB CAR P A3 JIB CAR S 9 A8 CWA A9 CWS The first line of the file contains a single number which defines the number of transmit groups that follow in the example above we have 2 transmit groups The first line of each group defines Number of variables Up to a maximum of 5 in each group Transmit delay Sets the update rate 0210Hz 1 5Hz 2 3 3Hz 4 2Hz 9 1Hz Transmit offset Allows spacing of data transmission on network to optimise bandwidth Example of Transmit delay and offset on Fastnet Traffic 0O00 Delay 2 Offset 1 4 4 3 8 Delay 2 Offset 0 6 0 90 0 0 9 90 09 0 9 9 9 9 yo otf 12 HL L Time el N 0 1 Second Further lines in each group Fastnet Function No Must match
63. icastaddr 20951151 muluicastport 5002 45 46 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 d perfpol d These files contains the polar table information used within WTP3 it is not normal to modify these files directly they are modified when the table is altered in Deckman to suit your boat die 24 Ox Cz Ts M De Oe Or CC O C C OCO C C5 D WO OD XD NX N ed 3 OY Cw Ne WO O 05 05 09 I Oy Oy Ro P KO O 0D oo I O3 Cw Ne 1 120001014 A WE e True Wind Correction Tables adjwa d adjvt d These files define the corrections applied to True Wind Angle adjwa d and True Wind Speed adjvt d data The format of both files is the same it is not normal to modify these files directly they are updated when the table is altered in Deckman lt lt NO lt CO 0 sU 0 oJ 0 0 s0 me 0 mae 0 CO C O C9 C C Co C5 C Co CO 0 CO CO CO 0 CO CO CO CO C2 C CX CO CO CO C5 CO C25 CO O O O CO CO CO CO CO CO CO C O CO C
64. ind and reaching settings dsp_dn_ang is the angle for the change between reaching and downwind settings datalog 0 TWS factor Will reduce or adjust wind speed by multiplying by this factor this is used as an adjustment for wind weight mast_rot Allows the option of using data from a mast rotation sensor Available settings are 0 off 1 on using absolute value e g for Mast Twist calculations or 2 on using for fully rotating masts 3D Enable This value is not used in WTP3 it is retained in the settings list to support legacy file sets The 3D enable disable is done automatically by WTP3 based on compass type it can be overridden in the compassX d files 15 16 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 amp 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 Refer to Multiple Compass Boat Speed and GPS Inputs for more information log_miles Allows you to reset the Log variable to any value you wish though zero is likely to be most useful bspd_switch Controls whether Hee
65. ind speed and angle but is perfectly normal The WTP3 therefore ignores the inputs from the rate gyros for 15 minutes after power on 67 68 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 START parameters are Racetimer starts logging on activation of the race timer Alarm starts logging on the trigger of any alarm POWERON Starts logging as soon as the WTP is switched on or Off Disables the data logging file The second line STOP is the length of time you wish to log data for Data can be logged in minutes or seconds To set the length of time write the word Minutes or Seconds followed by a space and the number of minutes or seconds you wish to log data for Note A STOP line is only required if you wish to have a time limit on the data log function If no STOP line is entered then the WTP will continue to log data until it is stopped via Deckman the WTP is switched off or the data log transfer procedure is started to USB stick The logging of data from the CPU is flexible and variables are separated into sections 10Hz 5Hz 2Hz amp 1Hz For each section it i
66. ions in the previous table will continue to be applied before the corrections with respect to heel 59 60 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 0 0 0 Us L Ls 0 Us 0 OF This table is therefore taking the standard input from boat speed which would be specified in the bg_vars d file and applying a correction based on angle of heel bg_vars identification number 0 after table So far this is operating the same as the example above Next however we have a multiplication sign which indicates that boat speed is to be multiplied by the values in the table Then the table works as before for calibrating with respect to another variable the left column indicates the value at which the calibrations to be applied while the right column is the multiplication factor The example above would act to reduce boat speed with increasing angle of heel Other identifiers and operators As well as the word table it is also possible to use two other identifiers Variable The following number refers to the bg_vars number and a mathematical symbol indicates what operation is to be performed Constant To specify a constant value to use in the
67. is new menu item MASTFOOT would now be displayed in the PARAMETER menu 0112 using fastnet function number a1 the 4 defines the location of the menu item within the item list We now need to output the data onto the network so that when you select the item from the menu there is data to display this is done using the userout d file In this example we will output the data twice per second given that there are currently no outputs at this rate we need to add another transmit group to the existing file Existing file Modified file A8 CWA A9 CWS MASTFOOT 111 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 d to allow damping and calibration from Deckman see Chapter 5 Parameters for more information on these If calibration or filtering of the variable is not required it is normal to use null cal and null fil respectively as the calibration and damping filenames User variables You are able to create your own data variables using several methods Taking data from existing variables and applying calibrations and filtering as desired 2D variable
68. it Data Adjustemt for MHU offset amp Filtered mast roation MWA MWS Gyro corrections for yacht motion use_gyro 1 Heading Leeway Filtered Vs Orig TWA Orig TWS Orig TWD Wind Shear then True Wind CALs Note fuse gyro is set to 0 OFF then the CMWA CMWS stage is bypassed 91 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 To indicate the upgrade is in progress the LOG LED on the top of the CPU will flash green 7 When the LOG LED turns solid green the upgrade process is complete 8 Remove the USB stick the CPU will automatically reboot E NE MEE M S Q PWR FNET CAN 2 CAN i CAN 0 LOG LAN Note A solid red light on the LOG LED indicates the upgrade was unsuccessful Check your upd file USB stick and repeat the process If you continue to experience difficulties updating the software please seek assistance from a B amp G WTP specialist Module To upgrade a module to the latest software version you will need to use the Navico Software Upgrade Tool Follow the
69. l Angle or MWA is used for controlling the port and starboard boatspeed inputs datalog Allows you to manually start or stop the data logging Note Datalog manually starts or stops data logging Data logging is only available if a valid datalog d file is present Bounds Checking To act as an additional level of data validation checking between the instrument system and the PC WTP3 allows the user to set limits on input values The incoming data is checked against the previous values This display allows you to change the bounds that are used for each incoming variable smaller values make errors less likely but increase the possibility that the numbers will stick because of dramatic boat manoeuvres The values shown in the example should be used unless you are experiencing difficulties with a particular variable Reset Bounds Checking x Clicking this button will cause the next set of incoming data to overwrite the old even if it falls outside the error bounds This is not normally required but may be necessary under some circumstances _ B amp G WTP o wl a ids variables bound data Heel 9999 Boatspeed 9999 438 AW angle 9999 3n AW speed 9999 175 Leeway 9999 00 Course 499 TV angle 9999 105 TW speed 9999 185 Tw Dirn gue Bow Calibrate Boatspeed i This function helps you to calibrate y
70. lookup table JavaScript User Variables are available for distributing to system displays or Deckman in the same manner as a normal variable Defining User variables Whichever method is being used any new user variables must be defined by adding them to the variable list bg vars d In bg vars d we add a line to define each new variable in the example below the next available variable number was 111 so we have added new lines defining variables 111 113 which we will use in the following examples See bg vars d section for further information gps2sva gps2utc Variation MA TWD TargRudder largDagger The content of the new user variable is then defined via sample d the methodology varies depending on how the user variable is being created standard lookup or javascript the following section describes the options 23 54 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 til 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 d 18 The variable number that we are basing our new Variable on 18 is TWD in bg vars d null cal Calibration file for this variable replace with uservar1 c
71. ltiple Devices defined on the same Channel Device amp Port with differing settings 112 there are two devices unknown on the same physical serial port but with different hardware RS232 etc baud rate data stop or parity settings In this case serial port 2 on channel 1 device 1 in the conflict Full Startup Description Software Versions The two key versions for diagnostic purposes are Platform S W Version 1 1 0 5 0 8 Operating System Version B amp G WTP3 S W Version 1 0 00 WTP3 Software Version Configuration Files Con g File Path s Default Contig folder name for file set in use CAN initialisation Initialising NDPZK Stack CAN Channel 0 250Kbs baud rate set for CAN channel 0 CAN Channel 1 250Kbs baud rate set for CAN channel 1 CAN Channel 2 250Kbs baud rate set for CAN channel 2 Progress This section details the start of various tasks including configuration file loading NDP2K Thread Running WIPS Sets Custom speed on soo serral0 This is deprecated Initialising Variable Manager Loading Surface Tables Sampler Loaded Settings sampler Loaded Boat Log Serial Thread Running Sampler Thread Running Deckman Comms Thread Running Fastnet Manager Running External Message Server started listening on port 8080 Fastnet User Menus Loaded Fastnet B amp G Menus Loaded Fastnet Loading User Variables Fastnet Loading B amp G Variables 95 Ethernet configuration Id
72. name of variable from bg vars d e g TW speed Alarms The alarms table contains a history of alarms raised AlarmID unique identifier for each alarm raised Var variable number from bg vars d Raised DATETIME Value real 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 cal and fil files are specified e g sample d The following example shows a nmeain d file used for NMEA0183 input of Depth data with the correct format for calling a depth alarm file Channel O0 Device 7 Com 1 NMEAO183 4800 N8 1 SDDBT 1 67 depth cal nuil nl depth alm YXMTW 1 60 seatemp cal null fil If no alarm is required on a function the alarm file reference should be set to null alm a non existent file File Structure Alarm files are of the following format any Alarm files are stored in the alarms directory all alarm files have the extension alm The following file is an example alarm file for a depth alarm Where Depth Text label for user information only it is not used by th
73. ng 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 portpad input portpad cal portpad fil variable port VS 63 Selected by Heel Angle Stbd Paddlewheel stbdpad input stbdpad cal stbdpad fil variable stbd VS 64 no calibration boatspd fil variable boatspd 2 variable SOG 27 User variable SelBoatSpd 91 Selected by Paddlewheel 2 vs2pad input vs2pad cal vs2pad fil variable vs2pad 87 no calibration boatspd2 fil variable boatspd2 86 Note When shipped from the factory Boat Speed is shown to two decimal places However due to the extra responsiveness of the WTP3 system especially when tacking it may be desirable to change the displayed value to one decimal place in the fixout d file 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 o Und 2001 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 This has an enormous effect on w
74. o 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 The possible NMEA out sentences are GLL Geographic position VTG Course and speed over ground VHW Boatspeed and heading MWD True wind direction and speed VWR Apparent wind speed angle VWT True wind speed and angle MTW Sea temperature XDR Transducer measurements HDG Heading MWV T True wind speed and angle MWV A Apparent wind speed and angle Channel O0 Device 0 Com 2 NMEA0183 4800 N 8 1 GLL 10 VTG 10 VHW 5 MWD VWR VWT MTW XDR HDG Channel 1 Device 0 Com 1 NMEA0183 4800 N 8 1 GLL VIG VHW MWD Channel 1 Device 1 Com 2 NMFAO183 4800 N 8 1 GLL 1 MWD 1 Note Multiple outputs can be listed in one file The proceeding number following the NMEA sentence denotes the frequency at which the WTP will transmit that NMEA sentence Sentences can be transmitted at 10 5 2 or 1 Hz Fast Serial Output fastout d This file enables a high speed serial output containing the variables listed in the file as an example the file below would output the following string Channel 1 Device 0 com L RSzo2 57600 N 9 1 ES 94 1 5 02 80 ox 81 55 82 oy 1 6 2 a FP FO moadiaowsk X O1 Ss G4 A GR GR DB UI O1 O1 O1 O1 N ONHPHPHP PP DpDppD npD nmpD nmpD np Line 1 defines the COM port set
75. ompass In this example we are configuring a B amp G Halcyon 2000 Compass sensor which is present on the B amp G Fastnet network When using a networked compass there are some specific changes to the compass file 1 Next to Com Add text FASTNET HALCYON to identify the port as Fastnet and the compass type as a Halcyon 2000 Compass 2 The values in the variable lines which normally shows the COM port is modified to be the function number on the B amp G Fastnet bus Com FASTNET HALCYON headingl 74 13 headingl cal headingl fil null alm Note If 2 sources of the same data type are on the network you can proceed the function number with a node number separated by a dot Com FASTNET HALCYON heading1 16 1 3 headingl cal headingl fil null alm 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 R5234 19200 N 8B 1 Offset 0 0 Bow 55 0 COG SOG QHD SVA Ue 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 Line 3 defines the COM port settings COM Port COM port used 1 or 2 Hardware Type Hardware settings for the type of data RS232 RS485 RS422 NMEAO0183 Baud Rate Baud Rate setting to suit the input 4800 9600 19200 28800
76. or HyperTerminal or similar terminal program Communication Options and configuration Ethernet The Ethernet interface allows much faster data transmission than a standard serial link and used as the method for interfacing Deckman The Ethernet interface on WTP3 transmits normal function data to PCs running Deckman via the UDP protocol UDP is available to any PC in the correct IP range on the network Any PC on the Ethernet can control the WTP files calibrations etc This is controlled via a TCP IP protocol so that in the case of multiple PCs running Deckman only one copy of Deckman has access to the files at a time and only one copy of Deckman can act as the navigational server Note The navigational server option is controlled via the configure comms dialogue The Ethernet port is configured by default It is only necessary to configure the instrument type within Deckman gmenu change instruments as WTP2 Ethernet and set the network properties on the PCs used to match the WTP3 IP addressing It is recommended that the fixed IP address is retained 192 168 0 2 and the PC s on the network are set to IP addresses 192 168 0 3 onwards The Subnet Mask on the PC should also be set to match the WTP3 usually set to 255 255 255 0 This can be changed to suit the individual requirements of the boat The IP Address of the WTP3 is set in the network d file Note For an example of this file please see Data files Advanced Calibra
77. our 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 Calibrate Boatspeed Default distance 0 500 Nm Time Set Log GPS DelTime Cse 12 10 40 0 5000 0 5070 0 0000 02 49 000 12 13 41 0 0000 00 11 Use current Selected runs in calculation none 1 C constant Calibration distance linear change i set C GPS Calibration 0 986 End run marks the end of a calibration run Click Start run at the beginning of the run and then End run to finish Details of each run are displayed in the table the start time of the run the distances from your input the log and the GPS are shown Del Time shows the elapsed time for the run and the course during the run is shown on the extreme right In the Use current box you can choose what type if any of current information to factor into the calculations In the Calibration distance box you can select whether to use the distance entered by you or that received from the GPS Click on the runs you wish to use for the calibration to send them to the Selected runs in calculation box When you have selected runs a calibration value is then shown in the Calibration box Either choose Send Cal to accept the current value or continue to do more runs and calculations Advanced Deckman Controls When the Instrum
78. ql database browser 69 70 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 Power On Datalog The datalog table contains the variable data configured by the user in datalog d LogID unique identifier for each logging session from Logs table Var variable number of the data from bg_vars d Calibrated calibrated value of the variable at the time of logging Raw raw pre calibrated value of the variable at the time of logging Time date and time of the sample PositionID unique identifier for each position log from Tracks table Tracks The tracks table contains a record of positions recorded at 1Hz Each data log record contains a positionID field to allow cross reference of each data log with a position PositionID unique identifier for each position log Latitude latitude value in seconds Degrees 360000 Longitude current longitude value in seconds Degrees 360000 Variables The variables table contains a lookup of the name of each logged variable from bg vars d Var variable number from bg vars d Name
79. r this is the damping applied to that instrument data Generally because the WTP3 uses a much faster processor and more sophisticated calculations you will be able to use much lower damping values than with conventional systems between 0 5 variables and 5 is suggested for normal variables Boat spd Note You can modify which variables are listed in this dialogue using the Heading 1 data files See damping d i Course 13 14 Calibration _ 2 Controls the calibration of variables by allowing you to input a cu BEG WIP x s calibration value to a particular variable WTP3 has a sample set of calibration data as follows o us Ez Es i FATTE variables data Bspd port 3 50 Bspd stbd 3 50 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 Heading 1 Headingl 0 0 Heading offset value for compass1 Once you have run the calibration routines heell 0 0 for the compass sensor you still need to align the unit relative to the boat trimi 0 0 The most accurate way to do this is to sail on a known bearing towards a fixed ET ON EN SES charted object a long distance away You then use He
80. rd instrument systems The WTP3 brings new architecture with a central CPU linked to distributed data collection networks operating on three independent CAN channels Using this technology increases the possibilities for data collection WTP3 has evolved from the previous WTP processors which are used by Volvo winners Jules Verne record holders and top inshore racers With key input from a wide range of professional racing teams the new WTP3 along with B amp G s range of displays sensors and software is the ultimate Grand Prix instrument system Data is processed in the CPU which outputs display data transmits serial and digital data that is output via modules communicates with Deckman and FTP clients via LAN and operates an on board data logger for post sail data analysis Powered by a single 12 Volt power supply this new system is smaller lighter faster and even more flexible than its predecessors giving unrivalled confidence in the data it provides Controlled via a PC running Deckman software the data can be viewed via any B amp G display B amp G understand the requirements of the professional racer and our instruments have been on board all winning boats in the Volvo Ocean Race TP52 MedCup and America s Cup along with setting records around the globe We provide dockside support at the world s most important regattas and events we support our systems with the best warranty in the business and most importantly we understand
81. requires user attention For example if a configuration file calls for a device that is not visible on the network Warning nmeain d Serial Device 15 on CAN Channel 1 does not exist Critical An indication that an error exists that requires immediate user attention Critical errors will not stop the system but the system is unlikely to operate correctly until the issue is resolved Fatal Fatal errors will stop the WTP3 application from running FTP access is normally retained The user must rectify the issue to use WTP3 For example if the file directory referred to in wtp config d for the user files does not exist Fatal Config File Path does not exist mydirectory Configuration Consistency At startup the system will attempt to cross reference the config files for validity ensuring the user has not called the same COM port in multiple files using different port settings called the same COM port in multiple files with different functions e g compass and GPS e assigned multiple analogue inputs to a single variable In this case the system will output Warning messages to the user as per the following examples Heell MHU A B Multiple Analogue Definition 0 12 heel1 and mhu_a_b functions have been configured to the same port channel 0 device 1 port 2 MHU VA portpad Multiple Pulse Definition 011 e MHU VA and portpad functions are configured to the same input channel 0 device 1 input 1 Mu
82. s 1 targ rud tab Lookup table file in use null fill Filter fle none in use in this example null alm Alarm file none in use in this example The table file targ_rud tab in this example is in the following format CO Co WO Co Ons zs 4 ce Ss 2 2s La EO 0T Oo UT Oo x5 PRPRDMHONMN ASA OS Ci 35 E p Bpmpbnmmnmponmoctuu SOO Oo Oo Ur CO 0 Where TWA 16 is the X Axis Variable name and number defined in bg_vars TWS 17 is the Y Axis Variable name and number defined in bg_vars 30 90 150 are the X Axis Column headers 4 8 12 16 are the Y Axis Row Header 6 O are the results of the lookup that populate the new user variable Notes on Interpolation of table data The output of any user variable lookup table is a 2D linear interpolation of the input values Below the minimum values entered in the table the result is interpolated to zero on both X and Y axes however there is no extrapolation above the maximum values in a table i e the output can never exceed the values given by the maximum X and Y values 55 56 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 amp 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
83. s possible to list multiple variable numbers from bg_vars you wish to log Example datalog d START racetimer STOP minutes 70 10Hz LLL 112 113 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 2 Ensure WTP CPU is on Plug a memory stick into the USB port As soon as the memory stick is inserted into the CPU it will transfer the LOG file to the USB stick If the CPU is in the middle of logging data it will immediately stop logging and begin to transfer the LOG file During the file transfer process the LOG LED on the top of the unit will go out Once complete the LED will turn solid green If the transfer fails then the LED will turn red A failure is likely to be caused due to lack of space on the USB stick Try to free up enough space on the memory stick or use a stick with more memory Repeat steps 1 amp 2 E NE MEE EEE O PWR FNET CAN 2 CAN 1 CAN 0 LOG LAN Once complete remove the memory stick and transfer to a PC If you continue to experience difficulties transferring the data log file you can access it via the FTP To restart data logging the CPU must be restarted or reset via Deckman Note The data log file can be viewed using an s
84. se characters in the configuration files the operating system automatically renames all filenames to lowercase Datalog Task Start Simple comment to indicate if the datalog task has started also see Datalog Status below Data logger Running Alarm Task Start Simple comment to indicate if the alarm handler task has started Alarm Manager Running 97 98 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 The following message types are displayed if the serial devices are configured correctly Serial Device Channel 0 Device 8 Port 0 Configured Successfully Serial Device Channel 1 Device 4 Port 0 Configured Successfully Serial Device Channel 1 Device 4 Port 1 Configured Successfully Data Time out The following warnings are printed after the startup is complete They indicate the data in the system is missing or gone stale i e the data has not been updated within the allowable time out period Warning Heell is stale 2 5Sec expired since last update If this warning appears shortly after startup it usually indicates the data has been defined but no physical data is on the system For example Heel1 has been defined in sample d as being an analogue input on CAN channel 0 Device 1 analogue channel 1 So if the following warning appears i
85. ssigned value remains 25 and beyond 30 the extrapolation will still give the value 25 The next line will multiply by the leeway constant of 6 4 and each of the final two lines will divide by selected boat speed bg vars variable 91 to complete the formula Summary The following provides a summary of the operation of the calibration tables o The calibrations are applied sequentially so that those specified first in a file will be applied before those specified later Identifiers recognised are table constant and variable Number 1 indicates that the calibrations are applied directly to the variable Any other number indicates that the calibration is with respect to a different variable in the WTP3 database with the number being the variable number from bg_vars d 61 62 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 s A reading from the analogue board of OV indicates a rate of 0 s therefore appropriate calibration values would be 0 0 0 0 and 1 0 9 0 There should be no need to change the pre set values unless you want to see the effect of removing one or more of the sensors Boat Speed This calibration is expressed as Hertz per knot Hz kt so for a calibration of 3 50 Hz kt enter 0 0 0 0 and
86. stay This is controlled from the Wind Angle 39 40 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 It is also possible though uncommon to combine these functions the following line would oscillate the Jib Car variables upwind and display TWA when either reaching or downwind with Timer in the pre start A2 JIB CAR P 116 2 JIB CAR S 117 2 TWA 16 0 TWA 16 0 TIMER 1 0 Note All items output from the userout d file are output to the network on Node 10 Deckman Output configuration files Data output to Deckman dmnvars d This file defines which variables are output to Deckman 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 d 10Hz by default additional repeated variables are ignored 41 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 mast height leeway cal heel enable
87. t may indicate that we have either referenced the wrong analogue module either CAN channel Device ID or analogue channel or the device is not transmitting data on the CAN channel for some other reason Datalog Status Details the configuration of the datalog manager following startup Datalog Manager Initialised datalog manager started Start Racetimer datalog will start with racetimer Duration 60 datalog will run for 60 minutes Alarm Status Details the configuration of any alarms alm files in use following startup Alarm Config Depth 67 ENABLED Depth alarm variable 67 is enabled TW Speed 17 DISABLED TWS alarm variable 17 is disabled
88. tesacedeennsevatieeoensieasoveisuetsnnuiiestns 78 SS tll ONS VV IN NG ETT OTRO 81 FASUME INSTA ACIOM eT 84 NEW Tr ARO M seicevesesescsaresessesccacn cases soedence E E TEE E E LS PUPPI eesti ouceeeneedvics 84 WTP3 Va ANOS vs cisccte ces cvixcencuncscecesssceseuccessvaiuses sucereseutuscesducestacneyessoncisescosusecsevees 85 Supported Compass Types oisi riri Ios Fa PRUREN ARE TP YER Y evecsecnsserecsesvanseseasvaneatvans 90 Wind Calculation Flowchart 11 cce ecce eee e eee eee eee eee eoe esee ss eee soone 91 Upgrading the WTP3 Software e eee ee eee eene eee ee ee esee ee eee eee ees o see ee 92 s 92 PVN OG m 92 WIPS JI E rgttedtl Mu er H M 93 Diagnostic Messages via Terminal e eee eee eee eee eere e reae ee eese ooo e sees 94 duc 94 Full Startup DescriDHDDIsauasened E EAE 95 Introduction The B amp G Wave Technology Processor WTP in combination with the B amp G Deckman software and B amp 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 standa
89. that great products by themselves are not enough B amp G offer a comprehensive support package for our customers and their WTP From the system design configuration sea trials upgrades and events the B amp G Technical Support team is always available to give help and advice So we can continue to provide the ultimate racing solution should you wish to develop your system further our Custom Projects team can work with you to develop your system to suit your specific requirements 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 PWR FNET CAN 2 CAN 1 CAN 0 LOG LAN 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 PWR FNET CAN 2 CAN 1 CAN 0 LOG LAN LETS Data being transmitted FNET Fastnet Flashing Green Datalog USB Solid Green Copying complete or software upgrade successful No Light No data being logged or copied Flashing Green Data being transmitted Ethernet No Light No data being transmitted Connectors There are eight connectors on the CPU Fastnet Port Power USB Port 42V DC FNET LAN Port CAN Terminal Connection CONNECTOR PORT DESCRIPTION Power
90. the input N no parity Data Bits To suit the input 7 or 8 Stop Bits To suit the input 1 or 2 Compass Type Identifies special compass types see compatible compass types All other lines define variable inputs for heading heel and trim from this compass Variable Name Name of the variable for user information only COM Port Same port as line 3 above Variable Number Variable number where data is stored from bg vars d Calibration File Filename of the calibration file to use Filter File Filename of the filter damping file to use Alarm File Filename of the alarm file to use optional 29 30 Example B Using a B amp G networked compass Halcyon Gyro Stabilised Compass In this example we are configuring a B amp G Halcyon Gyro Stabilised compass sensor which is present on the B amp 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 The values in the variable lines which normally shows the COM port are modified to be the function number on the B amp G Fastnet bus Com FASTNET BGGYRO headingl 74 Lo headingl cal headingl fil nullam heell 52 0 heell cal heell fil null alm trimi 155 ST triml cal Ltrzxmi fil null alm Example C Using a B amp G networked compass Halcyon 2000 C
91. thead Unit Oo O6 O O0 O 280 82 8765432 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 2 2 e e 87654321 CONNECTOR 1 TOP TERMINALS 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 Dependent Signal 5V to 5V Analogue 2 7 Sensor Dependent Signal 5V to 5V Analogue 3 8 N A N A Note 5 to 0 Volt sensors must be wired into the top connector 5V Analogue Input OV to 5V Signal ocooo0o06080 52 0 8765432 1 CONNECTOR 2 BOTTOM TERMINALS TERMINAL COLOUR INPUT CHANNEL 1 Screen 2 N A N A 3 Black 0 Volts 4 Red 5 Volts 5 Sensor Dependent Signal OV to 5V Analogue 4 6 Sensor Dependent Signal OV to 5V Analogue 5 7 Sensor Dependent Signal OV to 5V Analogue 6 8 N A N A Note 0 Volt to 5 Volt Sensors can be wired into either the top or the bottom connector terminals If you plug a 0 5 Volt analogue input into connector 1 then the analogue channels will be 1 2 amp 3 if connected to connector 2 then they will be channels 4 5 amp 6
92. thead sensor in feet variables data mast height 50 0 leeway_cal leeway_cal 0 0 Leeway calibration value A value between 8 and 13 is usually appropriate heel enable 1 for most modern boats gyro enable 1 heel enable mag var 0 0 Should be set to 1 if you have a heel sensor and 0 if you do not A heel dsp_time 40 sensor is highly recommended to achieve accurate wind data dsp up ang 60 dsp dn ang 120 gyro enable TWS factor 1 00 Determines whether or not the system uses data from the rate gyro mast rot 0 sensors to correct wind calculations 1 use gyro data O0 do not use gyro E data Normally there is no reason to disable this function 3D enable l 3D damp 0 970 variation sel comp 1 Magnetic variation This is calculated automatically using data from the zc yee 1 GPS If the GPS is not providing this information it can be entered here E It will be overwritten by GPS information if it becomes available Enter a sel trim 1 1 positive value for East variation negative for West sel speed dsp time dsp up ang dsp dn ang sel GPS log miles 0 00 All refer to the switching of variables on displays according to either point of sailing or over time if this is soecified in userout d see Data Files bspd switch 0 for more information The dsp_time is the frequency with which the displays alternate between showing different variables units here are 1 10th second dsp_up_ang is the angle for the change between upw
93. thoms OYXMTW 18 2 C hh CR LE Special Case The XDR NMEA sentence is processed slightly differently as a special case due to the possibility of multiple inputs The following example shows a single pressure sensor input sensor type code P decoding the following sentence STIXDR P 1 000 B BARO hh lt CR gt lt LF gt Channel 1 Device 0 Com 2 NMEAO183 4800 N 8 1 IILXDER P 2 62 batro 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 Line 3 defines the COM port settings COM Port COM port used 1 or 2 Hardware Type Hardware settings for the type of data RS232 RS485 RS422 NMEA0183 Baud Rate Baud Rate setting to suit the input 4800 9600 19200 28800 38400 57600 115200 Parity Parity setting to suit the input N no parity Data Bits To suit the input 7 or 8 Stop Bits To suit the input 1 or 2 The additional lines control the decoding of the NMEA sentences as follows Variable Name Name of the variable for user information only NMEA Field Position in NMEA sentence for required data Variable Number Variable number where data is stored from bg vars d Calibration File Filename of the calibration file to use Filter File Filename of the filter damping file to use Alarm File Filename of the alarm file to use optional Note f a checksum is present on an incomin
94. tings COM Port COM port used Baud Rate Baud Rate setting to suit the input 4800 9600 19200 28800 38400 57600 115200 Parity Parity setting to suit the input N no parity Data Bits To suit the input 7 or 8 Stop Bits To suit the input 1 or 2 The additional lines control the output variables as follows Variable WTP3 variable number Tag Character A unique character to identify the output variable Field Width The width of the output field Decimal places Number of decimal places required on the output From the above file the WTP3 will transmit data in the following format 1140700826 78 18178469 467165 18178472 467167 10 00 129 0 0 eu D E e0 dl co Dos a0 yO Note Multiple outputs can be listed in one file 49 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 50 29 744 N 467165 GPS1 Longitude 1917 861 W 18178472 GPS2 Latitude 50 29 75 N 467167 GPS2 Longitude 1917 861 W Serial Loadcell Configuration loadcell d The addition of this file allows the WTP3 to accept serial inputs from loadcell systems which are generally used for large numbers of loadcells If a small number of loadcells are installe
95. tion via Deckman Using the Advanced Calibration Advanced Damping and WTP Guru functions in Deckman the user can directly modify calibration filter and system files Note t is recommended that advanced users use FTP to modify system files rather than WTP Guru and the advanced file editors within Deckman However these utilities are very useful to take a quick look at the file content while sailing Caution incorrect modification of the WTP3 files especially system files accessed by the WTP Guru option can lead to incorrect data values or system instability Only modify files directly if you are familiar with the file level operation of WTP3 Common settings calibration and damping can be carried out in the normal Deckman Instrument Control dialogues It is recommended that regular backups are made of your WTP3 files using FTP 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 The OK button closes the dialogue if you haven t chosen to save the file before clicking OK your changes will
96. tored in the Scripts directory Hi High Alarm On Alarm enabled If OFF the alarms is disabled and the JavaScript is not evaluated var TWA bgvars value 16 Define variable TWA and Get latest value from bg vars var TWS bgvars value 17 Define variable TWS and Get latest value from bg vars TWA Math abs TWA Absolute value of TWA to deal with ve value for port if TWS 20 amp amp TWA 150 Condition return false FAIL Raise the alarm else return true PASS Alarm Passes 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 The WTP3 unit does not contain orientation sensitive components so it is NOT necessary to mount the unit vertically however it is recommended to orientate the unit with all cable exits downwards Rate Gyro Box The Rate Gyro box should be orientated as carefully as possible along the fore and aft axis of the yacht and in the horizontal with the cable gland facing forwards as indicated by the arrows If you do not fix it down initially you will be able to check that the wiring is correct by rotating the box along the fore and aft and athwartships axes and seeing that the roll pitch and yaw rate values

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