In this step you will verify the power-on process. This will provide valuable information to identify faulty components and troubleshooting your system.
To do so, you will inspect the messages sent from Fenix Autopilot to your computer through Serial I/F (USB cable) using Putty installed in your computer.
Putty
PuTTY is a free (MIT-licensed) Windows Telnet client to communicate your computer with Fenix Autopilot through USB cable.
Configuration parameters in Putty
- Session
- Serial line: COM#
- Speed: 9600
- Connection type: Serial
- Terminal
- Implicit CR in every LF
- Implicit LF in every CR
- Local echo: Force on
- Local line editing: Force on
- Window
- Selection
- Auto-copy selected text to system clipboard
- Mouse paste action: System clipboard
- Auto-copy selected text to system clipboard
- Selection
- Connection
- Serial
- Serial line to connect to: COM#
- Speed: 9600
- Data bits: 8
- Stop bits: 1
- Parity: None
- Flow control: RTS/CTS
- Serial
# is the COM port number where Autopilot is connected. If you don’t know the value, try numbers sequencialy starting from 1.exit: Ctrl+↩
It is recommended to Save Session to ease recovery of settings at the begining of each session.
Explanation of a typical Fenix set-up process
| DEBUG int… Started | Debugging messages will be displayed, additional to NMEA |
| Serial DEBUG PORT on NeoSerial | |
| NMEA int… Started | NMEA messaging activated, integration with OpenCPN is available |
| Serial NMEA device on NeoSerial | |
| Dm = 2.50 | Magnetic deviation value |
| Bluetooth int… Started | Bluetooth I/F with Fenix App available |
| Serial BT device on NeoSerial1 | |
| Supports Fenix App v.2.0 and V.2.1 | Fenix App release compatibility |
| Fenix Autopilot: v.2.1.B1 | Fenix autopilot SW release |
| Buzzer test on PIN 66 … | Buzzer will be activated to allow user checking it is working |
| !INFORMATION Code: 2 | |
| EEPROM V2 | Reading non volatile memory for Installation and PID parameters |
| EEPROM V2 | |
| !WARNING: Could not load PID parameters: Restoring default. | If parameters are not found, default values will be used |
| !INFORMATION Code: 4 | |
| Linear actuator… Started | |
| PWM,DIR=6,7 | |
| Feedback test on PIN A8 … | Linear actuator is activated to allow user checking if it is working |
| Feedback status: 654 (L:777, min:126, Max:903) | Linear actuator calibration values: potenciometer value, lenght, min. position, Max.position |
| Rudder parameters: Ratio: 1.32 | Ratio between rudder degrees and potenciometer values |
| Rudder status: 181 (min:-512, C:0, Max:511) | Based on linear actuator calibration values: rudder angle, min angle, max. angle |
| Checking feedback error. It may take a few seconds…Ok. | Self-check of linear actuator measurement error. Ensure linear actuator is plugged and powered. |
| Feedback error: 3 (Max:4) | Errors over the Max value may indicate problems in linear actuator power or wiring. |
| IMU int… Started | |
| HW: BNO055 | |
| SDA,SCL=20,21 | |
| ReqCal: 0 | |
| IMU Sensor ID: 55 | IMU Id. identified |
| !Found Calibration data… | If calibration data is not found, execute Compass calibration and SAVE! |
| Accelerometer: x:20034, y:12367, z:13621 | |
| Gyro: x:0, y:0, z:0 | |
| Mag: x:1, y:0, z:55 | |
| Accel Radius: 0 | |
| Mag Radius: 3 | |
| !INFORMATION Code: 0 | |
| Start | Set-up process succeeded! |
| IMU Calibration: Minimum. | |
| Calibrated! Ok | IMU calibrated |
| Move slightly to start receiving IMU data | BNO055 requires minimum movement to calibrate magnetometer |
| $APHDG,312.6,,,2.5,E*32 | Start of NMEA messages transmission |
| $APHDM,312.6,M*35 | |
| $APRSA,18.30,A,,*34 | |
| $APHDG,312.6,,,2.5,E*32 |