First-Party Configurations
GOBI WebUI has the necessary embedded information from all relevant sensors. If sensor-specific pages/configurations need to be accessed, that can be done by following the IP Addresses listed in the table below.
GRYFN WebUI
10.0.65.50
Headwall Nano HP
10.0.65.50:8080
SBG Quanta Micro
10.0.65.100
Ouster OS1-128
10.0.65.128
Ouster OS1-64
10.0.65.64
SBG Quanta Micro Configuration
Should a user mount Gobi to a different aircraft than originally configured for, or move the position of the primary or secondary antenna, they should update the lever arms and center of gravity values in the SBG web configuration. In tables below, users can find instructions for updating LA/CoG values, and the values for various configurations.
Please do not update any configuration settings other than lever arms / center of gravity, or data collection and processing may not work.
1
Connect to Gobi
2
In a web browser, navigate to 10.0.65.100
3
Login as setup; setup
4
Press Configure
5
Navigate to Initialization
6
Update Center of Gravity measurement If mounting to a new aircraft
7
Navigate to Aiding Settings
8
Update primary and secondary lever arms for GNSS antennas If antennas have been moved
Mounting Parameters
In the table below, you can find the nominal IMU to Antenna lever arms that should be set in the configuration of the SBG Quanta Micro.
Inspired Flight IF1200
A1: Front left
A2: Rear right
0.168, -0.080, -0.448
-0.117, 0.085, -0.448
0.025, 0.002, -0.190
Inspired Flight IF800
A1: Rear left
A2: Rear right
-0.235, -0.296, -0.324
-0.235, 0.313, -0.324
-0.016, 0.009, -0.176
Freefly Alta X
-0.135, 0.136, -0.405
0.172, 0.179, -0.405
0.034, 0.003, -0.241
DJI Matrice 350 RTK
A1: Rear left
A2: Rear right
-0.198, -0.301, -0.199
-0.198, 0.299, -0.199
0.034, 0.003, -0.305
DJI Matrice 600 Pro
0.036, -0.115, -0.400
0.036, 0.121, -0.400
Coming Soon
Ouster Configuration
As of GRYFN Processing Tool version 1.8.0, GRYFN now supports dual return processing for Ouster LiDAR sensors. Should users wish to update their Ouster to collect in dual return mode, please follow the instructions below.
1
Connect to Gobi
2
In a web browser, navigate to 10.0.65.128
3
Go to the Configuration tab
4
Under Return Mode, select Dual Return
5
Apply configuration
6
After a power cycle of Gobi, the Ouster will now be collecting in dual return mode
7
For geometric calibration flights, please collect in single return mode
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