## Connection and Setup

```{important}
Any actions with navigation sensors are possible only in elevated privilege mode.
```

```{caution}
Connection, setup, and removal of navigation sensors must be performed by a qualified specialist.
```

```{danger}
When connecting and configuring ECDIS as part of the bridge, each ECDIS on the network must be connected to all onboard navigation sensors to prevent loss of situational awareness when the **Master** role is transferred to an ECDIS not connected to the sensors.
```

| Menu path |
|-------------|
| {{ menu }} → {{ settings }} → Sensors |

Sensors can be connected via **Ethernet** or via **serial port**.

```{important}
A **minimum set of sensors** is required for correct ECDIS operation:
- **Position** (coordinates)
- **Heading** (course)
- **Speed Log** (log)
```

```{important}
Only sensors added to the software user license are available in the list.
```

Manufacturer information is required to connect and configure the sensor.

### Sensor Connection Procedure

1. **Connect the sensor to the device or network** in accordance with the diagram

2. **Go to sensor settings:**
   - {{ menu }} → {{ settings }} → **Sensors**
   - Press the **Add Sensor** button
   - Select the **sensor type** from the list
   - Press **OK**

3. **A new sensor of the selected type will appear** in the navigation sensors list

![Sensors list](images/sensors-list.png)

4. Configure the sensor
5. **To apply settings or changes**, press **Save**
6. Press **Back** to return to the sensor list

```{hint}
With correct configuration, sensor data will be displayed in the navigational panel.
```

### Sensor Configuration

![Sensor settings form](images/Add_Sensor_2.png)

| No. | Parameter | Description |
|---|----------|----------|
| 1 | **Sensor type** | Type of the selected sensor |
| 2 | **Name** | Name identifying the sensor. Entered by the user |
| 3 | **Priority** | When multiple sensors of the same type are present, determines the failover chain from the sensor with higher priority to the sensor with lower priority. Sensor priority is assigned automatically by ECDIS. The navigator may change the priority at their discretion. Value **0** is the **highest priority** |
| 4 | **Timeout** | Data reception delay in the port — the period after which a sensor failure warning will be generated due to the absence of data. Default timeout is **10 seconds**. Setting a shorter period is **not recommended**, as this may cause false warnings due to communication channel delays or individual sensor operational characteristics |
| 5 | **Talker filter** | Message filtering. Headers that ECDIS should receive are specified in the field, separated by commas. Messages with other headers will be ignored, and their data will not be used in ECDIS operation |
| 6 | **Interface** | Selection of the connected sensor interface type |
| 7 | **Interface settings** | Interface settings group. Changes depending on the selected interface type |
| 8 | **Schematic sensor position** | Position of the sensor or sensor antenna on the vessel diagram |
| 9 | **X and Y** | Sensor coordinates in the ship's coordinate system **relative to CCRP (Center of Common Reference Point)**. For GNSS, heading, speed, AIS, radar, and pelorus sensors — coordinate input is **mandatory**, as ECDIS reduces navigation parameters from these sensors to CCRP |
| 10 | **Strict verification of sentences** | Depending on the sensor manufacturer, different implementations of sentence formatting may be encountered. With strict verification, ECDIS checks sentences in strict accordance with IEC 61162-1 requirements; any deviations from the standard are unacceptable. With the checkbox disabled, ECDIS ignores some non-critical deviations. For example, it ignores missing letters in fixed sentence fields whose presence does not affect the quality of the parsed information |
| 11 | **Differential receiver** | (for GNSS sensor) — enables differential correction monitoring. When the switch is **enabled**, ECDIS monitors the differential mode indicator of the GNSS receiver. If the receiver is not operating in differential correction mode, ECDIS generates a warning |
| 12 | **Data recording** | Enables documentation of data received from the navigation sensor. Data is documented in the {doc}`Navigational Log </sections/navigational-log/sentences/index>` |
| 13 | **NMEA message types** | Enable the switches corresponding to the **types** of NMEA **messages** to be received |
| 14 | **CRC check** | Set the switches in the **CRC** column — message checksum verification. If the sensor transmits messages with **incorrect** checksums, such messages will not be accepted by ECDIS. If reception of such messages is necessary, disable checksum verification |
| 15 | **NMEA monitor** | Displays received text messages from the sensor. This monitor is used for verification and monitoring of data reception. Data reception frequency is always **1 Hz**, regardless of the data transmission rate by the sensor |
| 16 | **Display modes** | **Sorted / Raw / As is**<br>**Sorted** — data is sorted alphabetically and displayed as a group without line shifting. Only the packet reception time and packet content are updated<br>**Raw** — data is displayed as a scrolling feed shifting upward, as a real-time data stream<br>**As is** — data is displayed without changes in the form received from the sensor |
| 17 | **Stop** | **Stops** data scrolling in the monitor |
| 18 | **Save** | Saves and applies the configured settings or changes |
| 19 | **Back** | Returns to the sensor list without saving |


### Connection Interface Settings

Select the interface type from the drop-down list
![Interface Pop-Up](images/Add_Sensor_3.png)

| Interface type | Description |
|-------|----------|
| **TCP Client** | ECDIS operates as a TCP client. To receive data, specify the **IP address and port** of the data server |
| **Serial** | Sensors are connected to the ECDIS computer's serial port |
| **61162-450** | ECDIS supports the NMEA 61162-450 transport protocol. For correct configuration, specify the SFI identifier consisting of the **Talker**, a unique **number** for the subnet, and the **subnet** name |
| **TCP Server** | ECDIS operates as a TCP Server. To receive data, specify the **port** |
| **UDP receiver** | ECDIS receives data via UDP. To receive data, specify the **port** that ECDIS will "listen" on |

```{warning}
TCP Client, TCP Server, and UDP Receiver interfaces are not standardized interfaces used in bridge systems.

When selecting any of these interfaces, a *Non-SOLAS Interface!* warning will be displayed.
```

![Interface Pop-Up](images/Non-SOLAS-Interface.png)

#### TCP client

![TCP client](images/Add_Sensor_8.png)

| No. | Parameter | Description |
|---|----------|----------|
| 1 | **IP address** | IP address of the device to which the connection is made |
| 2 | **Port** | Port on the device |

#### Serial

![Serial](images/Add_Sensor_4.png)

| No. | Parameter | Description | Default value |
|---|----------|----------|-----------------------|
| 1 | **Port** | Hardware port to which the sensor is connected. Select from the list of available ports | -- |
| 2 | **Mode** | Port operating mode. Available modes: RS-232/RS-422/RS-485W2/RS-485W4 | **RS-232** |
| 3 | **Speed** | Data transmission speed in baud. Select from the list of standard speeds | **4800** |
| 4 | **Bits** | Encoding format. Number of data bits. Available values: 5, 6, 7, or 8 data bits | **8** |
| 5 | **Parity** | Parity check. Used for error detection. Values: No (not used), Even, Odd | **No** |
| 6 | **Stop bit** | Bit indicating the end of message transmission. Can take values 1, 1.5 (Data bit=5), and 2 | **1** |

#### 61162-450

![61162-450](images/Add_Sensor_5.png)

| No. | Parameter | Description |
|---|----------|----------|
| 1 | **Transmission group** | Select the data transmission group from the list. Manual group selection or **Default**. **Default** sets the default values for this sensor type |
| 2 | **Address (multicast)** | Address from which multicast transmission is performed |
| 3 | **Port** | Port of the device from which transmission is performed |
| 4 | **Listening address** | Network device address for forced monitoring.<br>Either manual entry or selection from the list of available ECDIS computer network devices.<br>![Listening address](images/Add_Sensor_5.2.png) |
| 5 | **Check destination SFI sentence** | Enable SFI verification. If the data packet is addressed to a different SFI, the packet is ignored |
| 6 | **Check TAG CRC** | Checksum verification of the message service information block |
| 7 | **TAG strict check** | Enable strict verification of received data packets per **IEC 61162-450** requirements |

#### TCP Server

```{danger}
TCP connection is not recommended for use as a connection method. This type of connection does not guarantee reliable data delivery.
```

![TCP Server](images/Add_Sensor_6.1.png)

| No. | Parameter | Description |
|---|----------|----------|
| -- | **Port** | Port of the server sensor from which data is broadcast to the network |

#### UDP receiver

```{danger}
UDP connection is not recommended for use as a connection method. This type of connection does not guarantee data ordering and delivery.
```

![UDP receiver](images/Add_Sensor_7.1.png)

| No. | Parameter | Description |
|---|----------|----------|
| -- | **Port** | Port of the sensor from which data is broadcast |

### NMEA Monitor

Designed for monitoring incoming data from the sensor during connection, configuration, and verification of correct operation.

The monitor displays data in readable format and in "raw" format.

By default, the **monitor** is in the **As is** state — new packets appear in the bottom line and lines shift upward.

![As is](images/Add_Sensor_9.png)

High-speed data reception and the presence of multiple different sentences make it difficult to read information from the monitor. Enable packet sorting **Sorted**. Incoming sentences will be sorted. When new data arrives, values will be updated.

![Sorted](images/Add_Sensor_10.png)

If you need to view data arriving directly to the port — enable **Raw**

![Raw](images/Add_Sensor_11.png)

If detailed examination of a received sentence is required — enable **Stop** — data in the monitor window will be paused. The **Stop** button does not stop data reception in ECDIS.

### Sensor Configuration Recommendations

```{warning}
Setting the timeout period to less than 10 seconds is **not recommended**, as this may cause false warnings due to poor communication channel quality or individual sensor operational characteristics.
```

```{tip}
To ensure navigation system reliability, it is recommended to connect backup sensors for critical parameters (position, heading, speed) with different priority values.
```

```{note}
When configuring sensor coordinates (X and Y parameters), the exact position relative to the Common Reference Point (CCRP) must be specified, as ECDIS uses this data to reduce all navigation parameters to a single reference point.
```
