> For the complete documentation index, see [llms.txt](https://docs-7.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs-7.phoenixlidar.com/missionguidance/setup.md).

# Setup

Follow these instructions to get going with MissionGuidance in the field.

## Installation and Licensing

* Install SpatialExplorer >= v7.0.6 on the field laptop and connect to rover as normal, updating rover to the same version as SpatialExplorer if necessary. In case you do update rover, do a test mission first. Never downgrade rover to a previous version.
* You will need a license for "mission-guidance" and/or "agl-oracle". Check the Tools->Licensing menu for installed licenses. Please contact your sales manager or <support@phoenixlidar.com> for help. <img src="/files/-MkOpo0PahzdmeyX8YHX" alt="" data-size="original">&#x20;
* Download necessary heightmaps as described on [this page](/missionguidance/heightmaps.md).
* First connect the pilot's display to the laptop's display port, then setup windows to extend (not duplicate) the screen to that second display. You can press Windows+P to configure this. Start SpatialExplorer **after** doing this.
* Start SpatialExplorer.

### When using a Phoenix LiDAR Systems payload

* Connect SpatialExplorer to rover (preferably using ethernet)
* Go to Settings->Rover->Network and reduce the "Update Interval INS Poses" to 0.1s for a fluid display.

### When using an Applanix AP navigation system

<figure><img src="/files/C0BBA99OatqffkFI0Weq" alt=""><figcaption><p>Applanix AP GSOF Settings</p></figcaption></figure>

* Make sure the realtime port of the applanix device (usually TCP 5602) is reachable from the computer running SpatialExplorer and configured as shown above. It is important to select
  * TCP/IP 5602 / GSOF
  * Position Time \[#01] with 10 or 20 Hz
  * ECEF Position \[#03] with 1 Hz
* In SpatialExplorer, select "Connect to rover using WiFi or ethernet" and enter "**ap**://*\<IP-ADDRESS>*" or "**ap**://*\<IP-ADDRESS>*:*\<PORT>*". In above screenshot, *\<IP-ADDRESS>* would match the address used in the browser, so *192.168.168.100*. **Note**: For SpatialExplorer versions 7 and older, use **applanix**:// instead of **ap**://.

### When using an Applanix APX navigation system

<figure><img src="/files/LWTrHByTgaXmYExwvIlx" alt=""><figcaption><p>Applanix APX GSOF settings</p></figcaption></figure>

* Make sure the realtime port of the applanix device (usually TCP 5017) is reachable from the computer running SpatialExplorer and configured as shown above. It is important to select
* TCP/IP 5017 / GSOF
* INS Full Navigation Info with 10 or 20Hz
* INS RMS Info with 1 or 5Hz
* In SpatialExplorer, select "Connect to rover using WiFi or ethernet" and enter "**apx**://*\<IP-ADDRESS>*" or "**apx**://*\<IP-ADDRESS>*:*\<PORT>*".

### When using a NovAtel navigation system

Starting with version 8, SpatialExplorer can parse **binary** NovAtel packets to extract navigation information.

* In SpatialExplorer, select "Connect to rover using WiFi or ethernet" and enter "**novatel**://*\<IP-ADDRESS>*:*\<PORT>*". This port needs to be configured to send the following binary packets:
  * INSPVASB (Needed for vehicle postion and velocities, the rate of this sentence determines the display update rate)
  * CORRIMUDATASB or CORRIMUSB (Needed for turnrate)
* For a fluid display, an update rate of 10Hz or 20Hz is recommended.

### When using NMEA sentences

SpatialExplorer can parse NMEA sentences from any navigation system. If you encounter incompatibilities (e.g. with different NMEA versions), please report them to <support@phoenixlidar.com>. The screenshot below shows an example NMEA configuration for an Applanix APX system (for which, in practice, it is recommended to prefer Applanix APX GSOF settings above).

<figure><img src="/files/A5hjJX0Nnz2d2wLtOHq9" alt=""><figcaption><p>Applanix APX NMEA Settings</p></figcaption></figure>

* In SpatialExplorer, select "Connect to rover using WiFi or ethernet" and enter "**nmea**://*\<IP-ADDRESS>*:*\<PORT>*". This port needs to be configured to send the following NMEA messages:
  * GPRMC (Needed for vehicle postion and velocities, the rate of this sentence determines the display update rate)
  * GPGGA (Needed for vehicle position, including ellipsoidal altitude)
  * GPROT (If available, needed for turnrate)
  * PASHR (Needed for vehicle yaw/pitch/roll)
* For a fluid display, an update rate of 10Hz or 20Hz is recommended.

### Loading flightplans&#x20;

* Import the flightplan(s) as described [here](/missionguidance/flightplans.md).
* Go to View->MissionGuidance to open the pilot's window. Move the window to the pilot's screen and press "F" to switch it to fullscreen mode.