generated: '2026-08-06'
method: searched
source: https://docs-a1.readthedocs.io/en/latest/communication_messaging.html
also_source:
- https://github.com/Anello-Photonics/ANELLO_ROS_Driver
- https://github.com/Anello-Photonics/ANELLO_INS_Scripts
- https://www.anellophotonics.com/products/x3-imu
note: >-
  Standards conformance here is about the navigation/robotics stack ANELLO
  actually interoperates with, transcribed from its own documentation and
  repositories. The web-API standards are listed as non-conforming because
  ANELLO exposes no HTTP surface at all — that is an accurate description of an
  embedded product, not a deficiency finding.
standards:
- id: rtcm-10403
  name: RTCM STANDARD 10403 binary envelope
  conforms: true
  evidence: >-
    "The binary packets use an RTCM standard 10403 envelope for each message" —
    preamble 0xD3, 6-bit reserved, 10-bit length, payload, 3-byte CRC.
  source: https://docs-a1.readthedocs.io/en/latest/communication_messaging.html
- id: rtcm-3.3-msm
  name: RTCM 3.3 Multiple Signal Messages (MSM4/MSM5/MSM7)
  conforms: true
  role: consumer
  evidence: >-
    "Standard RTCM3.3 in MSM format, including MSM4, MSM5, and MSM7 messages,
    are supported" as correction input on the data port for RTK.
- id: ntrip
  name: NTRIP (Networked Transport of RTCM via Internet Protocol)
  conforms: true
  role: client
  evidence: >-
    NTRIP client shipped in the ANELLO Python Program and in the ROS driver;
    `ntrip` unit-configuration parameter selects the input channel (0 off, 1
    serial, 2 UDP).
- id: nmea-0183
  name: NMEA 0183 sentences
  conforms: true
  role: producer
  evidence: >-
    NMEA output on the configuration port from firmware v1.2; the `nmea`
    configuration parameter is a bitfield selecting GGA (bit 0), GSA (bit 1)
    and RMC (bit 2).
- id: mavlink
  name: MAVLink
  conforms: true
  evidence: >-
    Maritime INS firmware upload and configuration are performed over MAVLink
    (default udp:0.0.0.0:14550) by ANELLO_INS_Scripts.
  source: https://github.com/Anello-Photonics/ANELLO_INS_Scripts
- id: ros1
  name: ROS 1 (catkin)
  conforms: true
  evidence: >-
    First-party ANELLO_ROS_Driver with package.xml, CMakeLists.txt and nine
    .msg plus three .srv interface definitions.
  artifacts: ros/anello-photonics-ros-interfaces.yml
- id: ros2
  name: ROS 2
  conforms: true
  evidence: '"For ROS2 support, see the ros2_main branch." — ANELLO_ROS_Driver readme.'
- id: px4
  name: PX4 autopilot
  conforms: true
  evidence: >-
    X3 IMU documented with PX4/Pixhawk integration; handheld calibration script
    emits PX4 EKF2_PDR_* parameters; Listener_Topics.py browses PX4 topics.
- id: ardupilot
  name: ArduPilot
  conforms: true
  evidence: >-
    X3 IMU product page names ArduPilot integration; the org maintains an
    ardupilot fork.
- id: sae-j1939
  name: SAE J1939 / CAN PGN
  conforms: partial
  evidence: >-
    Tools/comm_checks.py verifies a configurable CAN PGN against the INS using
    PEAK-System PCAN drivers. The PGN set itself is not published in the online
    manual.
- id: rs-232
  name: TIA/EIA RS-232
  conforms: true
  evidence: 'Ground INS and Ground IMU RS-232 links, +/- 7V, 8-N-1, 230400 baud default.'
- id: ulog
  name: PX4 ULog (.ulg)
  conforms: true
  role: consumer
  evidence: anello-handheld-scripts reads .ulg logs via ulog2csv/pyulog.
- id: openapi
  name: OpenAPI
  conforms: false
  evidence: >-
    No HTTP API surface exists. /openapi.json, /openapi.yaml and /swagger.json
    all returned 404 on www.anellophotonics.com and docs-a1.readthedocs.io.
- id: asyncapi
  name: AsyncAPI
  conforms: false
  evidence: >-
    The event surface is a physical wire protocol, not a broker/webhook surface.
    No AsyncAPI document is published.
- id: oauth2
  name: OAuth 2.0
  conforms: false
  evidence: No credential model is documented; access is physical-link possession.
- id: rfc9457
  name: RFC 9457 Problem Details
  conforms: false
  evidence: 'Errors are ASCII sentences of the form #APERR,<code>*<CS>.'
- id: rfc9116
  name: RFC 9116 security.txt
  conforms: false
  evidence: >-
    https://www.anellophotonics.com/.well-known/security.txt returned 404
    ({"message":"security.txt not found"}) on 2026-08-06.
- id: llmstxt
  name: llms.txt
  conforms: true
  evidence: >-
    A hand-authored llms.txt with source-hierarchy guidance, terminology rules
    and a full link taxonomy is served at https://www.anellophotonics.com/llms.txt
    (HTTP 200, 11,251 bytes). Harvested verbatim to llms/.
compliance_program:
  published: false
  note: >-
    No trust center, SOC 2 / ISO 27001 / FedRAMP claim or compliance page was
    found. trust., security. and status. subdomains do not resolve; /security,
    /trust and /compliance return 404. No `Compliance` pointer is emitted.