Tested with Android 6.0.1 on Nexus 6 operating on Verizon & Wifi
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Overview
SIP Calling has been part of Android for quite a while but is was always sort of 'broken' when it came to using it with sipXcom. Well, SIP Calling finally seems to be working better in Android 6.0. !
Utilizing the integrated dialer in Android makes for a smoother user experience vs. changing back and forth between the dialer and a softphone.
Configuring SIP on Android 6.0
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Once you make settings changes always click on the 'SAVE' button at the top of the page!
Calling
To setup SIP extensions on your contacts, go into the Contacts app, edit your contact and select 'More fields' at the bottom of the page, this will then reveal the SIP calling address. Enter the user's SIP URI (extension@FQDN remember, it's not smart enough for SRV records).
To be able to just enter system extensions you'll need to tell the call application to make calls with your SIP account first, or select 'Always ask' as described above.