Commands Accepted by the Tracker 650

Here is a summary table of commands the Tracker 650 recognizes. Each message is described in further detail after the table. “Sticky” means the effect of the command is preserved across a power on/off cycle. Commands are terminated with a newline (ASCII 0x0A, C++ “\n”). Carriage returns (ASCII 0x0D, C++ “\r”), if any, prior to the newline are ignored. There are additional commands for factory use that are not documented. Try not to experiment, for example, we recommend not sending a “BRICK-DEVICE” command to see what will happen.

Command	Serial	Ethernet	Sticky*	Notes
CONFIGURATION	X	X		Send the current system configuration
MAVLINK-AUTO-ORIGIN	X	X	X	Turn on/off auto MAVlink origin message
SET-SPEED-OF-SOUND	X	X	X	Sets the speed of sound in the body of water where operating
SET-VELOCITY-ADJUSTMENT	X	X	X	Set a global adjustment to measured velocity
SET-POOL-MODE	X	X	X	Turns Pool operating mode on and off.
SEND-DVPDL	X	X	X	Turn on/off position delta messages
SEND-DVPDX	X	X	X	Turn on/off extended position delta messages
SEND-DVFKC	X	X	X	Turn on/off $DVKFC message
SEND-MAVLINK-DISTANCE	X	X	X	Enables send the MAVlink distance message if the MAVlink interface is enabled.
SET-POSITION	X	X		Passes the supplied position to the MAVlink interface if it is enabled.
SET-SENSOR-ORIENTATION	X	X	X	Sets the mounting orientation of the DVL sensor with respect to the ROV coordinate frame
IP-ADDRESS	X	X	X	Set/delete a static IP address for the Tracker 650
HOST-ADDRESS	X	X	X	Set an IP address for the host
MAVLINK-ADDRESS	X	X	X	Set an IP address and port for the the MAVlink REST server. Setting the IP address to 0.0.0.0 will disable the MAVlink interface.
FALLBACK-ADDRESS	X	X	X	Set a fallback IP address for the Tracker 650
UNICAST-TO-ME		X		Change broadcast to unicast
PAUSE	X	X		Suspends pinging and processing
RESUME	X	X		Resumes pinging and processing
REBOOT	X	X		Restart the Tracker 650 as if powered up
Ethernet Discovery		X		Blue Robotics Ethernet Discovery
(ARP)		X		Ethernet Address Resolution Protocol
(DHCP)		X		Ethernet Dynamic Host Configuration Protocol
(Ping)		X		Ethernet Internet Control Message Protocol Ping