Commands Accepted by the DVL
Here is a summary table of commands the DVL 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 |
$GPRMC | X | X |
| Set position using a $GPRMC-formatted message |
SET-POSITION | X | X |
| Set a starting lat/long position |
CONFIGURATION | X | X |
| Send the current system configuration |
SUPPRESS-GPS | X | X |
| Ignore GPS reading for n seconds |
DECLINATION | X | X | X | Set the magnetic declination for the area |
HEADING-OFFSET | X | X | X | Offsets the heading output to as-mounted |
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 |
SEND-GPRMC | X | X | X | Turn on/off $GPRMC output message |
SEND-DVEXT | X | X | X | Turn on/off Extended DVL Data message |
SEND-FREEFORM | X | X | X | Turn on/off freeform messages |
SEND-DVFKA | X | X | X | Turn on/off $DVKFA message |
SEND-DVFKB | X | X | X | Turn on/off $DVKFB |
RETWEET-GPS | X | X | X | Forward GPS messages to the main commo link |
RETWEET-IMU | X | X | X | Forward IMU messages to the main commo link |
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SET-SENSOR-ORIENTATION | X | X | X | Sets the mounting orientation of the DVL sensor with respect to the ROV coordinate frame |
GRAB-IMU-CAL | X | X | X | Save Baseline IMU calibration coefficients |
VOID-IMU-CAL | X | X | X | Delete Baseline IMU calibration coefficients |
BAUD-RATE | X | X | X | Set the serial port baud rate |
IP-ADDRESS | X | X | X | Set/delete a static IP address for the DVL |
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 ing 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 DVL |
UNICAST-TO-ME |
| X |
| Change broadcast to unicast |
PAUSE | X | X |
| Suspends pinging and processing |
RESUME | X | X |
| Resumes pinging and processing |
MANUAL-MODE | X | X |
| See appendix on manual mode |
REBOOT | X | X |
| Restart the DVL 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 |
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