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
SET-SIDE-TRACKING
X
X
Turn side-tracking on/off
SEND-SIDE-TRACKING-FRAME
X
X
Send the most recent side-tracking target surface normal
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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