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DVL-75
DVL-75
  • DVL-75
  • Overview
    • General Specifications
    • General Use Cases
    • The Basic System
    • System Components
    • Comparison of Tracker 650 and DVL-75
  • Usage Considerations and Scenarios
    • General Usage
    • Scenario: GPS Emulation
    • Scenario: Holding Position
    • Scenario: Autonomous Waypoint Navigation
    • Scenario: Returning to a Series of Known Positions
    • Scenario: Returning to Home
    • Scenario: Using GPS Assist
    • Scenario: Doing Your Own Dead Reckoning
    • Additional Connection Possibilities
    • General Hints and Tips
    • Operation in a Pool
  • Using MAVLink and BlueOS for Position Hold on a BlueROV2
    • ArduPilot Parameters
    • DVL Setup for MAVlink Support
  • Using Other Than the Bottom for the DVL (Side-Tracking Capability)
    • Side-Tracking Capability Design Use-Cases
    • Side-Tracking Capability Considerations
  • Mounting the DVL Components
    • Sensor Head Typical Mounting
    • Sensor Head Side-Tracking Mounting Alignment
    • All-in-One and Most-in-One Mounting Considerations
    • Mounting the Electronics Stack
    • Mounting an Auxiliary GPS
  • Assembling the Electronics Stack
    • Cerulean 300m Electronics Enclosure Assembly
  • Inertial Measurement Unit (IMU)
    • Baseline IMU Calibrations
    • Baseline IMU Background
    • Baseline IMU Blind Initial Calibration Procedure
    • Baseline IMU Status-Assisted Initial Calibration Procedure
    • Baseline IMU Calibration for Each Mission or Each Time Power is Applied
    • Upgraded IMU Calibration for Each Mission or Each Time Power is Applied
  • Communicating with the DVL
    • Factory Defaults and Default Messages
    • The Ethernet Interface
    • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
    • The Serial Interface
    • Resetting the Communications Parameters to Factory Default
    • What Do the LEDs Mean?
    • Outgoing Message Formats, DVL to Host
      • $GPRMC: NMEA standard Recommended Minimum GPS/Transit Data
      • $DVEXT: DVL Extended Data
      • $DVPDL: DVL Position and Angle Deltas Message
      • Freeform Error and Informational messages ($DVTXT)
      • Re-Tweeted GPS Messages
      • Re-Tweeted IMU Messages (IMU Raw Data)
      • $DVKFA, $DVKFB Kalman Filter Support Messages
        • Driving your own Kalman Filter
    • Commands Accepted by the DVL
      • $GPRMC
      • SET-POSITION
      • CONFIGURATION
      • SUPPRESS-GPS
      • DECLINATION
      • SET-SPEED-OF-SOUND
      • SET-VELOCITY-ADJUSTMENT
      • SEND-GPRMC
      • SEND-DVEXT
      • SEND-DVKFA
      • SEND-DVKFB
      • SEND-FREEFORM
      • SEND-DVPDL
      • RETWEET-GPS
      • RETWEET-IMU
      • SET-SENSOR-ORIENTATION
      • GRAB-IMU-CAL
      • VOID-IMU-CAL
      • BAUD-RATE
      • IP-ADDRESS
      • HOST-ADDRESS
      • MAVLINK-ADDRESS
      • FALLBACK-ADDRESS
      • UNICAST-TO-ME
      • PAUSE
      • RESUME
      • REBOOT
    • Blue Robotics Ping360 Discovery Protocol (Ethernet Only)
    • ARP (Address Resolution Protocol)
    • DHCP (Dynamic Host Configuration Protocol)
    • Ping (Internet Control Message Protocol Ping)
    • Mechanical Drawings
      • Mounting Dimensions, Sensor Head
      • Mounting Dimensions, Electronics Stack
      • RAM Mount Adapter Plate
      • Electronics Stack Assembly Drawing
      • Mounting Bracket for 300m Electronics Enclosure
      • Mounting Bracket for Sensor Head or Electronics Enclosure, fits BlueROV2 Heavy Thruster Guard
      • Mounting Bracket for All-in-One Enclosure, fits BlueROV2 Heavy Thruster Guard
      • Mounting Dimensions, Cerulean 300m Enclosure
      • Mounting Dimensions for the Cerulean All-in-One Enclosure
      • Mounting Dimensions, Cerulean GPS
  • Electrical Drawings
    • Serial Cable Supplied with Baseline Electronics Stack
    • DVL Serial Connection Example
    • Power over Ethernet (POE) Cabling
    • Standard Ethernet Pinouts
    • Optional GPS Wiring
    • Sensor Head Wiring
    • Using External Power with Serial Cable
    • Serial to USB Interface Using Blue Robotics BLUART Board
  • CAD Models
  • Appendix – Coordinate Systems
  • Copyright
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  1. Communicating with the DVL

The Ethernet Interface

The DVL has a tiny implementation of Internet Protocol. It can send and receive using User Datagram Protocol (UDP), which is used for commands and messages. In addition, it supports Address Resolution Protocol (ARP), Dynamic Host Configuration Protocol (DHCP) to obtain an IP address and supports the Ping protocol of Internet Control Message Protocol (ICMP). Additionally, the DVL supports an Ethernet Discovery protocol on port 30303, which is compatible with the Blue Robotics Ping360 Ethernet discovery protocol, and a TCP connection to the BlueOS/Ardusub MAVlink REST server.

When powered up, the DVL looks for a link status on the Ethernet physical layer. After five seconds, if no link is present the DVL abandons the Ethernet interface and continues with only the serial link. The DVL does not circle back later to re-check link status. NOTE: link status is a physical layer property and is usually satisfied by connecting to a powered Ethernet switch or a powered Ethernet adapter. Even if the host on the other end of the Ethernet cable is still booting, the physical layer normally establishes the link by itself. Thus, if the electronics are connected and powered, the link usually establishes.

As shipped, the DVL wakes up and requests an address using DHCP protocol. If an address is not received within 60 seconds, the DVL will use a fallback IP address of 192.168.2.3, port 50000. You can set a different fallback address once in communication with the DVL or via the serial interface.

You can also set any valid static IP address for the DVL, and it will use the static address on startup and skip the DHCP request.

A common trouble situation has symptoms of (a) CeruleanTracker seems to be receiving some or all of the information from the DVL, and (b) it seems like you can’t send any commands to the DVL from CeruleanTracker. This is the result of having the DVL on a different IP subnet than the host PC that is running CeruleanTracker. Windows will helpfully (and silently) suppress outgoing traffic to networks it thinks are unreachable (such as addresses on a different subnet). Windows uses the IP subnets to figure out which networks are reachable via which physical interfaces. Here are a few ways this happens:

  • Your firewall is blocking traffic to the DVL (this isn’t really a subnet problem but the symptoms are often the same).

  • The DHCP server might be unavailable, and the DVL uses the fallback address, which might be on a different subnet.

  • You switch to using a USB Ethernet adapter instead of the Ethernet port on your laptop dock, and the USB Ethernet adapter is on a different subnet.

  • You have set your DVL, ROV and computer up while on the office network, and then move the show out onto the water.

    o The DHCP server might be unavailable, and the DVL uses the fallback address, which might be on a different subnet.

    o You switch to using a USB Ethernet adapter instead of the Ethernet port on your dock, and the USB Ethernet adapter is on a different subnet.

PreviousFactory Defaults and Default MessagesNextTips on How to Find the IP Address Assigned to Your Ethernet Adapter

Last updated 1 year ago