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Ethernet ROV Locator
Ethernet ROV Locator
  • ROV Locator
  • Overview
  • General Specifications
  • Quick Start for BlueROV
  • Fundamentals Useful to System Designers
    • Sound Reflection and Absorption
    • Multipath
    • Ping Length
    • What to Do About Multipath and Other Issues
    • Clock Drift Expectations
    • Accuracy Expectations
      • Accuracy Test: Topside GPS
      • Accuracy Test: 110 Meter Slant Range
      • Accuracy Test: 295 Meter Slant Range
    • Operation in a Pool
  • Configuring the ROVLe
    • Finding the Configuration Web Page
    • Example Configuration Web Page
    • Live Status Page
    • Setting Device Type
    • Setting the Static IP Address
    • Setting the Fallback IP Address
    • Setting the MAVLink REST Server Parameters
    • Setting the Secondary (GNSS) MAVLink Interface
    • GPS/GNSS Forwarding (Re-tweeting)
    • Magnetic Declination
    • CIMU Calibration Offsets
    • Speed of Sound
    • GNSS Antenna Mounting Rotation
    • Output Messages
    • Configure Simulation
  • System Variants
  • Autosync
    • Autosync Mission Scenarios and Mission Suitability
    • Autosync Availability
    • Autosync GPS/GNSS Output
    • ROVL Channels (Autosync only; Operating Multiple Units in Proximity)
  • Communicating With the ROVL
    • Serial Parameters
    • The Ethernet Interface
      • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
      • Blue Robotics Discovery Protocol (Ethernet Only)
    • Packet Format
    • Messages from ROVL to Host
      • $USRTH Receiver-Transmitter Relative Angles Message
      • $USTLC Target Location Message
      • $USINF/$USTXT Information Message
      • $USERR Error Message
      • $USNVM Non-Volatile Memory Message
    • Messages from Host to ROVL
      • NMEA-Format Messages to Receiver
      • Valid Commands from Host to ROVL, Serial and Ethernet
      • Valid Commands from Host to ROVL, Ethernet Only
        • Command: DHCP
        • Command: FALLBACK-ADDRESS
        • Command: IP-ADDRESS
        • Command: HOST-ADDRESS
        • Command: MAVLINK-ADDRESS
        • Command: MAVLINK-AUTO-ORIGIN
        • Command: MAVLINK-SYSID
        • Command: PAUSE
        • Command: RESUME
        • Command: RETWEET-GPS
        • Command: RETWEET-GPS-ADDRESS
        • Command: RETWEET-message
        • Command: SEND-ROV-POS-TO-MAP
        • Command: SEND-TOPSIDE-TO-MAP
        • Command: SEND-USRTH
        • Command: SEND-USTLC
        • Command: UNICAST-TO-ME
  • Cerulean Inertial Measurement Unit (CIMU)
    • CIMU Calibration Background
      • CIMU Magnetometer Calibration
      • CIMU Accelerometer Calibration
      • CIMU Gyro Calibration
  • Operating and Accuracy Considerations
  • Multi-Unit Operation (Swarms)
    • Multi-Unit 1:1
    • Multi-Unit 1:2
    • Multi-Unit 2x1:1
  • ROVL Mounting
    • ROV/Deepside Mounting
    • Topside Mounting
    • Simple Topside Deployment Fixture
  • ROVL Wiring
    • Standard Cabling Options
    • ROVL-e PC Board Internal Connections
      • JST-GH Connector Pin 1 Identification
      • Ethernet/Power Connections
      • Serial Connection
      • USB Connection
      • GNSS Compass Main (4-pin) RS-232 Connection
      • GNSS Compass RTK (2-pin) RS-422 Connection
    • Electrical Noise
  • Connecting and Powering Your ROVLe Ethernet Receiver or Transceiver
    • Example Power Injectors
    • Data Connection
    • Example Power/Wi-Fi Setup for Remote Usage
    • Battery
  • Mounting Dimensions
    • Mk II Receiver with Omnitrack Top
    • Transmitter/Transceiver/Receiver with Standard Top
    • Mk III Transcceiver
    • ROVLe Omnitrack Top
    • ROVLe Standard Top
    • Example Mounting Scheme with 3D-Printed Bracket
  • ROVL Coordinate Systems and Angles
    • Definitions
    • NED or "Compass" vs. ENU or "Math" Angles
    • Math to Compass Frame Conversions
    • Transducer Down Orientation
    • Transducer Up Orientation
    • Receiver/Transceiver Orientation Frames
    • Best Operating Envelope
  • Appendix: Math for Computing Remote Latitude/Longitude
    • Receiver & GPS at Topside and Transmitter Deepside
    • Transmitter & GPS Topside and Receiver Deepside
  • Appendix: Factory Usage Command Set
  • Troubleshooting
    • How to Tell if Your Mk II Receiver is Working
    • How to tell if your Mk II Transmitter is working
    • What to do when you find an unresolvable problem when troubleshooting
  • Copyright
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Appendix: Factory Usage Command Set

The ROV-Locator Receiver and Transceiver have an extensive set of commands used to program and monitor the operation of the system. Generally, these commands are only useful to Cerulean personnel and for remote diagnosis.

Experimenting with these commands can cause your ROL-Locator to work erratically and/or to stop working entirely. The effect of many of these commands is persisted in non-volatile memory. A factory reset ALWAYS removes the angular calibration constants loaded at the factory, rendering your unit useless until the calibration constants specific to your hardware are reloaded.

Valid Factory Commands to Units

Command

Description

Sticky

Receiver

Transmitter

Ci,v

Load memory copy of azimuth calibration array with point I, value v

X

CI

Zero memory copy of azimuth calibration array

X

CD

Dump memory copy of azimuth calibration to console

X

CF

Check memory copy azimuth calibration array for complete fill and then write to flash memory

X

X

CZ

Zero memory copy of azimuth calibration array

X

Ni

Begin IMU calibration download

X

Ni,v

Set IMU calibration byte I to v [v is 2-digit hex number]

X

Nf

Finish IMU calibration download and write to flash

X

X

Pn,i,f

Obsolete

X

PRESET

Reset sensor x,y,z calibration to factory (memory only)

X

PWRITE

Write memory copy of sensor x,y,z calibration to flash

X

X

Sd,y,e

Set output simulation to slant range d, apparent bearing y, apparent elevation e

d = 0 turns off simulation

d != 0 turns on simulation with d, y and e values

X

T

Toggle between small data set (1000 pts) and large data set (6000+ points)

X

U

Factory use only

V0

Turn off all verbose switches

X

V1

Turn on all verbose switches

X

V3

Turn on GNSS retweet

X

V7

Turn on verbose messages for IMU interface messages

X

V8

Turn on verbose messages for calibration

X

V9

Turn on verbose messages for calibration

X

Send newline (linefeed) (ASCII 0x0A) after all commands to make them take effect.

Sending messages not listed may have unpleasant consequences including bricking your unit.

These commands should not be sent in NMEA sentence format.

Sticky items have an effect that persists across boots; they are saved in flash memory.

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