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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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  1. Communicating With the ROVL

The Ethernet Interface

PreviousSerial ParametersNextTips on How to Find the IP Address Assigned to Your Ethernet Adapter

Last updated 1 month ago

The ROVLe has a tiny implementation of Internet Protocol. It can send and receive using User Datagram Protocol (UDP) which is used for commands and messages, and Transport Control Protocol (TCP) which is used for mavlink2rest. In addition, it supports a subset of Address Resolution Protocol (ARP), a subset of Dynamic Host Configuration Protocol (DHCP) to obtain an IP address and supports a subset of the Ping protocol of Internet Control Message Protocol (ICMP). Additionally, the ROVLe supports an Ethernet Discovery protocol on port 30303, which is compatible with the .

When powered up, the ROVLe looks for a link status on the Ethernet physical layer. After a few seconds, if no link is present the ROVLe abandons the Ethernet interface and continues with only the serial link. The ROVLe 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 ROVLe wakes up and requests an address using DHCP protocol. If an address is not received within 60 seconds, the ROVLe will use a fallback IP address of 192.168.2.9, port 50000. You can set a different fallback address once in communication with the ROVLe or via the serial interface.

You can also set any valid static IP address for the ROVLe , 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 ROVLe , and (b) it seems like you can’t send any commands to the ROVLe from CeruleanTracker. This is the result of having the ROVLe 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 ROVLe (this isn’t really a subnet problem, but the symptoms are often the same).

  • The DHCP server might be unavailable, and the ROVLe 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 ROVLe , 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 ROVLe 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.

Blue Robotics Ethernet discovery protocol