đź“–
Cerulean Sonar Docs
Docs DirectoryStore
ROV Locator
ROV Locator
  • ROV Locator
  • Overview
  • General Specifications Mk II
  • General Specifications Mk III
  • System Variants
  • 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
  • Autosync Option (Mk II Only)
    • Autosync Mission Scenarios and Mission Suitability
    • Autosync Availability
    • Autosync GPS/GNSS Output
  • ROVL Channels (Autosync only; Operating Multiple Units in Proximity)
  • 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
  • Communicating With the ROVL
    • Serial Parameters
    • Packet Format
    • Messages from ROVL to Host
      • $USRTH Receiver-Transmitter Relative Angles Message
      • $USINF Information Message
      • $USERR Error Message
    • Messages from Host to ROVL
      • NMEA-Format Messages to Receiver
      • Valid Commands from Host to ROVL
  • Inertial Measurement Unit (IMU)
    • How To Tell Which IMU is Active
    • Mk II IMU Modes and Calibration
      • Mk II IMU Calibration Background
      • Mk II IMU Calibration General Procedures
    • 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
    • Multi-Unit n:1 (fixed transmitter)
    • Multi-Unit n:1 (mobile transmitter)
  • ROVL Mounting and Wiring
    • ROV/Deepside Mounting
    • Topside Mounting
    • Simple Topside Deployment Fixture
    • Wiring Notes
    • Electrical Noise
    • USB Interface using Blue Robotics BLUART Board
  • Mechanical Drawings
    • Mounting Footprint and Envelope, "S" Package
    • Mounting Footprint ("P" Package Mk II and Mk III)
    • Envelope Drawing. "P" Package ROVL Mk II Transmitter and Receiver, Mk III Transponder
  • 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
Powered by GitBook
On this page

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.

PreviousTransmitter & GPS Topside and Receiver DeepsideNextTroubleshooting

Last updated 6 months ago