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
  1. Communicating With the ROVL
  2. Messages from Host to ROVL

Valid Commands from Host to ROVL

Command

Description

Sticky

Mk II Receiver

Mk III Transceiver

Transmitter Transponder

?

?*

Print configuration and menu of user commands

X

X

Mk II / Mk III

A

Obsolete

!

Obsolete

BOOT

Reset CPU into bootload mode. We recommend you instead use the firmware loading capability of the CeruleanTracker application.

X

X

X

Dn

Obsolete

E

Obsolete

IA, IB

Sets operating channel to A or B

X

X

Mk II only

ID

Sets receiver to receive on both channels simultaneously (Dual Channel operation) (autosync versions only)

X

X

Jn

Set magnetic declination to n degrees

X

X

X

K

Send the flash contents to the console

X

X

LOFF

Obsolete

Ln

Obsolete

Lxxxx

Obsolete

Mn

Pause mode, n=1 paused, n=0 resumed

X

X

On, Off

Turn transmitter pinging on and off.

Mk II / Mk III

T COMPASS T NDOF

Set IMU Mode Mk II IMU only. Only valid if CIMU is off.

X

X

V3

Retweet GPS NMEA messages, use V0 to turn off (autosync versions only)

X

W

Obsolete

X

Obsolete

Y

Invalidate stored IMU calibration data and then save it next time it is valid (only valid if CIMU is off)

X

X

YZ

Invalidate stored IMU calibration data and then save it next time it is valid (only valid if CIMU is off)

X

X

YCIMO ON

Enable Cerulean IMU (CIMU)

X

X

YCIMU OFF

Enable Mk II IMU

X

X

YACC x,y,z

Set CIMU accelerometer offsets to x,y,z

X

X

YGYR x,y,z

Set CIMU gyro offsets to x,y,z

X

X

YMAG x,y,z

Set CIMU magnetometer offsets to x,y,z

X

X

Zn

Set speed of sound to n meters/second

X

X

X

$xxxxx,

NMEA command carrier

X

X

---

Mk III only, pass thru to co-processor

X

X

===

Mk III only, pass thru to co-processor (using ST bootloader serial parameters)

X

X

+++

Mk III only, end pass-thru mode

X

X

###

Reboot immediately

X

X

X

@n

Set Mk II / Mk III flag. Do not test this to see what happens! It would be very sad if you accidentally bricked your device.

X

X

X

X

Send these commands directly to the receiver or transmitter.

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 except as noted.

PreviousNMEA-Format Messages to ReceiverNextInertial Measurement Unit (IMU)

Last updated 1 month ago