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| iridium [2022/03/09 09:30] – alberto | iridium [2023/09/06 11:21] (current) – external edit 127.0.0.1 |
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| - <color red>**force plan_ID**</color>: order execution of a plan ignoring any errors. \\ **reply**: //Started execution of plan_ID ignoring errors.// | - <color red>**force plan_ID**</color>: order execution of a plan ignoring any errors. \\ **reply**: //Started execution of plan_ID ignoring errors.// |
| - <color red>**resume plan_ID GoTo_number**</color>: order execution of a plan, starting from a specific maneuver id. It will generate a new plan that has the given maneuver ID as the starting maneuver and then will proceed to execute it. It will create a new plan named //plan_ID-Goto_number// that starts in maneuver Goto_number and will execute the plan. | - <color red>**resume plan_ID GoTo_number**</color>: order execution of a plan, starting from a specific maneuver id. It will generate a new plan that has the given maneuver ID as the starting maneuver and then will proceed to execute it. It will create a new plan named //plan_ID-Goto_number// that starts in maneuver Goto_number and will execute the plan. |
| - <color red>**go lat=<latitude>;lon=<longitude>;speed=<speed>**</color>: order the vehicle to go to a given waypoint (using a Goto maneuver). | - <color red>**go lat=<latitude>;lon=<longitude>;speed=<speed>**</color>: commands the vehicle to go to a given waypoint in DEGREES (using a Goto maneuver). |
| - <color red>**fence <latitude>,<longitude>;<latitude>,<longitude>;...**</color>: creates a polygon (geofence) using the <latitude>,<longitude> list as vertices; when the USV is outside the polygon, a warning is raised and an Iridium message is sent. | - <color red>**fence <latitude>,<longitude>;<latitude>,<longitude>;...**</color>: creates a polygon (geofence) using the <latitude>,<longitude> (in DEGREES) list as vertices; when the USV is outside the polygon, a warning is raised and an Iridium message is sent. |
| | - <color red>**colav on/off**</color>: turns anti-collision system on. |
| | - <color red>**gains p i d**</color>: sets new gains for the course/heading autopilot. |
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| - <color red>**on relay/sensor**</color>: enables a specific relay - turns ON a specific sensor as indicated in the table above. Example //on vhf// turns ON the VHF radio. \\ **reply**: //VHF is turning on.// | - <color red>**on relay/sensor**</color>: enables a specific relay - turns ON a specific sensor as indicated in the table above. Example //on vhf// turns ON the VHF radio. \\ **reply**: //VHF is turning on.// |
| - <color red>**off relay/sensor**</color>: disables specific relay - turns OFF a specific sensor as indicated in the table above. Example //off modem// turns OFF the 4G/LTE Modem. | - <color red>**off relay/sensor**</color>: disables specific relay - turns OFF a specific sensor as indicated in the table above. Example //off modem// turns OFF the 4G/LTE Modem. |
| | - <color red>**restart relay/sensor**</color>: toggles off and on a specific relay - restarts a specific sensor as indicated in the table above. Example //restart modem// restarts the 4G/LTE Modem. |
| - <color red>**reboot**</color>: Reboot the system remotely. It can be used to reboot just DUNE, the main CPU or auxiliary CPU.\\ | - <color red>**reboot**</color>: Reboot the system remotely. It can be used to reboot just DUNE, the main CPU or auxiliary CPU.\\ |
| - **reboot**: Reboots the main CPU. | - **reboot**: Reboots the main CPU. |
| - **reboot aux**: Reboots the auxiliary CPU. | - **reboot aux**: Reboots the auxiliary CPU. |
| - **reboot dune**: Reboots DUNE without rebooting the CPU. | - **reboot dune**: Reboots DUNE without rebooting the CPU. |
| | - <color red>**camera**</color>: Triggers the onboard camera\\ |
| | - **camera on**: Starts live broadcast. |
| | - **camera off**: Stops live broadcast and deactivates the camera until further notice; if routines are running, they are disabled. |
| | - **camera frame**: Captures and stores one frame. |
| | - **camera video 20**: Records one video of 20 seconds. |
| | - **camera frame-p 300**: Captures one frame every 300 seconds. |
| | - **camera video-p 300 20**: Records one video every 300 seconds of 20 seconds length. |
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