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| iridium [2022/04/05 14:25] – 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>: commands the vehicle to go to a given waypoint in DEGREES(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> (in DEGREES) 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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