VideoRay Defender MSS, Operator'S Manual

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Camera Module
vr_refresh -c vrport3 -i 4 ~/firmware/camera_adapter-X.Y.Z.hex --block_size 16384
LED Module (Use the correct Node ID)
vr_refresh -i 11 ~/firmware/led_controller-X.Y.Z.hex
Firmware Block Sizes
Module Block Size Comms Path
Power Module 16384 Direct
Communications Module 16384 Direct
AHRS Module 16384 vport2
Power Module Default Direct
Camera Module 16384 vport3
LED Module Default Direct
Command: vr_enum
The vr_enum command is used to enumerate (list) the modules that are connected to the vehicle.
Use
vr_enum [OPTIONS] [min explcit id] [max explicit id]
[Options] - See the table below
[min explicit id] - The minimum Node ID to include the list
[max explicit id] - The maximum Node ID to include in the list
OPTION Alternate Argument(s) Description Default
-? --help Display this help information
--version Display the Version Number
-c --com Com_Port_Name Com Port to use dev/ttyUSB0
-p --pretty Use nicer human readable device type
display
-v --verbose Output verbose diagnostics
--timeout Timeout Connection timeout in mS 1,000
- --
retry_count Retry_Count Set retry count for broadcast
enumeration 5
--explicit either max_node_id or
min_node_id
max_node_id Explicit nodes to search,
Examples
To use vr_enum on modules connected to the communications module, you need to open a virtual
port and specify the port to use. See vr_create_virtport_all.sh for more information.
For Power, Communications, Thrusters and LEDs
vr_enum
For the AHRS and camera modules, you need to include the virtual port.
AHRS Module