IFREMER VICTOR | norwegian-subsea

The Ifremer Victor protocol is used to interface ROVs operated by the French Research Institute for Exploitation of the Sea (IFREMER) .

Data:

Roll, pitch, heading
Roll rate, pitch rate, yaw rate
x acceleration, y acceleration, z acceleration

Format:

Ifremer Victor protocol description
FIELD N.	FIELD	DESCRIPTION	UNIT	DATA TYPE	NOTE
Byte 0	Q	identifier	-	string	Telegram identifier.
Byte 1	n	number of bytes	-	HEX	0x29
Byte 2	i	user ID	-	HEX	0x0C
Byte 3-6	r	roll	[rad]	IEEE floating point	Sign: Positive (+) when port up.
Byte 7-10	p	pitch	[rad]	IEEE floating point	Sign: Positive (+) when bow up.
Byte 11-14	h	heading	[rad]	IEEE floating point
Byte 15-18	rr	roll rate	[rad/s]	IEEE floating point
Byte 19-22	pr	pitch rate	[rad/s]	IEEE floating point
Byte 23-26	yr	yaw rate	[rad/s]	IEEE floating point
Byte 27-30	xa	x acceleration	[m/s²]	IEEE floating point
Byte 31-34	ya	y acceleration	[m/s²]	IEEE floating point
Byte 35-38	za	z acceleration	[m/s²]	IEEE floating point
Byte 39-42	s	spare	-	IEEE floating point
Byte 43	cs	checksum	-	INT	Addition of bytes from 0 to 42.

Example:

Ifremer Victor frame with raw example data is listed below.

Field 0	Field 1	Field 2	Field 3	Field 4	Field 5	Field 6	Field 7	Field 8	Field 9	Field 10	Field 11	Field 12	Field 13
Q	0x29	0x0C	0.26	1.31	7.59	0.02	0.01	0.06	0.13	0.03	0.06	1.11	89

Note

The reference frame for data (e.g., roll) is configurable in the Ifremer Victor protocol. Also, the data's location (e.g., MRU or MP1) is configurable.