Vessel Instruction Set Language (VIS)

A custom Gcode like language for storing and transmitting instructions for the vessel's mission

Table of Contents

1. Instruction Groups
2. List Of Instructions
3. Instructions

Instruction Groups

Letter	Meaning
C	Direct vessel instruction such as return to home or change power mode
H	File parameters and header information
W	Waypoint instruction such as set or modify waypoint
D	Data instructions
U	Custom user defined instructions
Foo	Foo

List Of Instructions

Instruction	Action/Meaning
C Instructions
C1	Set navigation mode
H Instructions
H1	Set instuction file type
W Instructions
W1	Set waypoint
W2	Remove waypoint
D Instructions
D1	Set command preset
D2	Remove command preset
U Instructions
Other Instructions
Foo	Foo

Instructions

C Instructions

C1

Set navigation mode

Parameters:

[Mode Number]

Usage:

C1,2;

H Instructions

H1

Set instuction file type

Parameters:

[Type Number]

Type Number	Type
0	Vessel mission instructions file
1	Instructions message
2	Data message

Usage:

H1,0;

W Instructions

W1

Set waypoint

Parameters:

(Waypoint Number *Append to end of sequence),[Lat],[Long],[Radius],(CMD1 Index),(CMD2 Index)

Usage:

• W1,7,43.627,122.891,40;
• W1,,28.140,78.329,60,1,3; // Append to end of sequence and set commands

---

W2

Remove waypoint

Parameters:

[index]

Usage:

W2,6;

D Instrusctions

D1

Set command preset

Parameters:

[Command Index],[Command 1],(Command 2),(Command 3),(Command ...)

Usage:

D1,3,"W1,7,43.627,122.891,40"; D1,3,"W1,7,43.627,122.891,40","W2,1"; // Multable commands

---

D2

Remove command preset

Parameters:

[Command Index]

Usage:

D2,6;

U Instrusctions

U instructions are reserved for users to define as custom instructions