//////////////////////////////////////////////////////////////////// // // PURPOSE: List of vehicle parameters, such as mass properties. // // DATE: 2009/12/08 // // NOTES: All values (except "strings") must be followed by // a unit abbreviation (or one of the unit-like // abbreviations: n/a, bool, enum, count). // // The control gains are adjusted for an Easy-Servo sampling // period of 2 seconds. // // //////////////////////////////////////////////////////////////////// // name = "Tethys"; keyText = "TethysEncryption"; //A 16-byte encryption key. Up to 32 bytes are more secure. id = 0 enum; Ts = .2 s; //Control system sampling prd. // propPitch = 0.02987 m/rad; //This is the water advance in the wake. Not vehicle speed through water propPitch = 0.0318309 m/rad; //Corrected value to achieve 300rpm/150rpm for high/low speed. Units are Meters/rad tau = 2.5 s; //Command generator time const. // // Heading (Sway/Yaw): kpHeading = 0.4 n/a; //Position gain, kdHeading = 0.05 s; //Rate gain kwpHeading = .05 rad/m; //Cross-track error gain kiHeading = 0.001 1/s; //Integral gain // kiwp = 0.002 rad/s/m; //crs trk intgrl gain maxHdgRate = 0.2094395 rad/s; //Max turn rate maxHdgInt = 0.0872664 rad; //max cmded rudder from hdg int maxXteInt = 10. arcdeg; //Max heading trim maxXteOff = 10. m; //xte int off above this error // Pitch: maxPitchElevatorInt = 0.1745329 rad; // max cmded elev from pitch int pitchLimit = 30.0 arcdeg; // Max pitch kpPitchElevator = 0.25 n/a; // Proportional gain kiPitchElevator = 0.008 1/s; // Integral gain kdPitchElevator = 0.05 s; // Derivative gain maxPitchMassInt = 20 mm; // max cmded mass posn from pitch int kpPitchMass = 0.100 n/a; // Proportional gain kiPitchMass = 0.002 1/s; // Integral gain kdPitchMass = 0.200 s; // Derivative gain buoyancyOverrideDelay = 300 s; // If we are requesting upwards motion, // and haven't achieved it within this time // maximize the buoyancy to go up. dropWtOverrideDelay = 15 min; // If we are requesting upwards motion, // and haven't achieved it within this time // drop the drop weight to go up. depthRateSamples = 20 count; // Number of depth rate samples to average. depthRateDeadband = 0.02 m/s; // Values less than this value are // considered to be zero. GPSFailTimeout = 15 min; // Time to wait for GPS prior to throwing a failure // // Depth control: kpDepth = 0.07 rad/m; //Dive loop pos'n gain // was 0.09 kiDepth = 0.002 rad/s/m; //Dive loop int. gain // was 0.0008 kdDepth = 0.0 rad-s/m; //Dive loop deriv. gain // was 0.12 kiDepthOff = 0.10 m/s; //Integrator shut-off maxDepthInt = 20. arcdeg; //max cmded pitch frm depth int // // Buoyancy control: kpDepthBuoy = 30. ratio; //Buoyancy loop pos'n gain cc/m kiDepthBuoy = 1.0 1/s; //Buoyancy loop int. gain kdDepthBuoy = 5000.0 s; //B loop deriv. gain cc/(m/s) maxBuoyInt = 200.0 cc; //Maximum buoyancy int. value depthDeadband = .01 m; //Buoy loop off within deadband // maxDiveRate = 0.5 m/s; // // Flags: sendDataToShore = 1 bool; // If true, radio data to shore over Iridium decouple = 0 bool; // Decouple heading and depth control altimeterInstrument = 0 enum; // 0 => DVL, 1 => PSA useLbl = 0 bool; // 0 => log only; 1 => Use for control useIns = 0 bool; // // Not used? kiHeadingLimit = 5. arcdeg; //Limit on integral term kiPitchLimit = 10. arcdeg; //Limit on integral term // // Mass Properties: // mass = 136.0 kg; //Flooded Vehicle mass ( x 9.80665 m/s2 = 1333.7044 N) // volume = 0.1330 m3; //m3 (equals 1337 N buoyancy in 1025 kg/m3 water) //excludes buoyancy bladder at default setting mass = 147.8671 kg; //Flooded Vehicle mass ( x 9.80665 m/s2 = 1450.0 N) // volume = 0.144260585365854 m3; //m3 (equals 1450 N buoyancy in 1025 kg/m3 water) //excludes buoyancy bladder at default setting // // Stability Derivatives: effDragCoef = .21 n/a; //veh drag in x; related to Xuu Xuabu = -6.2282 kg/m; //Force Derivative, > -6.98 kg/m because fin drag added separately // // Geometric Parameters (Used only by the simulation) // // The following y & z CG values were measured on 1 June, for the 1st Octans // test. The x value is computed. // centerOfMassX = 0.1181 m; centerOfMassY = -0.000236 m; centerOfMassZ = 0.006794 m; centerOfBuoyX = 0.1181 m; centerOfBuoyY = 0.0 m; centerOfBuoyZ = 0.0 m; // Simple geometric model of vehicle (Used at the surface) cylinderLength = 2 m; cylinderRadius = 6 in; // // We still have the 4 fin Odyssey tailcone model here. The X displacement has // been adjusted for the 389 vehicle. // lowerRudX = -1.973 m; lowerRudY = 0.012 m; lowerRudZ = -0.152 m; upperRudX = -1.973 m; upperRudY = 0.012 m; upperRudZ = 0.152 m; portElevX = -1.973 m; portElevY = -0.152 m; portElevZ = 0.0 m; stbdElevX = -1.973 m; stbdElevY = 0.152 m; stbdElevZ = 0.0 m; // Thruster parameters designSpeed = 1.0 m/s; //Nominal speed designPropEff = 0.86 n/a; //Nominal prop efficiency designOmega = 300 rpm; //Nominal prop rotation rate designThrust = 6.98 N; //Thrust at nominal omega designTorque = 0.23 N-m; //Thrust at nominal thrust // Dropweight1 parameters dropWt1Volume = 0.0000881 m3; //Volume of the drop weight #1, m3 dropWt1Mass = 1.0 kg; //Mass of the drop weight #1, kg dropWt1X = 0.1655 m; //X location of the drop weight #1, m dropWt1Y = 0.0 m; //Y location of the drop weight #1, m dropWt1Z = -0.20 m; //Z location of the drop weight #1, m // // TEST AREA FOR USER LEVEL DRIVERS // // Mass shift control values movableMass = 26 kg; // Kilograms of movable mass (~ 1/3 of vehicle mass ) centerOfMovableMassX = 0.1181 m; centerOfMovableMassY = -0.000236 m; centerOfMovableMassZ = 0.006794 m; surfaceThreshold = 0.5 m; // Depth at which we consider ourselves on the "surface" batteryCapacityThreshold = 30 Ah; // Amount of charge left at which we return to the surface batteryVoltageThreshold = 12.8 V; // Amount of voltage left at which we return to the surface BITHumidityThreshold = 55 %; // relative humidity BITPressureThreshold = 14 psi; // Onboard Pressure CBITAbortDepthTimeout = 10 s; // If this time has elapsed and we're still below abort depth, drop the weight, end the mission. CBITBattFailTimeout = 10 s; // If this time has elapsed and we still don't have main battery discrete, drop the weight, end the mission. CBITEnvTimeout = 10 s; // If this time has elapsed and pressure or humidity are still above threshold, end the mission. abortDepth = 450 m; // Depth at which we drop the weight. Should be greater than all depth envelopes // // Data and Load Controller Settings // // ("NAME" should match the name specified in component interface header) // // NAME-card: // Load Controller device, if any -- something like /dev/loadcontrol_# // NAME-uart: // Uart device, if any -- something like /dev/ttyS#, ttyTX# or ttyMAX# // NAME-ad: // A/D device, if any -- something like /sys/class/hwmon/hwmon0/device/? // NAME-baud: // Baud rate for uart // NAME-address: // Address for RS-485 buses // NAME-vref: // VRef for for A/D devices // // Depth_MSI_US300 uses Load Controller 0 A/D and switch Depth_MSI_US300_card = "/dev/loadcontrol_0"; Depth_MSI_US300_ad = "/dev/mcp3553_0"; Depth_MSI_US300_timeout = 70 ms; Depth_MSI_US300_vref = 5.0 V; Depth_MSI_US300_res = 21 bit; // AHRS_sp3003D uses Load Controller 1 switch, Onboard UART 2 (ttyTX1). AHRS_sp3003D_card = "/dev/loadcontrol_1"; AHRS_sp3003D_uart = "/dev/ttyTX1"; AHRS_sp3003D_baud = 9600 bps; // DVL_NavQuest600 uses Load Controller 2 switch, Onboard UART 3 (ttyS1). DVL_NavQuest600_card = "/dev/loadcontrol_3"; DVL_NavQuest600_uart = "/dev/ttyS1"; DVL_NavQuest600_baud = 115200 bps; // NAL9601 uses Load Controller 3 switch, Onboard UART 4 (ttyS2). NAL9601_card = "/dev/loadcontrol_2"; NAL9601_uart = "/dev/ttyS2"; NAL9601_baud = 19200 bps; // Console & Radio_Freewave uses Load Controller 10 switch, Onboard UART 5 (ttyS0). Radio_Freewave_card = "/dev/loadcontrol_10"; Radio_Freewave_uart = "/dev/ttyS0"; Radio_Freewave_baud = 115200 bps; // Elevator uses Load Controller 5 switch, Onboard UART 6 (ttyS3), RS-4853 1. ElevatorServo_card = "/dev/loadcontrol_5"; ElevatorServo_uart = "/dev/ttyS3"; ElevatorServo_baud = 115200 bps; //*** THIS IS TEMPORARILY HARDCODED IN EZServoServo UNTIL LOAD CONTROLLERS ARRIVE ElevatorServo_address = 1 enum; // Rudder uses Load Controller 6 switch, Onboard UART 6 (ttyS3), RS-485# 2. RudderServo_card = "/dev/loadcontrol_6"; RudderServo_uart = "/dev/ttyS3" RudderServo_baud = 115200 bps; //*** THIS IS TEMPORARILY HARDCODED IN EZServoServo UNTIL LOAD CONTROLLERS ARRIVE RudderServo_address = 2 enum; // Thruster uses Load Controller 7 switch, Onboard UART 6 (ttyS3), RS-485# 3. ThrusterServo_card = "/dev/loadcontrol_7"; ThrusterServo_uart = "/dev/ttyS3" ThrusterServo_baud = 115200 bps; //*** THIS IS TEMPORARILY HARDCODED IN EZServoServo UNTIL LOAD CONTROLLERS ARRIVE ThrusterServo_address = 3 enum; // Movable Mass uses Load Controller 8 switch, Onboard UART 6 (ttyS3), RS-485# 4. MassServo_card = "/dev/loadcontrol_8"; MassServo_uart = "/dev/ttyS3" MassServo_baud = 115200 bps; //*** THIS IS TEMPORARILY HARDCODED IN EZServoServo UNTIL LOAD CONTROLLERS ARRIVE MassServo_address = 4 enum; // Buoyancy uses Load Controller 8 switch, Onboard UART 6 (ttyS3), RS-485# 5. BuoyancyServo_card = "/dev/loadcontrol_9"; BuoyancyServo_uart = "/dev/ttyS3" BuoyancyServo_baud = 115200 bps; //*** THIS IS TEMPORARILY HARDCODED IN EZServoServo UNTIL LOAD CONTROLLERS ARRIVE BuoyancyServo_address = 6 enum; // AHRS_3DMGX3 uses Load Controller 10 switch and UART. AHRS_3DMGX3_card = "/dev/loadcontrol_10"; AHRS_3DMGX3_uart = "/dev/ttyMAX5"; AHRS_3DMGX3_baud = 115200 bps; // CTD_NeilBrown uses Load Controller 12 switch and UART. CTD_NeilBrown_card = "/dev/loadcontrol_12"; CTD_NeilBrown_uart = "/dev/ttyMAX4"; CTD_NeilBrown_baud = 9600 bps; // WetLabsBB2FL uses Load Controller 5 switch and UART. WetLabsBB2FL_card = "/dev/loadcontrol_5"; WetLabsBB2FL_uart = "/dev/ttyMAX5"; WetLabsBB2FL_baud = 19200 bps; // Oxygen_Optode_4330 uses Load Controller 13 switch and UART. Oxygen_Optode_4330_card = "/dev/loadcontrol_13"; Oxygen_Optode_4330_uart = "/dev/ttyMAX13"; Oxygen_Optode_4330_baud = 9600 bps; // ISUS uses Load Controller 11 switch and UART. ISUS_card = "/dev/loadcontrol_11"; ISUS_uart = "/dev/ttyMAX11"; ISUS_baud = 38400 bps; // USB_80211B uses Load Controller 15 switch, onboard USB. USB_80211B_card = "/dev/loadcontrol_15"; // BatteryManagementA uses Onboard UART 1 (ttyTX0). BatteryManagementA_uart = "/dev/ttyTX0" BatteryManagementA_baud = 19200 bps; // BatteryManagementA uses Onboard UART 7 (ttyTX2). BatteryManagementB_uart = "/dev/ttyTX2" BatteryManagementB_baud = 19200 bps; // Onboard Humidity uses Processor A/D 0. OnboardHumidity_ad = "/dev/adlpc32xx_0"; OnboardHumidity_vref = 3.15 V; OnboardHumidity_res = 10 bit; // Onboard Temperature uses Processor A/D 1. OnboardTemperature_ad = "/dev/adlpc32xx_1"; OnboardTemperature_vref = 3.15 V; OnboardTemperature_res = 10 bit; // Onboard Pressure uses Processor A/D 2. OnboardPressure_ad = "/dev/adlpc32xx_2"; OnboardPressure_vref = 3.15 V; OnboardPressure_res = 10 bit; // MainGroundfault uses Motherboard SPI A/D 0. MainGroundfault_ad = "/dev/ad7888_0"; MainGroundfault_vref = 3.15 V; MainGroundfault_res = 12 bit; // Battery current uses Motherboard SPI A/D 1. secondaryBatteryCurrent_ad = "/dev/ad7888_1"; secondaryBatteryCurrent_vref = 3.15 V; secondaryBatteryCurrent_res = 12 bit; // Battery current uses Motherboard SPI A/D 1. emergencyBatteryCurrent_ad = "/dev/ad7888_2"; emergencyBatteryCurrent_vref = 3.15 V; emergencyBatteryCurrent_res = 12 bit; // Motherboard 5V current uses Motherboard SPI A/D 3. motherboard5VCurrent_ad = "/dev/ad7888_3"; motherboard5VCurrent_vref = 3.15 V; motherboard5VCurrent_res = 12 bit; // Motherboard 3.15V current uses Motherboard SPI A/D 4. motherboard3_15VCurrent_ad = "/dev/ad7888_4"; motherboard3_15VCurrent_vref = 3.15 V; motherboard3_15VCurrent_res = 12 bit; // Motherboard 3.3V current uses Motherboard SPI A/D 5. motherboard3_3VCurrent_ad = "/dev/ad7888_5"; motherboard3_3VCurrent_vref = 3.15 V; motherboard3_3VCurrent_res = 12 bit; // Motherboard 1.8V current uses Motherboard SPI A/D 6. motherboard1_8VCurrent_ad = "/dev/ad7888_6"; motherboard1_8VCurrent_vref = 3.15 V; motherboard1_8VCurrent_res = 12 bit; // Solder pad V45 uses Motherboard SPI A/D 7. // ElevatorCompensatorLow_ad = "/dev/ad7888_7"; // ElevatorCompensatorLow_vref = 3.15 V; // ElevatorCompensatorLow_res = 12 bit;