Modules

Here is a list of all modules:

Loadable Module: BIT	The BIT module provides components responsible for providing StatUp built-in-test (SBIT), C built-in-test (CBIT), and Initiated built-in-test (IBIT)
Component	A Component is a chunk of code that will be run at a set time or interval, or in response to a set of conditions is considered a Component
Loadable Module: Control	The Control module provides components responsible for providing dynamic control of the vehicle via VerticalControl, HeadingControl, and SpeedControl
Data and Slate	All communications between Components (see Component) are via readers and writers that interact via the slate..
Loadable Module: Derivation	The DerivationModule provides components that typically take the outputs of a navigation or science sensors and transform them into other useful quantities
Loadable Module: Estimation	The EstimationModule provides components that take the outputs of various sensors and combine them to produce a useful estimate of some quantity
Loadable Module: Guidance	The GuidanceModule provides Behavior instances that can be used in a mission script to direct the vehicle
Input/Output	Input and Output classes
Logging	Logging subsystem
Lua	Lua has been selected as a scripting language for Tethys/LRAUV for a variety of reasons
Mission Scripts	Provides interfaces (MissionAPI and ScriptNode) and classes to allow missions to be specified in a variety of syntaxes – as long as they implement the MissionAPI and ScriptNode interfaces
Module	Tethys modules are collections of Components that can be dynamically loaded or unloaded
Loadable Module: Navigation	The NavigationModule provides components that take the outputs of navigation sensors and combine them to produce an estimate of the vehicle pose (i.e., location and orientation)
Loadable Module: Sample	The SampleModule provides a few example and test components
Loadable Module: Science	The ScienceModule provides components responsible for providing software-hardware-device communications for interacting with devices that directly measure the environment
Loadable Module: Sensor	The SensorModule provides components responsible for providing software-hardware-device communications for getting measurements from navigation-related sensor devices – i.e., devices that measure the state of the vehicle and its trajectory, such as the AHRS, depth sensor, modems, and internal pressure, temperature, and humidity
Loadable Module: Servos	The ServoModule provides components responsible for providing software-hardware-device communications for controller devices – i.e., devices that direct the vehicle and its trajectory, such as the elevator, movable mass, rudder, and thruster
Loadable Module: Simulator	The SimulatorModule provides components responsible for providing dynamic simulation of the vehicle in its environment
Supervisor	This module includes the Supervisor ("main" component in the vehicle software), the ControlThread, which runs periodically to execute the computation cycle, the CommandLine for dealing with human input (from the keyboard and via satellite), as well as registries of running components and mission components currently loaded
Loadable Module: Trigger	The TriggerModule provides Behavior instances that can be used in a mission script to direct the vehicle
Units	One of the error-mitigating requirements of the LRAUV is to use engineering units for values throughout the system
Utilities	Utility classes (see http://tellum/vectorcast/utils.html for test results)
Xml	Provided as an alternative to Lua for mission scripting