Automatically generate failure effects analyses in the event of failures, and use these analyses to avoid unachievable mission states.

Page Built in Test (BIT) Requirements

Implement Implement Estimate vehicle degradation, based on performance history and use these estimates in vehicle control and energy estimates.

Page Communications Requirements

Implement Implement Implement Implement Implement Implement Implement Implement Implement Allow user to send a diffs for a new mission to vehicle via communications

Page Control and Timing Requirements

Need to do profile testing to verify this requirement has been met

Modify ReadSensor to allow asynchronous reads

Modify ReadSensor to allow variable loop periods.

Need to test this.

Implement 1 millisecond optional resolution to save log space

Page Data Decimation for Transfer Requirements

Implement Implement Implement Implement Implement Implement Implement Allow selection based on other variables

Page Data Post-Processing Tool Requirements

Provide more robust Data Post-Processing tool for meeting requirement: Provide more robust Data Post-Processing tool for meeting requirement: Provide Data Post-Processing tool for meeting requirement: Provide Data Post-Processing tool for meeting requirement: Deal with data files both as a continuous time stream and as a sequence of discrete missions

Page Data Storage Requirements

Test ability to recover from corrupted files.

Implement new file every hour.

Log mission transitions as EventEntry instances.

Implement Scaling values for storing floating values as integers must be available.

Class DepthRateCalculator

augment with 3 and 4-point backwards difference formulas: $dz/dt \approx \frac{3z(t)-4z(t-\delta t)+z(t-2\delta t)}{2\delta t}$ and $dz/dt \approx \frac{11z(t)-18z(t-\delta t)+9z(t-2\delta t)-2z(t-3\delta t)}{6\delta t}$

Class Execute

add timing options, etc. to meet requirements: Allow science data acquisition to occur asynchronous to core vehicle control and Allow science data acquisition to occur at a variable loop period

Class InternalSim

The first X seconds of each dive are used to tune the settings of mass zero position and buoyancy zero gain.

Class KeepStation

add in Catherine's code to use other variables to specify the max/min limits.

Page Mission Scripting Requirements

Implement fix and test Scripting

Class ModuleLoader

Eventually, will handle module unloading and reloading.

Class NavigationSim

The first X seconds of each dive are used to tune the settings of mass zero position and buoyancy zero gain.

Class PitchRateCalculator

augment with 3 and 4-point backwards difference formulas: $d\theta/dt \approx \frac{3\theta(t)-4\theta(t-\delta t)+\theta(t-2\delta t)}{2\delta t}$ and $d\theta/dt \approx \frac{11\theta(t)-18\theta(t-\delta t)+9\theta(t-2\delta t)-2\theta(t-3\delta t)}{6\delta t}$

Class ReadDataComponent

add timing options, etc. to meet requirements: Allow science data acquisition to occur asynchronous to core vehicle control and Allow science data acquisition to occur at a variable loop period

Page Simulation Requirements

Implement Implement Allow for very fast mission emulation

Member Simulator::invertMass (SimResultStruct &results)

Need to add check for singularity before inverting A

Class Str

share strings to reduce mallocs

Member Tracking::unitVectorToAzimuthAndElevation (Point3D &uhat, float &azimuth, float &elevation)

This is a generally useful conversion and should be made available at a higher level (maybe in AuvMath.cpp?) to avoid having multiple versions of the same method.

Class YawRateCalculator

augment with 3 and 4-point backwards difference formulas: $d\psi/dt \approx \frac{3\psi(t)-4\psi(t-\delta t)+\psi(t-2\delta t)}{2\delta t}$ and $d\psi/dt \approx \frac{11\psi(t)-18\psi(t-\delta t)+9\psi(t-2\delta t)-2\psi(t-3\delta t)}{6\delta t}$