Engineering/tritoncam_adaptive_yoyo.tl¶
Mission ID: adaptive_yoyo
Mission Path: Engineering/tritoncam_adaptive_yoyo.tl
Adaptive YoYo mission for Triton LRAUV.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 1 hour
How often to surface for communications
MinDepth¶
MinDepth = 10 meter
Minimum depth of the yoyo envelope.
MaxDepth¶
MaxDepth = 60 meter
Maximum depth of the yoyo envelope.
Speed¶
Speed = 1 meter_per_second
Vehicle speed. Updated by backseat via _.speed_command.
YoYoDownPitch¶
YoYoDownPitch = -15 degree
Vehicle pitch while diving (negative = nose down).
YoYoUpPitch¶
YoYoUpPitch = 15 degree
Vehicle pitch while climbing (positive = nose up).
StateUpdateDelay¶
StateUpdateDelay = 1 second
Minimum time delay between state updates to avoid rapid changes.
MinAltitude¶
MinAltitude = 5 meter
MaxSafeDepth¶
MaxSafeDepth = 100 meter
MinOffshore¶
MinOffshore = 1.5 kilometer
Repeat¶
Repeat = 10 count
Number of times to cycle through the waypoint list.
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. NaN entries are skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. NaN entries are skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. NaN entries are skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. NaN entries are skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. NaN entries are skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. NaN entries are skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. NaN entries are skipped.
MassHold¶
MassHold = true
Set to True to hold mass at default position.
BuoyancyHold¶
BuoyancyHold = true
Set to True to hold buoyancy at neutral position.
PublishPeriod¶
PublishPeriod = 2 second
Re-publish period for the .bs* config below, so a backseat that starts after the mission still reads it.
Strategy¶
Strategy = 0 count
Backseat strategy id (STRATEGY_IDS): 0=adaptive_yoyo.
BsMinPeakThreshold¶
BsMinPeakThreshold = 1 count
adaptive_yoyo min_peak_threshold: noise floor the peak must exceed before flip engages
BsPeakFraction¶
BsPeakFraction = 0.5 count
adaptive_yoyo peak_fraction: flip when the smoothed signal drops below this x the tracked peak
BsMedianWindowSamples¶
BsMedianWindowSamples = 1 count
adaptive_yoyo median_window_samples: median-filter length.
BsMaWindowSeconds¶
BsMaWindowSeconds = 2 second
adaptive_yoyo ma_window_seconds: moving-average window.
Output¶
None defined