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164 | # Copyright (c) 2024 MBARI
# MBARI Proprietary Information. Confidential. All Rights Reserved
# Unauthorized copying or distribution of this file via any medium is strictly
# prohibited.
#
# WARNING - This file contains information whose export is restricted by the
# Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
# amended. Violations of these export laws are subject to severe civil and/or
# criminal penalties.
mission DefaultUnderway {
arguments {
ElapsedSinceDefaultStarted = 0 minute
Speed = 0.8 meter_per_second
"""
Speed of the vehicle. Arg must change in mission script to be used as Default!
"""
ElevatorHoldAngle = -3 degree
"""
Elevator angle to hold when the vehicle is on the surface. Arg must change in mission script to be used as Default!
"""
WaypointLat = 36.813 degree
"""
Latitude of 'safe' waypoint to nav towards. Arg must change in mission script to be used as Default!
"""
WaypointLon = -121.879 degree
"""
Longitude of 'safe' waypoint to nav towards. Arg must change in mission script to be used as Default!
"""
WptCircleRadius = 100 meter
"""
Circle radius upon reaching 'safe' waypoint. Arg must change in mission script to be used as Default!
"""
GPSInterval = 1 minute
"""
How long to wait between GPS polls after each successful fix. Arg must change in mission script to be used as Default!
"""
CommsInterval = 1 minute
"""
How long to wait between comms cycles after each successful cycle. Arg must change in mission script to be used as Default!
"""
CommsTimeout = 15 minute
"""
Maximum time to wait for an Iridium comms cycle before retrying. Arg must change in mission script to be used as Default!
"""
DefaultTimeout = 1 hour
"""
Maximum duration of Default_underway before falling back to regular Default. Arg must change in mission script to be used as Default!
"""
}
timeout duration=DefaultTimeout {
syslog fault "Default underway timed out after " + DefaultTimeout~minute
+ " minutes, falling back to normal Default"
insert Default.tl
}
# Speed aggregate before the Wait because we'd really like to maintain way
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
behavior Guidance:Wait {
"""
Wait a moment to see if the scheduler starts a new mission before
starting to actually run Default.
"""
run in sequence
set duration = 13 second
}
behavior Guidance:Circle {
run in parallel
set latitude = WaypointLat
set longitude = WaypointLon
set radius = WptCircleRadius
set turnToPort = false
}
behavior Guidance:Pitch {
run while (
Universal:depth <= Control:VerticalControl.surfaceThreshold
)
set elevatorAngle = ElevatorHoldAngle
}
behavior Guidance:GoToSurface {
run in progression
}
aggregate PollGPS {
"""
Request a GPS fix periodically.
"""
run in parallel
aggregate {
run in sequence repeat=9999
readDatum id="Read_GPS" {
timeout duration=P5M
Universal:time_fix
}
behavior Guidance:Wait {
run in sequence
set duration = GPSInterval
}
}
}
aggregate PollComms {
"""
Initiate an Iridium comms cycle periodically.
"""
run in parallel
aggregate {
run in sequence repeat=9999
assign in sequence ElapsedSinceDefaultStarted = elapsed ( Universal:mission_started )
syslog important "Default underway has been running for " + ElapsedSinceDefaultStarted~minute
readDatum id="Read_Iridium" {
timeout duration=CommsTimeout
Universal:platform_communications
}
behavior Guidance:Wait {
run in sequence
set duration = CommsInterval
}
}
}
behavior Guidance:Wait {
run in sequence
set duration = DefaultTimeout + CommsTimeout
}
}
|