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184 | # 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 optimize_roll_speed {
"""
Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for communications
"""
Latitude = NaN degree
"""
Latitude of waypoint to seek. If set to NaN, uses latitude at mission
initialization.
"""
Longitude = NaN degree
"""
Longitude of waypoint to seek. If set to NaN, uses longitude at mission
initialization.
"""
Depth = 30 meter
"""
Depth of flat and level flight during the mission.
"""
StartSpeed = 0.9 meter_per_second
"""
Initial speed for roll optimization.
"""
TargetRollAngle = 0 degree
"""
Target roll angle for roll speed optimization.
"""
RollError = 2 degree
"""
Error tolerance for roll angle during speed optimization.
"""
MaxSpeed = 1.1 meter_per_second
"""
Maximum speed for roll speed optimization.
"""
MinSpeed = 0.6 meter_per_second
"""
Minimum speed for roll speed optimization.
"""
WindowLen = 5 minute
"""
Time window for roll speed optimization.
"""
InitStep = 0.05 meter_per_second
"""
Initial step size for roll speed optimization.
"""
MinStep = 0.025 meter_per_second
"""
Minimum step size for roll speed optimization.
"""
Verbose = true
"""
Enable verbose logging for roll speed optimization.
"""
MaxDepth = 35 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 1 kilometer
"""
Minimum distance offshore for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MassHold = true
"""
Set to True in order to hold mass at default position, False to allow
mass to run on its own.
"""
BuoyancyHold = true
"""
Set to True in order to hold buoyancy at neutral position, False to
allow buoyancy to run on its own.
"""
}
timeout duration=MissionTimeout
insert id="NeedComms" Insert/NeedComms.tl
assign in sequence NeedComms:DiveInterval = NeedCommsTime
assign in sequence NeedComms:WaitForPitchUp = 1 second
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
call id="StartingMission" refId="NeedComms"
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyNeutral
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetRollSpeed {
run in parallel
set targetRoll = TargetRollAngle
set rollError = RollError
set maxSpeed = MaxSpeed
set startSpeed = StartSpeed
set minSpeed = MinSpeed
set estimationWindow = WindowLen
set initStep = InitStep
set minStep = MinStep
set verbose = Verbose
set persistResult = true
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
}
call id="PhoneHome" refId="NeedComms"
}
}
|