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407 | mission altitudeServo_backseat {
"""
The vehicle will transit to an initial waypoint, then navigate to
waypoints while maintaining altitude. During the altitude following
phase of the mission, the vehicle descends from the surface to a
commanded depth using a spiral dive (e.g., after NeedComms).
"""
arguments {
MissionTimeout = 2 hour
"""
Maximum duration of mission
"""
NeedCommsTime = 60 minute
"""
How often to surface for commumications
"""
TransitLat = NaN degree
"""
Latitude of tranist waypoint. Transit is skipped if set to NaN.
"""
TransitLon = NaN degree
"""
Longitude of tranist waypoint. Transit is skipped if set to NaN.
"""
TransitDepth = 10 meter
"""
Depth of flat and level flight during the transit part of the mission.
"""
ApproachDepthRate = 0.05 meter_per_second
"""
Descent depth rate (Positive depth rate means going down).
"""
Repeat = 1 count
"""
Number of times the vehicle should try to cycle through waypoints.
"""
Lat1 = NaN degree
"""
Latitude of waypoint 1. If nan, waypoint is skipped.
"""
Lon1 = NaN degree
"""
Longitude of waypoint 1. If nan, waypoint is skipped.
"""
Lat2 = NaN degree
"""
Latitude of waypoint 2. If nan, waypoint is skipped.
"""
Lon2 = NaN degree
"""
Longitude of waypoint 2. If nan, waypoint is skipped.
"""
Lat3 = NaN degree
"""
Latitude of waypoint 3. If nan, waypoint is skipped.
"""
Lon3 = NaN degree
"""
Longitude of waypoint 3. If nan, waypoint is skipped.
"""
HoldAltitude = 7 meter
"""
Desired vehicle altitude to maintain.
"""
InvalidAltitudeTimeout = NaN minute
"""
The mission will abort if no valid altitude readings are received within
this specified time duration. Set this variable to NaN to disable this
timeout functionality.
"""
AltitudeIIRFilterDecay = 0.0 none
"""
AltitudeServo single-pole IIR filter decay value.
Low-pass filters the AltitudeServo depth command.
The Decay value should be btween 0 to 1, set to 0 disable filtering.
"""
InitDepth = 30 meter
"""
Initial depth. The vehicle will spiral dive to this depth when leaving
the surface. Necessary if no altitude reading is available form the
surface (e.g., when the bottom is out of DVL range).
"""
InitDepthTimeout = 30 minute
"""
Maximum time duration for the vehicle to reach the initial depth. The
vehicle will switch over to altitude following after the timeout is
expired.
"""
Speed = 1 meter_per_second
"""
Thruster speed for the entier mission.
"""
DepthDeadband = 0.0 meter
MinAltitude = 5 meter
"""
Minimum height above the sea floor for the entire mission.
"""
MaxDepth = 205 meter
"""
Maximum depth for the entire mission.
"""
MinOffshore = 2 kilometer
"""
Minimum offshore distance for the entire mission.
"""
PowerBackseat = 1 bool
"""
Default backseat enabled
"""
}
output {
DoingComms = false
"""
Mission variable (don't change). The mission sets this to true *before*
the vehicle surfaces for comms.
"""
StartFromSurface = true
"""
Mission variable (don't change). The mission sets this to true *after*
the vehicle surfaces for comms.
"""
}
# Mission timeout
timeout duration=MissionTimeout
# Safety nets and surfacing behaviors
insert Insert/StandardEnvelopes.tl
assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
insert Insert/NeedComms.tl id="NeedComms"
assign in sequence NeedComms:DiveInterval = MissionTimeout
assign in sequence NeedComms:WaitForPitchUp = 0 minute
aggregate SurfaceComms {
run when ( called or elapsed ( Universal:time_fix ) > NeedCommsTime )
assign in sequence DoingComms = true
call refId="NeedComms"
assign in sequence DoingComms = false
assign in sequence StartFromSurface = true
}
# Set default mass and VBS positions
behavior Guidance:Mass {
run in parallel
set Guidance:Mass.position = Control:VerticalControl.massDefault
}
behavior Guidance:Buoyancy {
run in parallel
set Guidance:Buoyancy.position = Control:VerticalControl.buoyancyNeutral
}
# Callable aggregates (priority matters, so these are done below important safety directives like StandardEnvelopes).
aggregate DiveCmd {
run when ( called )
aggregate SpiralDive {
"""
Spiral down from the surface to initial depth. Necessary when no
altitude reading is available form the surface.
"""
run while ( StartFromSurface and not ( DoingComms )
)
aggregate dive {
run in sequence
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = Speed
}
behavior Guidance:Point {
run in parallel
set Guidance:Point.rudderAngle = 13 degree
}
behavior Guidance:Pitch {
run in sequence
timeout duration=InitDepthTimeout {
syslog important "Timed out at current depth of " + Universal:depth~meter + ". Switching to altitude servo."
assign in sequence StartFromSurface = false
}
set Guidance:Pitch.depth = InitDepth
set Guidance:Pitch.depthRate = ApproachDepthRate
}
assign in sequence StartFromSurface = false
}
}
aggregate AltitudeServo {
"""
Follow commanded altitude.
"""
run while ( not ( StartFromSurface ) and not ( DoingComms )
)
aggregate dive {
run in parallel
assign in parallel Control:VerticalControl.depthDeadband = DepthDeadband
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = Speed
}
behavior Guidance:AltitudeServo {
run in parallel
set Guidance:AltitudeServo.targetAltitude = HoldAltitude
set Guidance:AltitudeServo.invalidAltitudeTimeout = InvalidAltitudeTimeout
set Guidance:AltitudeServo.iirFilterDecay = AltitudeIIRFilterDecay
}
}
}
}
# Mission
call id="StartingMission" refId="SurfaceComms"
# Fire up science sensors
insert Insert/Science.tl
# Power backseat
insert Insert/BackseatDriver.tl
assign in sequence BackseatDriver:EnableBackseat = PowerBackseat
# Run
aggregate Transit {
"""
Transit flat and level to the starting waypoint at a fixed depth
(skipped when transit Lat/Lon are set to NaN).
"""
run in sequence
break if ( isNaN ( TransitLat ) or isNaN ( TransitLon ) )
behavior Guidance:SetSpeed {
run in parallel
set Guidance:SetSpeed.speed = Speed
}
behavior Guidance:Pitch {
run in parallel
set Guidance:Pitch.depth = TransitDepth
}
behavior Guidance:Waypoint id="TransitWpt" {
run in sequence
set Guidance:Waypoint.latitude = TransitLat
set Guidance:Waypoint.longitude = TransitLon
}
call refId="SurfaceComms"
}
aggregate Lap {
run in sequence repeat=Repeat
aggregate Dive {
run while ( not ( DoingComms )
)
call refId="DiveCmd"
}
aggregate Wpt1 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set Guidance:Waypoint.latitude = Lat1
set Guidance:Waypoint.longitude = Lon1
}
}
aggregate Wpt2 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set Guidance:Waypoint.latitude = Lat2
set Guidance:Waypoint.longitude = Lon2
}
}
aggregate Wpt3 {
run in sequence
behavior Guidance:Waypoint {
run in sequence
set Guidance:Waypoint.latitude = Lat3
set Guidance:Waypoint.longitude = Lon3
}
}
call id="PhoneHome" refId="SurfaceComms"
}
}
|