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Science/altitudeServo_backseat.tl

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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"
  }

}