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183 | # 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 transit_surface {
"""
Vehicle transits to desired waypoint on the surface and can be commanded to use/hold
mass or buoyancy. Useful for shore launch/recovery.
"""
arguments {
MissionTimeout = 60 minute
"""
Maximum duration of mission
"""
NeedCommsTime = 30 minute
"""
How often to surface for commumications
"""
Latitude = 36.797 degree
"""
Latitude of waypoint to seek.
"""
Longitude = -121.847 degree
"""
Longitude of waypoint to seek.
"""
Northings = 0 meter
"""
Northward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Eastings = 0 meter
"""
Eastward distance of the waypoint to seek. If combined with Latitude
and/or Longitude, this is an offset from the specified Latitude and/or
Longitude.
"""
Depth = 0.1 meter
"""
Depth of flat and level flight during the mission.
"""
Speed = 1.2 meter_per_second
"""
Speed of vehicle (relative to water) during the mission.
"""
MaxDepth = 2 meter
"""
Maximum depth for the entire mission.
"""
MinAltitude = 7 meter
"""
Minimum height above the sea floor for the entire mission.
"""
ElevatorAngle = -7 degree
"""
Holds elevator angle to keep vehicle pitched up on the surface.
"""
NeedGPSTime = 0.5 minute
"""
After this time elapses grab a fix underway
"""
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 default (note: note 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
behavior Guidance:AltitudeEnvelope {
run in parallel
set minAltitude = MinAltitude
}
behavior Guidance:DepthEnvelope {
run in parallel
set maxDepth = MaxDepth
}
insert Insert/BackseatDriver.tl
insert Insert/PowerOnly.tl
behavior Guidance:Buoyancy id="BuoyancyHold" {
run while ( BuoyancyHold )
set position = Control:VerticalControl.buoyancyDefault
}
behavior Guidance:Pitch id="MassHold" {
run while ( MassHold )
set massPosition = Control:VerticalControl.massDefault
}
behavior Guidance:Pitch {
run in parallel
set elevatorAngle = ElevatorAngle
}
aggregate Transit {
run in sequence
behavior Guidance:Pitch {
run in parallel
set depth = Depth
}
behavior Guidance:SetSpeed {
run in parallel
set speed = Speed
}
aggregate UpdateShore {
run when (
elapsed ( Universal:time_fix ) > NeedGPSTime
)
syslog info "GPS Underway - last time_fix was: " + Universal:time_fix~epoch_second
readDatum id="Read_GPS" {
timeout duration=P1M
Universal:time_fix
}
readDatum id="Read_Iridium" {
timeout duration=P1M
Universal:platform_communications
}
}
behavior Guidance:Waypoint id="Wpt1" {
run in sequence
set latitude = Latitude
set longitude = Longitude
set northingsDelta = Northings
set eastingsDelta = Eastings
}
call id="PhoneHome" priorityHere=false refId="NeedComms"
}
}
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