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Behavior in module: Dock

Settings

acousticTimeout

  • Unit: MINUTE
  • Type: ConfigURI
Maximum time duration allowed between pings during terminal guidance

armRange

  • Unit: METER
  • Type: ConfigURI
Range to trigger arming actions (e.g., deploy docking whiskers).

armSpeed

  • Unit: METER_PER_SECOND
  • Type: ConfigURI
Thruster seed when armed.

bearingRate

  • Unit: RADIAN_PER_SECOND
  • Type: DataURI
Filtered bearing rate.

driftBearing

  • Unit: RADIAN
  • Type: DataURI

guidanceMode

  • Unit: ENUM
  • Type: DataURI

iirFilterDecay

  • Unit: NONE
  • Type: SettingURI
Single-pole IIR low-pass filter decay setting. Decay value is in (0, 1), set to 0 to disable filtering.

interceptTimeout

  • Unit: SECOND
  • Type: ConfigURI
Max time duration to run in intercept mode.

kiHeadingFinalApproach

  • Unit: RECIPROCAL_SECOND
  • Type: ConfigURI
HorizontalControl heading integral gain during FINAL APPROACH

kiHeadingTerminalGuidance

  • Unit: RECIPROCAL_SECOND
  • Type: ConfigURI
HorizontalControl heading integral gain during TERMINAL GUIDANCE

kpHeadingFinalApproach

  • Unit: RATIO
  • Type: ConfigURI
HorizontalControl heading proportional gain during FINAL APPROACH

kpHeadingTerminalGuidance

  • Unit: RATIO
  • Type: ConfigURI
HorizontalControl heading proportional gain during TERMINAL GUIDANCE

latchDelayTimeout

  • Unit: SECOND
  • Type: ConfigURI
How long to wait after cable present until closing the latch.

lockoutRange

  • Unit: METER
  • Type: ConfigURI
Range in which terminal guidance stops updating the heading cmd.

midcourseDepth

  • Unit: SECOND
  • Type: ConfigURI
Desired vehicle depth when navigating to dock WP (during Midcourse phase)

midcourseSpeed

  • Unit: METER_PER_SECOND
  • Type: ConfigURI
Thruster speed during Midcourse guidance.

midcourseTimeout

  • Unit: SECOND
  • Type: ConfigURI
Maximum time duration for running in midcourse guidance mode.
  • Unit: NONE
  • Type: ConfigURI
Unitless proportional navigation gain (constant). Set between 3 to 5.

proNavCmd

  • Unit: RADIAN_PER_SECOND_SQUARED
  • Type: DataURI
Filtered bearing rate command after pro-nav gain is applied.

rangeClosing

  • Unit: BOOL
  • Type: DataURI
Is range closing?

rangeStable

  • Unit: BOOL
  • Type: DataURI
Is range stable?

rawBearingRate

  • Unit: RADIAN_PER_SECOND
  • Type: DataURI
Raw bearing rate (before low-pass filter).

rolloutDistance

  • Unit: METER
  • Type: ConfigURI
Distance to move away from the target (rollout) in response to a miss.

rolloutMaxTimeout

  • Unit: SECOND
  • Type: ConfigURI
Absolute max time to run in rolloutmode, regardless of speed or target distance.

rolloutSpeed

  • Unit: METER_PER_SECOND
  • Type: ConfigURI
Thruster seed during rollout.

rolloutTimeout

  • Unit: SECOND
  • Type: ConfigURI
Max time duration to run in zero-speedrollout mode.

searchCircleRadius

  • Unit: METER
  • Type: ConfigURI
Radius of circle around the dock waypoint.

searchTimeout

  • Unit: MINUTE
  • Type: ConfigURI
Maximum time duration for running the search pattern.

shortFinalRange

  • Unit: METER
  • Type: ConfigURI
Range at which further ranges are ignored in final approach.Vehicle continues to navigate to the projected dock location.

terminalRange

  • Unit: METER
  • Type: ConfigURI
Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using acoustic tracking data

verbose

  • Unit: BOOL
  • Type: ConfigURI
Report state transitions to shore when true

Output Settings

(None)