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Engineering/altitudeServo.tl

Mission ID: altitudeServo

Mission Path: Engineering/altitudeServo.tl

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

MissionTimeout = 2 hour

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

How often to surface for commumications

TransitLat

TransitLat = NaN degree

Latitude of tranist waypoint. Transit is skipped if set to NaN.

TransitLon

TransitLon = NaN degree

Longitude of tranist waypoint. Transit is skipped if set to NaN.

TransitDepth

TransitDepth = 10 meter

Depth of flat and level flight during the transit part of the mission.

ApproachDepthRate

ApproachDepthRate = 0.05 meter_per_second

Descent depth rate (Positive depth rate means going down).

Repeat

Repeat = 1 count

Number of times the vehicle should try to cycle through waypoints.

Lat1

Lat1 = NaN degree

Latitude of waypoint 1. If nan, waypoint is skipped.

Lon1

Lon1 = NaN degree

Longitude of waypoint 1. If nan, waypoint is skipped.

Lat2

Lat2 = NaN degree

Latitude of waypoint 2. If nan, waypoint is skipped.

Lon2

Lon2 = NaN degree

Longitude of waypoint 2. If nan, waypoint is skipped.

Lat3

Lat3 = NaN degree

Latitude of waypoint 3. If nan, waypoint is skipped.

Lon3

Lon3 = NaN degree

Longitude of waypoint 3. If nan, waypoint is skipped.

HoldAltitude

HoldAltitude = 7 meter

Desired vehicle altitude to maintain.

InvalidAltitudeTimeout

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

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

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

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

Speed = 1 meter_per_second

Thruster speed for the entier mission.

DepthDeadband

DepthDeadband = 0.0 meter

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 205 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

DoingComms

DoingComms = false

Mission variable (don't change). The mission sets this to true before the vehicle surfaces for comms.

StartFromSurface

StartFromSurface = true

Mission variable (don't change). The mission sets this to true after the vehicle surfaces for comms.

Inserts

Insert/StandardEnvelopes.tl

Insert/NeedComms.tl

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Insert/Science.tl

Invoked Module Behaviors

Guidance:AltitudeServo

Guidance:Buoyancy

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Waypoint