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# `Engineering/altitudeServo.xml`¶

Mission ID: `altitudeServo`

Mission Path: `Engineering/altitudeServo.xml`

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 = 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.