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# `Engineering/control_test_straight.tl`¶

Mission ID: `control_test_straight`

Mission Path: `Engineering/control_test_straight.tl`

Vehicle drives towards the specified waypoint or at the specified heading spending a fixed duration at each of up to five depths, using some combination of actuators for control.

## Arguments¶

### MissionTimeout¶

``````MissionTimeout = 1 hour
``````

Maximum duration of mission.

### Repeat¶

``````Repeat = 1 count
``````

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

### Lat¶

``````Lat = NaN degree
``````

Latitude of waypoint. Uses heading if NaN.

### Lon¶

``````Lon = NaN degree
``````

Longitude of waypoint. Uses heading if NaN.

``````Heading1 = NaN degree
``````

If waypoint is NaN, absolute heading at which to drive for leg 1.

``````Heading2 = NaN degree
``````

If waypoint is NaN, absolute heading at which to drive for leg 2.

``````Heading3 = NaN degree
``````

If waypoint is NaN, absolute heading at which to drive for leg 3.

``````Heading4 = NaN degree
``````

If waypoint is NaN, absolute heading at which to drive for leg 4.

``````Heading5 = NaN degree
``````

If waypoint is NaN, absolute heading at which to drive for leg 5.

### LegDuration¶

``````LegDuration = 10 minute
``````

Duration of each leg.

### Depth1¶

``````Depth1 = NaN meter
``````

Depth of leg 1. NaN to skip leg.

### Depth2¶

``````Depth2 = NaN meter
``````

Depth of leg 2. NaN to skip leg.

### Depth3¶

``````Depth3 = NaN meter
``````

Depth of leg 3. NaN to skip leg.

### Depth4¶

``````Depth4 = NaN meter
``````

Depth of leg 4. NaN to skip leg.

### Depth5¶

``````Depth5 = NaN meter
``````

Depth of leg 5. NaN to skip leg.

### Speed1¶

``````Speed1 = 1 meter_per_second
``````

Speed of leg 1.

### Speed2¶

``````Speed2 = 1 meter_per_second
``````

Speed of leg 2.

### Speed3¶

``````Speed3 = 1 meter_per_second
``````

Speed of leg 3.

### Speed4¶

``````Speed4 = 1 meter_per_second
``````

Speed of leg 4.

### Speed5¶

``````Speed5 = 1 meter_per_second
``````

Speed of leg 5.

### UseElevators¶

``````UseElevators = true
``````

Whether or not to use elevators for control

### ElevatorDefault¶

``````ElevatorDefault = 0 degree
``````

Elevator setpoint if UseElevators is false

### UseMass¶

``````UseMass = false
``````

Whether or not to use mass for control

### MassDefault¶

``````MassDefault = Control:VerticalControl.massDefault
``````

Mass setpoint if UseMass is false

### UseBuoyancy¶

``````UseBuoyancy = false
``````

Whether or not to use buoyancy for control

### BuoyancyDefault¶

``````BuoyancyDefault = Control:VerticalControl.buoyancyNeutral
``````

Buoyancy setpoint if UseBuoyancy is false

### MinAltitude¶

``````MinAltitude = 7 meter
``````

Minimum height above the sea floor for the entire mission.

### MaxDepth¶

``````MaxDepth = 100 meter
``````

Maximum depth for the entire mission.

### NeedCommsTime¶

``````NeedCommsTime = 1 hour
``````

How often to surface for comms. Will interrupt legs, should probably equal MissionTimeout.

None defined