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¶
Heading1 = NaN degree
If waypoint is NaN, absolute heading at which to drive for leg 1.
Heading2¶
Heading2 = NaN degree
If waypoint is NaN, absolute heading at which to drive for leg 2.
Heading3¶
Heading3 = NaN degree
If waypoint is NaN, absolute heading at which to drive for leg 3.
Heading4¶
Heading4 = NaN degree
If waypoint is NaN, absolute heading at which to drive for leg 4.
Heading5¶
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.
Output¶
None defined