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Engineering/joystick_backseat.xml

Mission ID: joystick_backseat

Mission Path: Engineering/joystick_backseat.xml

This mission drives the vehicle on the surface at a speed and heading as commanded by a beackseat computer.

The mission monitors the time between speed updates and stops the vehicle if SpeedUpdateTimeout expires.

Arguments

MissionTimeout

MissionTimeout = 2 hour

Maximum duration of mission

SpeedUpdateTimeout

SpeedUpdateTimeout = 15 second

Max time allowed between speed command updates.

HorizontalCommandMode

HorizontalCommandMode = 0 count

Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command.

ElevatorAngle

ElevatorAngle = -7 degree

Holds elevator angle to keep vehicle pitched up on the surface.

Output

Speed

Speed = 0 meter_per_second

Commanded vehicle speed.

Heading

Heading = 0 degree

Commanded vehicle heading. Mission will init Heading to current vehicle heading.

RudderAngle

RudderAngle = 0 degree

Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode.

MassPosition

MassPosition = Control:VerticalControl.massDefault

Commanded vehicle mass position. Mission will init MassPosition to current vehicle default.

HeadingMode

HeadingMode = 0 count

Heading angle command mode enumaration.

RudderMode

RudderMode = 1 count

Rudder angle command mode enumaration.

ElapsedSinceMissionStarted

ElapsedSinceMissionStarted = 0 minute

Invoked Module Behaviors

Guidance:BackseatDriver

Guidance:Buoyancy

Guidance:GoToSurface

Guidance:Mass

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:Wait