Engineering/marl4.tl¶
Mission ID: marl
Mission Path: Engineering/marl4.tl
This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
Arguments¶
MissionTimeout¶
MissionTimeout = 6 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 40 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
ContactLabelOne¶
ContactLabelOne = 8 count
The acoustic address of the first asset to be pinged tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12 tiny = 20
ContactLabelTwo¶
ContactLabelTwo = 0 count
The acoustic address of the second asset to be pinged set to 0 if only one target is to be pinged
SendDataLabel¶
SendDataLabel = 10 count
The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch. set to 0 if no data sending is desired
SendDataStrPing¶
SendDataStrPing = 1 count
If 0 = we will use the new string funciton to send data over DAT modem (slower but we can receive more data such as range to target from other vehicle) If 1 = we will use the old pinging method to send data (faster but we can only receive the position of the other vehicle)
ContactDepth¶
ContactDepth = NaN meter
The asset's depth to be tracked
LatHeading¶
LatHeading = 36.775 degree
The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
LonHeading¶
LonHeading = -121.865 degree
The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
CenterNorthingsDelta¶
CenterNorthingsDelta = 0 meter
Desired change in latitude to achieve, expressed as a distance.
CenterEastingsDelta¶
CenterEastingsDelta = 0 meter
Desired change in longitude to achieve, expressed as a distance.
CircleRadius¶
CircleRadius = 50 meter
Radius of circle around acoustElapsedSinceLastSendDataic contact during wait time
SpeedUpdateTimeout¶
SpeedUpdateTimeout = 4 hour
Max time allowed between speed command updates.
StateUpdateDelay¶
StateUpdateDelay = 10 second
Minimum time delay between state updates to avoid rapid changes.
HorizontalCommandMode¶
HorizontalCommandMode = 0 count
Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. 2 = Waypoint command
AcousticContactTimeout¶
AcousticContactTimeout = 4 hour
If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore.
SendObsUpdatePeriod¶
SendObsUpdatePeriod = 480 second
Time to wait after an a-comms data has been sent before sending new data.
PingRangeUpdatePeriod¶
PingRangeUpdatePeriod = 120 second
How long to wait between acoustic queries
Depth¶
Depth = 20 meter
Depth of flat and level flight during the mission.
MaxDepth¶
MaxDepth = 60 meter
Maximum depth for the entire mission.
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MassHold¶
MassHold = true
Set to True in order to hold mass at default position, False to allow mass to run on its own.
BuoyancyHold¶
BuoyancyHold = true
Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.
NumberOfPings¶
NumberOfPings = 1 count
Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)
CircleMaxError¶
CircleMaxError = 10 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
Speed¶
Speed = 0 meter_per_second
Vehicle speed.
MyTempVar¶
MyTempVar = NaN none_str
A custom variable from the backseat driver interface.
NewSendObservations¶
NewSendObservations = 0 count
A custom variable from the backseat driver interface to indicate new data to send. 0 = no new data 1 = new data available
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 180 second
Internal variable to set how long to wait between updating internal tracking variables
ContactLabel¶
ContactLabel = 8 count
This is the default value, but it will be overwritten by bash file duirng simulation launch, and by ContactLabelOne duirng mission.
KwpHeading¶
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
MinOffshore¶
MinOffshore = 1.5 kilometer
Minimum offshore distance for the entire mission.
auxNewSendObservations¶
auxNewSendObservations = 0 count
Auxiliary variable to help with new send observations flag elapsed time
Output¶
PingEndOne¶
PingEndOne = false
Mission variable (don't change). Flag to count elapsed time after pinging target one.
PingEndTwo¶
PingEndTwo = false
Mission variable (don't change). Flag to count elapsed time after pinging target two.
PingEndThree¶
PingEndThree = false
Mission variable (don't change). Flag to count elapsed time after pinging target three.
HeadingMode¶
HeadingMode = 0 count
Heading angle command mode enumaration.
RudderMode¶
RudderMode = 1 count
Rudder angle command mode enumaration.
WpMode¶
WpMode = 2 count
Waypoint command mode enumaration.
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.
ElapsedSinceLastSendData¶
ElapsedSinceLastSendData = 0 second
Time elapsed since last Send Data fix.
ElapsedSinceLastPing¶
ElapsedSinceLastPing = 0 second
Time elapsed since last Ping fix.
CurrentContactRange¶
CurrentContactRange = 0 meter
Current range to acoustic contact.
ElapsedSincePingEndTwo¶
ElapsedSincePingEndTwo = 0 second
Time elapsed since pinging target two ended.
ElapsedSincePingEndOne¶
ElapsedSincePingEndOne = 0 second
Time elapsed since pinging target one ended.
ElapsedSincePingEndThree¶
ElapsedSincePingEndThree = 0 second
Time elapsed since pinging target three ended.
ContactLatitude¶
ContactLatitude = 0 degree
The latitude of the contact being tracked.
ContactLongitude¶
ContactLongitude = 0 degree
The longitude of the contact being tracked.
Inserts¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticContactTimeout