Engineering/tritoncam_hockey_stop.tl¶
Mission ID: hockey_stop
Mission Path: Engineering/tritoncam_hockey_stop.tl
Hockey-stop mission for Triton LRAUV.
Companion frontseat mission for the adaptive backseat running the
hockey_stop strategy. The frontseat owns the absolute [MinDepth, MaxDepth]
safety band and yo-yos it while searching (.InLeg==0). When the backseat
detects a target it raises .InLeg and publishes .LegDepth (the detection
depth, clamped inside the safety band); the Leg aggregate holds that depth and
drives .speed_command (negative during the hockey stop, positive during the
leg). The absolute band is never overwritten, so search resumes on leg exit.
Arguments¶
MissionTimeout¶
MissionTimeout = 2 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 1 hour
How often to surface for communications
MinDepth¶
MinDepth = 10 meter
Minimum depth of the (fixed) yoyo search envelope.
MaxDepth¶
MaxDepth = 60 meter
Maximum depth of the (fixed) yoyo search envelope.
Speed¶
Speed = 1 meter_per_second
Vehicle speed. Updated by backseat via _.speed_command (negative during the hockey stop, positive during the leg).
YoYoDownPitch¶
YoYoDownPitch = -15 degree
Vehicle pitch while diving (negative = nose down).
YoYoUpPitch¶
YoYoUpPitch = 15 degree
Vehicle pitch while climbing (positive = nose up).
LegRudder¶
LegRudder = 15 degree
Rudder angle applied during the leg (and hockey stop). The turn magnitude is decided here on the frontseat, not by the backseat.
LegDepth¶
LegDepth = 50 meter
Depth held during the leg. Updated by the backseat via _.LegDepth (the depth at which the target was detected).
LegCheckInterval¶
LegCheckInterval = 15 second
How often, while running the leg, to re-check whether the backseat still wants it (_.InLeg). The leg breaks out as soon as the backseat lowers the flag.
StateUpdateDelay¶
StateUpdateDelay = 1 second
Minimum time delay between state updates to avoid rapid changes.
MinAltitude¶
MinAltitude = 5 meter
MaxSafeDepth¶
MaxSafeDepth = 100 meter
MinOffshore¶
MinOffshore = 1.5 kilometer
Repeat¶
Repeat = 10 count
Number of times to cycle through the waypoint list.
Lat1¶
Lat1 = NaN degree
Latitude of waypoint 1. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon1¶
Lon1 = NaN degree
Longitude of waypoint 1. NaN entries are skipped.
Lat2¶
Lat2 = NaN degree
Latitude of waypoint 2. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon2¶
Lon2 = NaN degree
Longitude of waypoint 2. NaN entries are skipped.
Lat3¶
Lat3 = NaN degree
Latitude of waypoint 3. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon3¶
Lon3 = NaN degree
Longitude of waypoint 3. NaN entries are skipped.
Lat4¶
Lat4 = NaN degree
Latitude of waypoint 4. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon4¶
Lon4 = NaN degree
Longitude of waypoint 4. NaN entries are skipped.
Lat5¶
Lat5 = NaN degree
Latitude of waypoint 5. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon5¶
Lon5 = NaN degree
Longitude of waypoint 5. NaN entries are skipped.
Lat6¶
Lat6 = NaN degree
Latitude of waypoint 6. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon6¶
Lon6 = NaN degree
Longitude of waypoint 6. NaN entries are skipped.
Lat7¶
Lat7 = NaN degree
Latitude of waypoint 7. NaN entries are skipped. The vehicle yo-yos while transiting to each waypoint, so at least one is required.
Lon7¶
Lon7 = NaN degree
Longitude of waypoint 7. NaN entries are skipped.
MassHold¶
MassHold = true
Set to True to hold mass at default position.
PublishPeriod¶
PublishPeriod = 2 second
Re-publish period for the .bs* config below.
Strategy¶
Strategy = 2 count
Backseat strategy id (STRATEGY_IDS): 2=hockey_stop.
BsDetectionThreshold¶
BsDetectionThreshold = 1 count
hockey_stop detection_threshold: cumulative counts to trigger a hockey-stop.
BsDetectionMaxGapSec¶
BsDetectionMaxGapSec = 30 second
hockey_stop detection_max_gap_sec: max quiet gap before the detection cluster resets.
BsPostDetectionPattern¶
BsPostDetectionPattern = 1 count
hockey_stop post_detection_pattern: 0=straight, 1=circle, 2=spiral.
BsLegTimeoutNoDetectionSec¶
BsLegTimeoutNoDetectionSec = 30 second
hockey_stop leg_timeout_no_detection_sec: exit the leg after this long with no detection.
BsSpiralGrowthMinutes¶
BsSpiralGrowthMinutes = 5 count
hockey_stop spiral_growth_minutes (raw minutes): spiral rudder decay window.
BsMaxLegMinutes¶
BsMaxLegMinutes = 0 count
hockey_stop max_leg_minutes (raw minutes): hard cap on the leg; 0 = no cap.
Output¶
None defined