Engineering/tritoncam_transect.tl¶
Mission ID: transect
Mission Path: Engineering/tritoncam_transect.tl
Transect mission for Triton LRAUV.
Companion frontseat mission for the adaptive backseat running the transect
strategy. While searching, the vehicle yo-yos within the backseat-supplied
depth band and transits the waypoint list. When the backseat detects a target
it HOCKEY-STOPS and runs a TRANSECT leg: the strategy COLLAPSES the yoyo band
to the detection depth (publishes .YoYoMinDepth == .YoYoMaxDepth) and drives
_.speed_command (negative during the hockey stop, positive during the leg).
This mission uses that collapsed band as the "hold depth / run the leg" signal: the DepthEnvelope+YoYo hold the detection depth, and Guidance:Point applies a transect rudder to sweep the hotspot. It resumes yoyo/transit when the backseat re-opens the band. The rudder magnitude lives HERE (frontseat), so no backseat variable beyond the ones circle_hotspot already uses is required.
Arguments¶
MissionTimeout¶
MissionTimeout = 500 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 100 hour
How often to surface for communications
MinDepth¶
MinDepth = 10 meter
Minimum depth of the yoyo envelope. Updated by backseat via _.YoYoMinDepth. Collapses to the detection depth (== MaxDepth) during the transect leg.
MaxDepth¶
MaxDepth = 60 meter
Maximum depth of the yoyo envelope. Updated by backseat via _.YoYoMaxDepth. Collapses to the detection depth (== MinDepth) during the transect leg.
Speed¶
Speed = 1 meter_per_second
Vehicle speed. Updated by backseat via _.speed_command (negative during the hockey stop, positive during the transect leg).
YoYoDownPitch¶
YoYoDownPitch = -15 degree
Vehicle pitch while diving (negative = nose down).
YoYoUpPitch¶
YoYoUpPitch = 15 degree
Vehicle pitch while climbing (positive = nose up).
TransectRudder¶
TransectRudder = 15 degree
Rudder angle applied during the transect leg (and hockey stop). The turn magnitude is decided here on the frontseat, not by the backseat.
TransectBandThreshold¶
TransectBandThreshold = 1 meter
The yoyo band is treated as "collapsed" (transect / depth-hold mode) when MaxDepth - MinDepth is below this. The backseat collapses the band to the detection depth to request the leg.
TransectCheckInterval¶
TransectCheckInterval = 15 second
How often, while running the leg, to re-check whether the backseat still wants it (i.e. whether the band is still collapsed). The leg breaks out as soon as the backseat re-opens the band.
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.
Output¶
None defined