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Insert/CircleWaypointRepeatedly.xml

Aggregate ID: CircleWaypointRepeatedly

Aggregate Path: Insert/CircleWaypointRepeatedly.xml

(No description)

Inserted by:

Arguments

Timeout

Timeout = 90 minute

Timeout for this behavior.

LapTimeout

LapTimeout = 240 minute

Timeout for each individual lap.

MaxLaps

MaxLaps = 32 count

Maximum number of repeat circles.

CenterLat

CenterLat = NaN degree

Latitude of center of circle.

CenterLon

CenterLon = NaN degree

Longitude of center of circle.

Radius

Radius = 250 meter

Radius of circle around CenterLat and CenterLon

MaxError

MaxError = 250 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.

TurnToPort

TurnToPort = false

If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.

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.)

FloatTime

FloatTime = 60 second

Pitch

Pitch = 20 degree

Speed

Speed = 1 meter_per_second

Output

None defined

Invoked Behaviors

Guidance:Circle

Guidance:GoToSurface