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Insert/LineCapture.tl

Aggregate ID: LineCapture

Aggregate Path: Insert/LineCapture.tl

Home to transponder sequence: (0) Undock (1) Midcourse guidance: nav to dock WP while querying transponder, execute search pattern if WP is reached with no response from x-ponder. (2) Terminal guidance: home to target using DUSBL tracking data, reset nav, and dock

Inserted by:

Arguments

DockLat

DockLat = Dock:Dock.lat

Latitude of docking station waypoint (defaults to Config/workSite.beaconLat).

DockLon

DockLon = Dock:Dock.lon

Longitude of docking station waypoint (defaults to Config/workSite.beaconLon).

DetachTimeout

DetachTimeout = 30 minute

Maximum time duration for the vehicle to detach form the dock. The vehicle will switch over to midcourse guidance after the timeout is expired.

MidcourseDepth

MidcourseDepth = Dock:LineCapture.midcourseDepth

Desired vehicle depth when navigating to dock WP (during midcourse phase).

MidcourseSpeed

MidcourseSpeed = Dock:LineCapture.midcourseSpeed

Thruster speed during Midcourse guidance.

MidcourseTimeout

MidcourseTimeout = Dock:LineCapture.midcourseTimeout

Maximum time duration for running in midcourse guidance mode.

TerminalRange

TerminalRange = Dock:LineCapture.terminalRange

Range at which the vehicle should switch from navigating to the dock wp and start homing to the target using DUSBL tracking data. Max is ?? meters due to DUSBL ???.

AcousticTimeout

AcousticTimeout = Dock:LineCapture.acousticTimeout

Maximum time duration allowed between pings during terminal guidance. If expired, the vehicle will regress to Midcourse guidance.

losRateIIRFilterDecay

losRateIIRFilterDecay = 0.0 none

LineCapture single-pole IIR filter decay value. Filters line-of-sight (LOS) angle rotation rate. The Decay value should be btween 0 to 1, set to 0 disable filtering.

SearchTimeout

SearchTimeout = Dock:LineCapture.searchTimeout

Maximum time duration for running in search guidance mode.

CircleRadius

CircleRadius = Dock:LineCapture.searchCircleRadius

Radius of circle around the dock waypoint.

CircleMaxError

CircleMaxError = 1 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.

DepthDeadband

DepthDeadband = 0.01 meter

Vertical drift from the specified depth that's allowed during depth keeping.

RudderDeadband

RudderDeadband = 0.001 arcdeg

Degree of rounding in rudder command output values to use during Terminal Homing.

MinAltitude

MinAltitude = 2 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 8 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 1 meter

Minimum offshore distance for the entire mission.

DockingAltitude

DockingAltitude = NaN meter

Docking altitude. Ignored when NaN and used over depth when a valid altitude is set.

InvalidAltitudeTimeout

InvalidAltitudeTimeout = NaN minute

The mission will use the last good depth command if no valid altitude readings are received within this specified time duration.

AltitudeDepthLimit

AltitudeDepthLimit = NaN meter

Vehicle will not be commanded deeper than this regardless of altitude command.

AltitudeIIRFilterDecay

AltitudeIIRFilterDecay = 0.0 none

AltitudeServo single-pole IIR filter decay value. Low-pass filters the AltitudeServo depth command. The Decay value should be btween 0 to 1, set to 0 disable filtering.

ElapsedRange

ElapsedRange = 0 minute

Mission variable (don't change). Time since last range to acoustic contact.

Range

Range = NaN meter

Mission variable (don't change). Most recent range to acoustic contact.

Output

DoneTimeout

DoneTimeout = -1 count

Mission variable (don't change). The mission will run in this mode when the insert timed out.

Done

Done = 0 count

Mission variable (don't change). The mission will run in this mode when the insert is done (docked).

DetachFromDock

DetachFromDock = 1 count

Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatched.

Midcourse

Midcourse = 2 count

Mission variable (don't change). The mission will run in this mode when approaching the dock under Midcourse guidance.

Terminal

Terminal = 3 count

Mission variable (don't change). The mission will run in this mode when approaching the dock under Terminal guidance.

GuidanceMode

GuidanceMode = DetachFromDock

Mission variable (don't change). The mission sets this variable to switch between guidance modes.

DockingDepth

DockingDepth = 1 meter

Mission variable (don't change). Actual docking depth.

Inserts

Insert/StandardEnvelopes.tl

Invoked Module Behaviors

Dock:LineCapture

Dock:Undock

Guidance:AltitudeServo

Guidance:Buoyancy

Guidance:Circle

Guidance:Mass

Guidance:Pitch

Guidance:SetSpeed

Guidance:Wait

Guidance:Waypoint