Insert/TerrainAvoidance.tl¶
Aggregate ID: TerrainAvoidance
Aggregate Path: Insert/TerrainAvoidance.tl
Terrain avoidance: runs the vertical overrides that the backseat TA module commands. Use with Insert/StandardEnvelopes.tl. Insert it below StandardEnvelopes and BackseatDriver. TA commands only with Shadow = false here and shadow: false in the backseat config. Backseat sends .verticalCmdMode (-1 none, 1 stop, 2 depth, 5 pitch, 100 back off), .depthCmd (meter) and _.pitchCmd (radian, positive = nose up).
Inserted by:
Engineering/sci2_flat_and_level_ta.tlEngineering/sci2_ta.tlMaintenance/run_backseat_on_surface_terrain_avoidance.tl
Arguments¶
VerticalCmdTimeout¶
VerticalCmdTimeout = 15 second
Max time without a backseat command before the override is cancelled.
ReverseSpeed¶
ReverseSpeed = -1 meter_per_second
Astern speed during a back-off.
PublishPeriod¶
PublishPeriod = 2 second
How often the TA params below are re-published to the backseat.
TargetAltitude¶
TargetAltitude = 35 meter
Fly height above the seafloor (module h_target). Keep above MinAltitude.
CautionAltitude¶
CautionAltitude = 25 meter
Arms a blind climb below this when both sensors drop out (module h_caution). Keep above MinAltitude.
AvoidMinAltitude¶
AvoidMinAltitude = 15 meter
Module escalates below this (module h_min). Keep above MinAltitude.
AbortAltitude¶
AbortAltitude = 12 meter
Below this, the backseat backs off, then the insert stops the mission (only with AllowAbort; module h_abort). Keep above MinAltitude.
MaxClimbAngle¶
MaxClimbAngle = 20 degree
Max climb angle (module gamma_max_deg).
LookAheadRange¶
LookAheadRange = 100 meter
Terrain look-ahead range (module profile_range_m).
NominalSpeed¶
NominalSpeed = 1 meter_per_second
Cruise speed the module assumes (module nominal_speed_mps).
MinActiveDepth¶
MinActiveDepth = 5 meter
Shallower than this, the backseat starts no override and releases one in progress (a started back-off completes). A pitch override also stops here (module min_active_depth_m).
Shadow¶
Shadow = true
true = backseat only decides and logs. false = allow TA commands (backseat config must allow them too).
AllowAbort¶
AllowAbort = false
false = TA starts no back-off or stop; it climbs instead. A back-off already started still ends in a stop.
Output¶
VerticalOverrideMode¶
VerticalOverrideMode = -1 count
DepthSetpoint¶
DepthSetpoint = NaN meter
PitchAngle¶
PitchAngle = NaN radian
ParamsLogged¶
ParamsLogged = false
Armed¶
Armed = false
IgnoredMode¶
IgnoredMode = -1 count
NormalMode¶
NormalMode = -1 count
StopMode¶
StopMode = 1 count
DepthMode¶
DepthMode = 2 count
PitchMode¶
PitchMode = 5 count
BackoffMode¶
BackoffMode = 100 count