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Maintenance/calibrate_sparton_compass.tl

Mission ID: calibrate_sparton_compass

Mission Path: Maintenance/calibrate_sparton_compass.tl

This mission yoyos in a spiral while calibrating the Sparton AHRS-M2 Micro AHRS/IMU with AdaptCal.

Arguments

MissionTimeout

MissionTimeout = 60 minute

Maximum duration of mission

NeedCommsTime

NeedCommsTime = 60 minute

Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications

YoYoMinDepth

YoYoMinDepth = 5 meter

Minimum depth while performing the YoYo behavior.

YoYoMaxDepth

YoYoMaxDepth = 40 meter

Maximum depth while performing the YoYo behavior.

YoYoMinAltitude

YoYoMinAltitude = 7 meter

Minimum altitude while performing the YoYo behavior (for bottom-terminated YoYos).

YoYoPitch

YoYoPitch = 20 degree

Pitch (plus and minus) for yo-yo behavior.

RudderAngle

RudderAngle = 13 degree

Rudder angle to use while performing the spiral cast.

Speed

Speed = 1 meter_per_second

Vehicle speed.

CalibrationInitTimeout

CalibrationInitTimeout = 2 minute

Elapsed time allowed for calibration to initialize

MinAltitude

MinAltitude = 5 meter

Minimum height above the sea floor for the entire mission.

MaxDepth

MaxDepth = 50 meter

Maximum depth for the entire mission.

MinOffshore

MinOffshore = 2 kilometer

Minimum offshore distance for the entire mission.

Output

None defined

Inserts

Insert/Science.tl

Most missions will run the science sensors. If you don't place this aggregate above NeedComms, science instruments get turned off on the last upcast and while floating on the surface.

Insert/NeedComms.tl

Insert/StandardEnvelopes.tl

Insert/BackseatDriver.tl

Insert/PowerOnly.tl

Invoked Module Behaviors

Guidance:AltitudeEnvelope

Guidance:Buoyancy

Guidance:DepthEnvelope

Guidance:Execute

Guidance:Pitch

Guidance:Point

Guidance:SetSpeed

Guidance:YoYo

Sensor:CalibrateAHRS_M2