Maintenance/line_capture_homing_lab.xml¶
Mission ID: lineCaptureHoming
Mission Path: Maintenance/line_capture_homing_lab.xml
Home to transponder while maintaining altitude. The mission sequence: () Start (1) Midcourse guidance: nav to target WP while querying transponder (2) Terminal guidance: home to target using DUSBL tracking data, fire up SCPI when in range (4) Dock: final approach using fixed heading (5) Rollout: break off from dock, then nav back to start wp or move away from the target at the last commanded heading () repeat Note: since there's a possibility that no altitude reading will be available form the surface (e.g., when the bottom is out of DVL range), the vehicle first descends from the surface to a commanded depth and then starts following the commanded altitude.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum length of mission
NeedCommsTime¶
NeedCommsTime = 60 minute
How often to surface for commumications
Repeat¶
Repeat = 1 count
Number of times the vehicle should try to cycle through the homing sequence.
DockLat¶
DockLat = 36.7436 degree
Latitude of docking station waypoint.
DockLon¶
DockLon = -121.8800 degree
Longitude of docking station waypoint.
StartLat¶
StartLat = NaN degree
Latitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until RolloutTime has passed.
StartLon¶
StartLon = NaN degree
Longitude of docking sequance start waypoint. The vehicle navigates back to this waypoint at the end of each homing attempt. If set to NaN, the vehicle moves away from the target at the last commanded heading until RolloutTime has passed.
TerminalRange¶
TerminalRange = 650.0 meter
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 ???.
ArmRange¶
ArmRange = 40.0 meter
Range to deploy the whiskers, open the latch, and activate the camera.
DockRange¶
DockRange = 1.0 meter
Range from dock to stop commanding heading.
TerminalGuidanceTimeout¶
TerminalGuidanceTimeout = 30 minute
Maximum time duration for running in terminal guidance mode.
DockTimeout¶
DockTimeout = 60 second
Maximum time duration for running in Dock lockout mode.
UpdateNav¶
UpdateNav = false
When true, the mission updates the vehicle's position to DockLat/Lon when it comes within DockRange from the transponder.
WaitOnDockTimeout¶
WaitOnDockTimeout = 90 second
Time duration to wait on the dock after a successful line capture.
BreakOffRange¶
BreakOffRange = 0.0 meter
Range from dock in which the vehicle is considered undocked. IMPORTANT: When undocking the vehicle is commanded to drift to InitDepth. Thus, BreakOffRange must be less than the vertical distance between the dock transponder and InitDepth.
RolloutDistance¶
RolloutDistance = 150 meter
Distance to move away from the target (rollout) in response to missing the target.
RolloutTime¶
RolloutTime = 5 minute
Drive on your last heading for this long after detaching from the dock. This argument is ignored if start Lat/Lon are specified.
HoldAltitude¶
HoldAltitude = 7 meter
Desired vehicle altitude to maintain.
InvalidAltitudeTimeout¶
InvalidAltitudeTimeout = 15 minute
The mission will abort if no valid altitude readings are received within this specified time duration. Set this variable to NaN to disable this timeout functionality.
InitDepth¶
InitDepth = 20 meter
Initial depth. The vehicle will dive to this depth when leaving the surface. Necessary if no altitude reading is available form the surface (e.g., when the bottom is out of DVL range).
InitDepthTimeout¶
InitDepthTimeout = 30 minute
Maximum time duration for the vehicle to reach the initial depth. The vehicle will switch over to altitude following after the timeout is expired.
TransponderCode¶
TransponderCode = 2 count
Transponder Address.
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 2.5 second
How long to wait between acoustic queries.
NumberOfPings¶
NumberOfPings = 1 count
Number of pings requested each time.
Speed¶
Speed = 0 meter_per_second
Thruster speed for the entier mission.
DepthDeadband¶
DepthDeadband = 0.01 meter
Vertical drift from the specified depth that's allowed during altitude keeping (alt. is projected to depth).
KpHeading¶
KpHeading = 0.8 none
Heading proportional gain to use during Terminal Homing.
KiHeading¶
KiHeading = 0.002 reciprocal_second
Heading Integral gain to use during Terminal Homing.
KpHeadingFinal¶
KpHeadingFinal = 1.6 none
Heading proportional gain to use during Final Approach.
KiHeadingFinal¶
KiHeadingFinal = 0.004 reciprocal_second
Heading Integral gain to use during Final Approach.
RudderDeadband¶
RudderDeadband = 0.05 arcdeg
Degree of rounding in rudder command output values to use during Terminal Homing.
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MaxDepth¶
MaxDepth = 205 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 2 kilometer
Minimum offshore distance for the entire mission.
Verbose¶
Verbose = true
Send LineCapture/Undock syslog messages to shore.
Output¶
HomingActive¶
HomingActive = true
Mission variable (don't change). The mission sets this to true when the vehicle is homing.
Docked¶
Docked = false
Mission variable (don't change). The mission sets this to true to indicate a successful line capture.
DockingDepth¶
DockingDepth = 25 meter
Mission variable (don't change). The mission sets this to the vehicle's depth following a successful line capture.
DiveMode¶
DiveMode = 0 count
Mission variable (don't change). The mission sets this variable to switch between dive modes.
DoingComms¶
DoingComms = 0 count
Mission variable (don't change). The mission will run in this to mode when running surface comms.
InitialDive¶
InitialDive = 1 count
Mission variable (don't change). The mission will run in this mode when surface comms are done to dive the vehicle to DVL bottom range.
MaintainAltitude¶
MaintainAltitude = 2 count
Mission variable (don't change). The mission will run in this mode to dive the vehicle at a commanded altitude.
WaitOnDock¶
WaitOnDock = 3 count
Mission variable (don't change). The mission will run in this mode to maintatin depth while the vehicle is latched on the dock.
DetachFromDock¶
DetachFromDock = 4 count
Mission variable (don't change). The mission will run in this mode to drift away from the dock after is unlatched.