Maintenance/optimize_roll_speed.tl¶
Mission ID: optimize_roll_speed
Mission Path: Maintenance/optimize_roll_speed.tl
Vehicle transits to desired waypoint while optimizing speed to achieve a target roll angle.
Arguments¶
MissionTimeout¶
MissionTimeout = 60 minute
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 30 minute
How often to surface for communications
Latitude¶
Latitude = NaN degree
Latitude of waypoint to seek. If set to NaN, uses latitude at mission initialization.
Longitude¶
Longitude = NaN degree
Longitude of waypoint to seek. If set to NaN, uses longitude at mission initialization.
Depth¶
Depth = 30 meter
Depth of flat and level flight during the mission.
StartSpeed¶
StartSpeed = 0.9 meter_per_second
Initial speed for roll optimization.
TargetRollAngle¶
TargetRollAngle = 0 degree
Target roll angle for roll speed optimization.
RollError¶
RollError = 2 degree
Error tolerance for roll angle during speed optimization.
MaxSpeed¶
MaxSpeed = 1.1 meter_per_second
Maximum speed for roll speed optimization.
MinSpeed¶
MinSpeed = 0.6 meter_per_second
Minimum speed for roll speed optimization.
WindowLen¶
WindowLen = 5 minute
Time window for roll speed optimization.
InitStep¶
InitStep = 0.05 meter_per_second
Initial step size for roll speed optimization.
MinStep¶
MinStep = 0.025 meter_per_second
Minimum step size for roll speed optimization.
Verbose¶
Verbose = true
Enable verbose logging for roll speed optimization.
MaxDepth¶
MaxDepth = 35 meter
Maximum depth for the entire mission.
MinOffshore¶
MinOffshore = 1 kilometer
Minimum distance offshore for the entire mission.
MinAltitude¶
MinAltitude = 7 meter
Minimum height above the sea floor for the entire mission.
MassHold¶
MassHold = true
Set to True in order to hold mass at default position, False to allow mass to run on its own.
BuoyancyHold¶
BuoyancyHold = true
Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.
Output¶
None defined