RegressionTests/GazeboTests/testThrusterStopAndGo.xml¶
Mission ID: test_thruster_stop_and_go
Mission Path: RegressionTests/GazeboTests/testThrusterStopAndGo.xml
This mission commands the vehicle actuators to a specified position/velocity. The thruster will toggle between 2 velocities over spcified time interval and repeat num.
Arguments¶
MissionTimeout¶
MissionTimeout = 45 minute
Maximum duration of mission
ThrusterPowerIntervalTime¶
ThrusterPowerIntervalTime = 2 minute
Time duration to run in each thruster speed interval.
ThrusterPowerIntervalRepeat¶
ThrusterPowerIntervalRepeat = 5 count
Number of times to repeat the thruster interval lap.
Speed1¶
Speed1 = 0.0 meter_per_second
Speed setting for speed during interval 1.
Speed2¶
Speed2 = 1.0 meter_per_second
Speed setting for speed during interval 2 (meter_per_second; 1 m/s = 300 RPM).
MassPosition¶
MassPosition = Control:VerticalControl.massDefault
Static setting for mass during the mission (millimeter). Defaults to massDefault setting in the Config/Control.cfg file.
Commanded values should fall between the permitted cofig range as defined by: - VerticalControl.massPositionLimitFwd // Forward limit (toward nose = positive) - VerticalControl.massPositionLimitAft // Backward limit (toward tail = negative)
BuoyancyPosition¶
BuoyancyPosition = Control:VerticalControl.buoyancyNeutral
Static setting for buoyancy during the mission (cubic_centimeter). Defaults to buoyancyNeutral setting in the Config/Control.cfg file.
Commanded values should fall between the permitted cofig range as defined by: - VerticalControl.buoyancyLimitHiCC // High limit (max bouncy) - VerticalControl.buoyancyLimitLoCC // Low limit (min bouncy)
RudderAngle¶
RudderAngle = 0 degree
Static setting for rudder angle during the mission (degrees). Defaults to center (0 deg).
Max value: 15 degrees, turn rudder to stbd, turn vehicle nose to port Max value: -15 degrees, turn rudder to port, turn vehicle nose to stbd
ElevatorAngle¶
ElevatorAngle = 0 degree
Static setting for elevator angle during the mission (degrees). Defaults to center (0 deg).
Max value: 15 degrees, turn elevator up, pitch vehicle nose down (pitch < 0) Max value: -15 degrees, turn elevator down, pitch vehicle nose up (pitch > 0)
Output¶
Speed¶
Speed = 0.0 meter_per_second
Mission variable (don't change). The mission will set this var to match the appropriate speed for per interval.