Science/sysid_backseat.tl¶
Mission ID: sysid_backseat
Mission Path: Science/sysid_backseat.tl
Universal system identification mission driven by a backseat application.
The backseat publishes time-varying actuator commands and hold flags via customUri variables on the slate. This mission routes those commands to the appropriate Guidance behaviors and enforces a safety envelope.
Supports all sysid test types: thrust model, elevator/rudder effectiveness, mass shifter/bladder trim, free response, and coupled MIMO excitation.
Arguments¶
MissionTimeout¶
MissionTimeout = 4 hour
Maximum duration of mission.
BackseatTimeout¶
BackseatTimeout = 10 second
Max time allowed between backseat sysidActive updates. If exceeded, vehicle enters safe mode.
MaxDepth¶
MaxDepth = 200 meter
Hard maximum depth limit (mission envelope).
MinAltitude¶
MinAltitude = 7 meter
Hard minimum altitude limit (mission envelope).
MaxPitch¶
MaxPitch = 30 degree
Hard maximum pitch limit (mission envelope).
MaxRoll¶
MaxRoll = 30 degree
Hard maximum roll limit (mission envelope).
InitialDepth¶
InitialDepth = 3 meter
Depth target for the initial dive before the backseat test starts.
InitialSpeed¶
InitialSpeed = 1.0 meter_per_second
Speed target for the initial dive.
DiveSettleTime¶
DiveSettleTime = 2 second
Time to hold at InitialDepth before triggering the backseat test. Allows vehicle to stabilize at depth.
TestName¶
TestName = "sysid_01_thrust_model"
Name of the test plan YAML to run (without .yaml extension). Written to the slate to trigger the backseat application.
ElevatorDefault¶
ElevatorDefault = 0 degree
Default elevator angle when not being commanded.
RudderDefault¶
RudderDefault = 0 degree
Default rudder angle when not being commanded.
MassDefault¶
MassDefault = Control:VerticalControl.massDefault
Default mass position.
BuoyancyDefault¶
BuoyancyDefault = Control:VerticalControl.buoyancyNeutral
Default buoyancy position.
Output¶
Speed¶
Speed = InitialSpeed
Commanded vehicle speed (m/s).
Heading¶
Heading = 0 degree
Commanded vehicle heading.
ElevatorAngle¶
ElevatorAngle = ElevatorDefault
Commanded elevator angle.
RudderAngle¶
RudderAngle = RudderDefault
Commanded rudder angle.
MassPosition¶
MassPosition = MassDefault
Commanded mass position.
BuoyancyPosition¶
BuoyancyPosition = BuoyancyDefault
Commanded buoyancy position.
DepthTarget¶
DepthTarget = InitialDepth
Commanded depth target.
HoldDepth¶
HoldDepth = 1 count
Whether depth hold is active (1) or not (0).
HoldHeading¶
HoldHeading = 1 count
Whether heading hold is active (1) or not (0).
HoldPitch¶
HoldPitch = 1 count
Whether pitch hold is active (1) or not (0).
HoldSpeed¶
HoldSpeed = 1 count
Whether speed hold is active (1) or not (0).
SysidActive¶
SysidActive = 0 count
Whether backseat is actively commanding (1) or idle (0).
ElapsedSinceMissionStarted¶
ElapsedSinceMissionStarted = 0 minute