//////////////////////////////////////////////////////////////// // // PURPOSE: This contains DockModule parameters for Tethys. // // NOTES: All values (except "strings") must be followed by // a unit abbreviation (or one of the unit-like // abbreviations: n/a, bool, enum, count). // //////////////////////////////////////////////////////////////// Dock.lat = 36.8034 arcdeg; // latitude Dock.lon = -121.8223 arcdeg; // longitude Dock.depth = 3.0 meter; // transponder depth Dock.transponderCode = 2 count; // Dock transponder address Docked.dockingDepthOffset = 2.0 meter; // Offset from the dock xponder depth to use when docking. Positive down. Docked.dockRange = 8.0 meter; // Maximum absolute range allowed from dock xponder. Docked.dockPitch = 20.0 degree; // Pitch angle to hold while on the dock. Docked.detachTimeout = 300 second; // Time duration for determining if the vehicle is detached from the dock (transition docked->detached). Docked.dockTimeout = 30 second; // Time duration for determining if the vehicle is ON the dock (transition detached->docked). Docked.dataTimeout = 600 second; // Max time duration allowed with no DDM/range updates. Assumes detached if timeout expires. Docked.verbose = 0 bool; // Report state transitions to shore when true // Midcourse settings LineCapture.midcourseSpeed = 1.0 m/s; // Thruster speed during Midcourse guidance. LineCapture.midcourseDepth = 6.0 meter; // Desired vehicle depth when navigating to dock WP (during Midcourse phase). LineCapture.midcourseTimeout = 6 hour; // Maximum time duration for running in midcourse guidance mode. // Terminal homing settings LineCapture.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 ???. LineCapture.acousticTimeout = 5 minute; // Maximum time duration allowed between pings during terminal guidance. If expired, the // vehicle will regress to Midcourse guidance. LineCapture.armRange = 40.0 meter; // Range to trigger arming actions (e.g., deploy docking whiskers). LineCapture.armSpeed = 1 m/s; // Thruster speed when armed. LineCapture.lockoutRange = 2.0 meter; // Range in which terminal guidance stops updating the heading cmd (slant range). LineCapture.interceptTimeout = 60 second; // Max time duration to run in intercept mode. LineCapture.latchDelayTimeout = 0 second; //Time duration to wait after cable present first turns true until closing the latch LineCapture.rolloutDistance = 150 meter; // Distance to move away from the target (rollout) in response to a miss. LineCapture.rolloutSpeed = 1.0 m/s; // Thruster speed during rollout. LineCapture.rolloutTimeout = 15 minute; // Max time duration to run in rollout mode. LineCapture.kpHeadingTerminalGuidance = 0.8 ratio; // HorizontalControl heading proportional gain during TERMINAL GUIDANCE LineCapture.kiHeadingTerminalGuidance = 0.002 1/s; // HorizontalControl heading integral gain during TERMINAL GUIDANCE LineCapture.kpHeadingFinalApproach = 1.2 ratio; // HorizontalControl heading proportional gain during FINAL APPROACH LineCapture.kiHeadingFinalApproach = 0.003 1/s; // HorizontalControl heading integral gain during FINAL APPROACH LineCapture.navigationGain = 3.0 none; // Proportional Navigation gain (constant). Typically between 3 to 5. LineCapture.verbose = 0 bool; // Report state transitions to shore when true // Search pattern settings LineCapture.searchTimeout = 1 hour; // Maximum time duration for running the search pattern. Once expired, the // vehicle will enter surface mode. LineCapture.searchCircleRadius = 25.0 meter; // Radius of circle around the dock waypoint. SetNav.dockRange = 5 meter; // Range from dock in which the vehicle resets its position to dock lat/lon . SetNav.rangeTimeout = 5 minute; // Time duration after which ranges are considered stagnant. Undock.undockDepth = 7.5 meter; // Desired vehicle depth when undocking. Undock.undockRange = 10.0 meter; // Desired absolute range from dock xponder. Undock.undockTimeout = 20 second; // Time duration to wait after detachment is detected to avoid false positives and ensure successful undocking. Undock.reverseThrustTimeout = 10 second; // Max time duration to keep the thruster engaged in reverse to break apart from the dock. Undock.verbose = 0 bool; // Report state transitions to shore when true