Behavior: BHV_PeriodicSurface

Brief Synopsis:

A behavior for periodically influencing the vehicle to surface.

Authors:

  • Michael Benjamin

Groups:

Distribution:

  • moos-ivp.org

Documentation:

Contact Email:

  • mikerb@mit.edu, issues@mit.edu

Function:

This behavior will periodically influence the depth and speed of the vehicle while remaining neutral at other times. The purpose is to bring the vehicle to the surface periodically to achieve some event specified by the user, typically the receipt of a GPS fix. Once this event is achieved, the behavior resets its internal clock to a given period length and will remain idle until a clock time-out occurs.