The Box Limit Task
Description
This task fires its event flag when the NAV_X NAV_Y or NAV_DEPTH variables are outside
acceptable ranges for more than a specified length of time.
Publishes
Subscribes
- StartFlags
- NAV_X
- NAV_Y
- NAV_DEPTH
Configuration Block
- Common Task Parameters
XMax,XMin,YMax,YMin,DepthMax
- Syntax: XMax/XMin/YMax/YMin = Val (m)
- Meaning: The Maximum or minum permissible working area for the vehicle XY and depth
- Example: XMax = 500 NAV_X must be less than 500m
IgnoreTime
- Syntax: IgnoreTime = Time (s)
- Meaning: Set time after which a continous NAV* output exceeding a limit will cause the event flags to fire.
- Example: IgnoreTime = 10 Fire after a 10 second work area breech.
Example Block
Task = LimitBox
{
Name = LimitBox
Priority = 0
InitialState = ON
TimeOut = NEVER
EventFlag = EndMission
XMax = 30
XMin = -30
YMax = 30
YMin = -30
DepthMax = 10
}
The MOOS © P. Newman 2001-2002 