Seabed Track Task

Description

This task controls the Z axis of the vehicle in an attemt to keep a script definable altitude above the seabed. Note only the Z axis is controlled and so it can operate in conjunction with other tasks such as WayPoint.

Publishes

EndFlags
EventFlags

Subscribes

StartFlags
NAV_ALTITUDE

Configuration Block

Common Task Parameters
Altitude
- Syntax: Altitude = TrackAltitude
- Meaning: Set the Altitude to TrackAltitude
- Example: TrackAltitude = 8 vehicle will try to fly 8m above seabed

Example Block

Task = LimitAltitude
{
	Name = LimitAltitude
	Priority = 1
	InitialState = ON
	TimeOut = NEVER

	MinimumAltitude = 5
}


The MOOS ©  P. Newman 2001-2002