Survey Task

Description

Publishes

• EndFlags
• EventFlags

Subscribes

• StartFlags
• NAV_X
• NAV_Y
• NAV_YAW

Configuration Block

• Common Task Parameters

• Thrust

  • Syntax: Thrust = Thrust[0-100]
  • Meaning: Set Thrust of survey operation
  • Example: Thrust = 10 go at ten percent throttle.

• CENTER

  • Syntax: CENTER = X,Y
  • Meaning: Set the center of teh survey rectangle
  • Example: CENTER = 80,80 vehicle will survey around 80,80

• A/B

  • Syntax: A/B = Length B
  • Meaning: Set the survey rectangle dimensions
  • Example: A = 80 each track line will be 80 m long

• LEGTIMEOUT

  • Syntax: LEGTIMEOUT = Timeout (s)
  • Meaning: Set the maximum time any one leg should take. If a leg takes longer than this then the next trackline will take over. NOTE the task will not time out. However the inherited task timeout will cause the task to terminate after the specified time. See Common Task Parameters
  • Example: LEGTIMEOUT = 200 no leg can take longer than 200 s

• SPACING

  • Syntax: SPACING = Distance (m)
  • Meaning: Set the distance between track lines
  • Example: SPACING = 20 20m between tracks

• ROTATION

  • Syntax: ROTATION = angle (deg)
  • Meaning: Set the (anticlockwise) rotation of teh survey rectangle about CENTER
  • Example: ROTATION = 45 45 deg rotations

• LEAD

  • Syntax: LEAD = distance (m)
  • Meaning: Set the "lead" on each trackline. The distance ahead of the perpendicular bisector that the vehicle heads for on a trackline.
  • Example: LEAD = 10 aim 10 m ahead

Example Block

Task = Survey
{
	Name = Survey1
	Priority = 3
	InitialState = ON
	TimeOut = 800
	FinishFlag = EndMission
	Thrust = 60
	Center = 0,0
	A = 100
	B = 100
	Spacing = 10
	Rotation = 270
	Radius = 10
	Lead = 5
}


The MOOS ©  P. Newman 2001-2002