The GoToWayPoint Task

Description

Publishes

• EndFlags

Subscribes

• StartFlags
• NAV_X
• NAV_Y
• NAV_Z
• NAV_YAW

Configuration Block

• Common Task Parameters

• Thrust

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

• Location

  • Syntax: Location = X,Y,Z
  • Meaning: Set location of waypoint to X,Y,Z
  • Example: Location = 15,-15,0 set way point goal at 15,-15,0

• Radius

  • Syntax: Radius = Radius
  • Meaning: Set radius of waypoint tolerance sphere to Radius meters
  • Example: Radius = 10 Tolerance will be set to 10m

Example Block

Task = GotoWayPoint
{
	Name = WP7
	Priority = 3
	InitialState = OFF
	TimeOut = 200
	StartFlag = WP6Done
	FinishFlag = WP7Done

	Location = -70,-70,0
	Radius = 6	
}

The MOOS © P. Newman 2001-2002