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vehicles-defs: Cleanup maneuvers for autonaut and caravel.
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‎vehicles-defs/09-autonaut-01.nvcl‎

Lines changed: 13 additions & 134 deletions
Original file line numberDiff line numberDiff line change
@@ -74,38 +74,13 @@
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<bearing type="float">0</bearing>
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<direction>Clockwise</direction>
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</trajectory>
77-
<velocity type="float" unit="m/s" tolerance="5">1.2</velocity>
77+
<velocity type="float" unit="m/s" tolerance="5">1</velocity>
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<annotation>
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<documentation>Loiter over a point</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.Loiter</implementation-class>
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</annotation>
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</Loiter>
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</maneuver>
84-
<maneuver>
85-
<StationKeeping kind="automatic">
86-
<basePoint type="pointType">
87-
<point>
88-
<id>SKLoc</id>
89-
<name>SKLoc</name>
90-
<coordinate>
91-
<latitude>0N</latitude>
92-
<longitude>0E</longitude>
93-
<depth>0</depth>
94-
</coordinate>
95-
</point>
96-
<radiusTolerance>8</radiusTolerance>
97-
</basePoint>
98-
<duration>0</duration>
99-
<trajectory>
100-
<radius type="float">12</radius>
101-
</trajectory>
102-
<speed type="float" unit="m/s" tolerance="5">1.2</speed>
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<annotation>
104-
<documentation>Station Keeping</documentation>
105-
<implementation-class>pt.lsts.neptus.mp.maneuvers.StationKeeping</implementation-class>
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</annotation>
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</StationKeeping>
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</maneuver>
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<maneuver>
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<Rows kind="automatic">
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<basePoint type="pointType">
@@ -122,10 +97,10 @@
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<width>100.0</width>
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<length>200.0</length>
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<height>0.0</height>
125-
<hstep>27.0</hstep>
100+
<hstep>50.0</hstep>
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<vstep>0.0</vstep>
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<bearing>0.0</bearing>
128-
<speed unit="m/s">1.2</speed>
103+
<speed unit="m/s">1</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.RowsManeuver</implementation-class>
@@ -150,7 +125,7 @@
150125
<pitch>10.0</pitch>
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<amplitude>0.1</amplitude>
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<duration>1200</duration>
153-
<speed type="float" unit="m/s">1.3</speed>
128+
<speed type="float" unit="m/s">1</speed>
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<radius>15.0</radius>
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<direction>CLOCKW</direction>
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<custom/>
@@ -174,34 +149,13 @@
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
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<path/>
177-
<speed unit="m/s">1.2</speed>
152+
<speed unit="m/s">1</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowPath</implementation-class>
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</annotation>
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</FollowPath>
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</maneuver>
184-
<maneuver>
185-
<FollowTrajectory kind="automatic">
186-
<basePoint type="pointType">
187-
<point>
188-
<id/>
189-
<coordinate>
190-
<latitude>0N</latitude>
191-
<longitude>0E</longitude>
192-
<depth>0.0</depth>
193-
</coordinate>
194-
</point>
195-
<radiusTolerance>0.0</radiusTolerance>
196-
</basePoint>
197-
<trajectory/>
198-
<speed unit="m/s">1.2</speed>
199-
<annotation>
200-
<documentation>No documentation available</documentation>
201-
<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowTrajectory</implementation-class>
202-
</annotation>
203-
</FollowTrajectory>
204-
</maneuver>
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<maneuver>
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<RIPattern kind="automatic">
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<basePoint type="pointType">
@@ -215,11 +169,11 @@
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
218-
<width>100.0</width>
219-
<hstep>20.0</hstep>
172+
<width>200.0</width>
173+
<hstep>50.0</hstep>
220174
<bearing>0.0</bearing>
221175
<squareCurve>false</squareCurve>
222-
<speed unit="m/s">1.2</speed>
176+
<speed unit="m/s">1</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.RIPattern</implementation-class>
@@ -239,11 +193,11 @@
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</point>
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<radiusTolerance>0.0</radiusTolerance>
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</basePoint>
242-
<width>100.0</width>
243-
<hstep>20.0</hstep>
196+
<width>200.0</width>
197+
<hstep>50.0</hstep>
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<bearing>0.0</bearing>
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<squareCurve>false</squareCurve>
246-
<speed unit="m/s">1.2</speed>
200+
<speed unit="m/s">1</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.CrossHatchPattern</implementation-class>
@@ -263,92 +217,17 @@
263217
</point>
264218
<radiusTolerance>0.0</radiusTolerance>
265219
</basePoint>
266-
<width>100.0</width>
220+
<width>200.0</width>
267221
<hstep>50</hstep>
268222
<bearing>0.0</bearing>
269223
<firstCurveRight>true</firstCurveRight>
270-
<speed unit="m/s">1.2</speed>
224+
<speed unit="m/s">1</speed>
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<annotation>
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<documentation>No documentation available</documentation>
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<implementation-class>pt.lsts.neptus.mp.maneuvers.ExpandingSquarePattern</implementation-class>
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</annotation>
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</ExpandingSquarePattern>
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</maneuver>
277-
<maneuver>
278-
<CommsRelay>
279-
<sys_a>lauv-seacon-2</sys_a>
280-
<sys_b>lauv-seacon-3</sys_b>
281-
<duration>3600</duration>
282-
<startPoint type="pointType">
283-
<point>
284-
<id>Start-Point</id>
285-
<coordinate>
286-
<latitude>0N</latitude>
287-
<longitude>0E</longitude>
288-
<depth>0</depth>
289-
</coordinate>
290-
</point>
291-
</startPoint>
292-
<move_threshold>30.0</move_threshold>
293-
<speed unit="m/s">1.0</speed>
294-
<annotation>
295-
<documentation>No documentation available</documentation>
296-
<implementation-class>pt.lsts.neptus.mp.maneuvers.CommsRelay</implementation-class>
297-
</annotation>
298-
</CommsRelay>
299-
</maneuver>
300-
<maneuver>
301-
<RowsCoverage kind="automatic">
302-
<basePoint>
303-
<point>
304-
<id>id_omvbvr</id>
305-
<name>id_omvbvr</name>
306-
<coordinate>
307-
<latitude>0N0'0.00''</latitude>
308-
<longitude>0E0'0.00''</longitude>
309-
<height>0.0</height>
310-
</coordinate>
311-
<z>0</z>
312-
<zunits>DEPTH</zunits>
313-
</point>
314-
</basePoint>
315-
<speed unit="m/s">1.0</speed>
316-
<width>100.0</width>
317-
<length>200.0</length>
318-
<bearing>0.0</bearing>
319-
<angleAperture>120.0</angleAperture>
320-
<range>30</range>
321-
<overlapPercentage>10</overlapPercentage>
322-
<annotation>
323-
<documentation>No documentation available</documentation>
324-
<implementation-class>pt.lsts.neptus.mp.maneuvers.RowsCoverage</implementation-class>
325-
</annotation>
326-
</RowsCoverage>
327-
</maneuver>
328-
<maneuver>
329-
<FollowPoint kind="automatic">
330-
<basePoint>
331-
<point>
332-
<id>id_qnotbp</id>
333-
<name>id_qnotbp</name>
334-
<coordinate>
335-
<latitude>0N</latitude>
336-
<longitude>0E</longitude>
337-
<height>0.0</height>
338-
</coordinate>
339-
<z>0</z>
340-
<zunits>DEPTH</zunits>
341-
</point>
342-
</basePoint>
343-
<speed unit="m/s">2.0</speed>
344-
<idToFollow>lauv-noptilus-1</idToFollow>
345-
<customData/>
346-
<annotation>
347-
<documentation>No documentation available</documentation>
348-
<implementation-class>pt.lsts.neptus.mp.maneuvers.FollowPoint</implementation-class>
349-
</annotation>
350-
</FollowPoint>
351-
</maneuver>
352231
</feasibleManeuvers>
353232
<protocols-supported>
354233
<protocols>iridium</protocols>

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