修改missions and controller

2025-07-06 23:07:11 +08:00
parent c860d2e311
commit 796d642563
14 changed files with 398 additions and 472 deletions
--- a/missions/alpha/gly_1.bhv
+++ b/missions/alpha/gly_1.bhv
@@ -0,0 +1,74 @@
+//--------    FILE: gly_1.bhv   -------------
+
+initialize   DEPLOY = false
+initialize   RETURN = false
+	
+//----------------------------------------------
+Behavior = BHV_Waypoint
+{ 
+  name      = waypt_survey
+  pwt       = 100
+  condition = RETURN = false
+  condition = DEPLOY = true
+  //endflag   = RETURN = true
+  endflag    = MISSION = complete
+
+	configflag = CRUISE_SPD = $[SPEED]
+	//configflag = OSPOS = $[OSX],$[OSY]
+
+	activeflag = INFO=$[OWNSHIP]
+	activeflag = INFO=$[BHVNAME]
+	activeflag = INFO=$[BHVTYPE]
+
+	cycleflag = CINFO=$[OSX],$[OSY]
+
+	wptflag = PREV=$(PX),$(PY)
+	wptflag = NEXT=$(NX),$(NY)
+	wptflag = TEST=$(X),$(Y)
+	wptflag = OSPOS=$(OSX),$(OSY)
+	wptflag_on_start = true
+
+  updates    = WPT_UPDATE
+ // perpetual  = true
+
+	         speed_alt = 1.2
+       use_alt_speed = true
+                lead = 8
+         lead_damper = 1
+       lead_to_start = true
+               speed = 2   // meters per second
+        capture_line = true
+      capture_radius = 5.0
+         slip_radius = 15.0
+	efficiency_measure = all
+
+  //          points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
+	//         polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
+           polygon = -50,-100:   0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
+  //         polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
+  //         polygon = -50,-100: -50,-300
+               order = normal
+             repeat  = 0
+
+    visual_hints = nextpt_color=yellow
+    visual_hints = nextpt_vertex_size=8
+    visual_hints = nextpt_lcolor=gray70
+    visual_hints = vertex_color=dodger_blue, edge_color=white
+    visual_hints = vertex_size=5, edge_size=1
+}
+
+//----------------------------------------------
+Behavior = BHV_ConstantDepth
+{
+  name      = bhv_const_depth
+  pwt       = 100
+  condition = DEPLOY = true
+  perpetual  = true
+  updates   = DEPTH_VALUE
+
+        depth = 2
+    duration  = no-time-limit
+    peakwidth = 8
+    basewidth = 12
+    summitdelta = 10
+}