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8.21调试完成

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zhaojingkui
2025-08-12 18:51:50 +08:00
parent fce40a81d0
commit cb25840296
4 changed files with 84 additions and 106 deletions
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6
missions/auv150/alpha_vehicle.moos
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@@ -67,11 +67,11 @@ ProcessConfig = pHelmIvP
AppTick = 4
CommsTick = 4
Behaviors = gly_1.bhv
Behaviors = gly_2.bhv
Verbose = quiet
Domain = course:0:359:360
Domain = speed:0:4:21
Domain = depth:0:100:101
Domain = speed:0:2.5:21
Domain = depth:0:10:101
//IVP_BEHAVIOR_DIR = ../../lib

128
missions/auv150/gly_2.bhv Normal file → Executable file
View File

@@ -1,60 +1,38 @@
//-------- FILE: gly_1.bhv -------------
//-------- FILE: gly_2.bhv -------------
initialize DEPLOY = false
initialize RETURN = false
set MODE = ACTIVE {
DEPLOY = true
} INACTIVE
set MODE = Const {
MODE = ACTIVE
RETURN != true
}
set MODE = RETURNING {
MODE = ACTIVE
RETURN = true
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_survey
pwt = 100
condition = RETURN = false
condition = DEPLOY = true
//endflag = RETURN = true
endflag = MISSION = complete
Behavior = BHV_ConstantHeading
{
// General Behavior Parameters
name = const_hdg // example
pwt = 100 // default
condition = MODE == Const
updates = CONST_HDG_UPDATES // example
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
// Parameters specific to this behavior
basewidth = 10 // default
duration = 100
heading = 270
heading_mismatch_var = HDG_DIFF // example
peakwidth = 10 // default
summitdelta = 25 // default
}
//----------------------------------------------
@@ -62,13 +40,47 @@ Behavior = BHV_ConstantDepth
{
name = bhv_const_depth
pwt = 100
condition = DEPLOY = true
perpetual = true
duration = 100
condition = MODE == Const
updates = DEPTH_VALUE
depth = 2
duration = no-time-limit
depth = 10
peakwidth = 8
basewidth = 12
summitdelta = 10
}
summitdelta = 10
}
//----------------------------------------------
Behavior = BHV_ConstantSpeed
{
// General Behavior Parameters
name = const_spd_transit // example
pwt = 100 // default
condition = MODE==Const
updates = CONST_SPD_UPDATES // example
// Parameters specific to this behavior
basewidth = 0.2 // default
duration = 100
speed = 0.5
speed_mismatch_var = SPEED_DIFF // example
peakwidth = 0 // default
summitdelta = 0 // default
}
//----------------------------------------------
Behavior = BHV_Waypoint
{
name = waypt_return
priority = 100
perpetual = true
updates = RETURN_UPDATES
condition = MODE==RETURNING
endflag = RETURN = false
speed = 1
radius = 3.0
nm_radius = 15.0
point = x=-50, y=-100
}