181 lines
4.4 KiB
Plaintext
181 lines
4.4 KiB
Plaintext
//-------- FILE: alpha.bhv -------------
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initialize RUN = false
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initialize TaskNum=t1
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initialize SendTask=false
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//--------------模式判断------------------------
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set MODE = ACTIVE{
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RUN=true
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} INACTIVE
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set MODE = T1{
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MODE=ACTIVE
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TaskNum = t1
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}
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//----------路径点任务----------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_survey
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pwt = 100 //优先权重
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condition = MODE==T1
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//endflag = START=false
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endflag = END_WayPoint=true
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configflag = CRUISE_SPD = $[SPEED]
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//configflag = OSPOS = $[OSX],$[OSY]
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activeflag = INFO=$[OWNSHIP]
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activeflag = INFO=$[BHVNAME]
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activeflag = INFO=$[BHVTYPE]
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//cycleflag = CINFO=$[OSX],$[OSY]
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wptflag = CurrentPointComplete=true
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wptflag = PREV=$(PX),$(PY)
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wptflag = NEXT=$(NX),$(NY)
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wptflag = TEST=$(X),$(Y)
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wptflag = OSPOS=$(OSX),$(OSY)
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//wptflag_on_start = true
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updates = WPT_UPDATE
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//perpetual = true
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templating = spawn
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// speed_alt = 1.2
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//use_alt_speed = true
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lead = 8
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lead_damper = 1
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lead_to_start = false
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speed = 1 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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polygon = 60,-40
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order = normal
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//repeat = 3
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//--------------定深任务------------------
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Behavior=BHV_ConstantDepth
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{
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name = const_depth
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pwt = 100
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//condition = DEPLOY = true
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condition = MODE==T1
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duration = no-time-limit
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updates = DEPTH_UPDATE
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depth = 0
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}
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//--------------定向任务--------------------
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Behavior=BHV_ConstantHeading
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{
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name = const_heading
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pwt = 100
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//condition = START_TURN = true
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//condition = DEPLOY = true
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condition = MODE==T3
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perpetual = true
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activeflag = TURN = started
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//endflag = TURN = done
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//endflag = RETURN = true
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//endflag = START_TURN = false
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endflag = START=false
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heading = 225
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complete_thresh = 5
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duration = no-time-limit
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}
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//--------------定速任务--------------------
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Behavior=BHV_ConstantSpeed
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{
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name = const_speed
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pwt = 1000
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condition = MODE==T1
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perpetual = true
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updates = SPEED_UPDATE
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//endflag = START=false
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speed = 5
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duration = no-time-limit
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//peakwidth = 0.5
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//basewidth = 0.5
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}
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//----------------安全模式-----------------------
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//----------------计时器---------------------
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Behavior = BHV_Timer
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{
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name = mtime
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condition = MODE==T1
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pwt = 100
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templating = spawn
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//duration_status = MSTATUS
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//duration = 10
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endflag = TIME_OUT=true
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updates = TIMER_UPDATES
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//perpetual = true
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}
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//-------------最大深度限制--------------------------
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Behavior = BHV_MaxDepth
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{
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name = maxdepth
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pwt = 200
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condition = MODE==ACTIVE
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updates = MAXDEEP_UPDATES
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max_depth = 20
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tolerance = 0
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duration = no-time-limit
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}
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//--------------安全区域设置-----------------------
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Behavior = BHV_OpRegion
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{
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// General Behavior Parameters
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// ---------------------------
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name = op_region // example
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pwt = 300 // default
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condition = MODE==TN
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updates = OPREGION_UPDATES // example
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// Parameters specific to this behavior
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// ------------------------------------
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max_time = 20 // default (seconds)
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max_depth = 25 // default (meters)
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min_altitude = 0 // default (meters)
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reset_var = OPREGION_RESET // example
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trigger_entry_time = 1 // default (seconds)
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trigger_exit_time = 0.5 // default (seconds)
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polygon = pts={-80,-00:-30,-175:150,-100:95,25}
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breached_altitude_flag = TaskFault = AltitudeOut
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breached_depth_flag = TaskFault = DepthOut
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breached_poly_flag = TaskFault = RegionOut
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breached_time_flag = TaskFault = TimeOut
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visual_hints = vertex_color = brown // default
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visual_hints = vertex_size = 3 // default
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visual_hints = edge_color = aqua // default
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visual_hints = edge_size = 1 // default
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} |