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behavior_name=yo |
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# yo55.ma |
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# climb 5m dive -1(disabled) alt 9m pitch 26 deg |
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# Hand Written |
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# 18-Feb-02 tc@DinkumSoftware.com Initial |
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# 13-Mar-02 tc@DinkumSoftware.com Bug fix, end_action from quit(0) to resume(2) |
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# 09-Apr-03 kniewiad@webbresearch.com Adjusted for Ashumet |
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# 14-Nov-11 cedwards Dive to 180md/5ma, climb to 5md/-1alt |
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<start:b_arg> |
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b_arg: start_when(enum) 2 # pitch idle (see doco below) |
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b_arg: num_half_cycles_to_do(nodim) -1 # Number of dive/climbs to perform |
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# <0 is infinite, i.e. never finishes |
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# arguments for dive_to |
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b_arg: d_target_depth(m) 180 |
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b_arg: d_target_altitude(m) 5 |
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b_arg: d_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo |
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# in rad rad, <0 dive |
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b_arg: d_pitch_value(X) -0.4538 # -26 deg |
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# arguments for climb_to |
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b_arg: c_target_depth(m) 5 |
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b_arg: c_target_altitude(m) -1 |
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b_arg: c_use_pitch(enum) 3 # 1:battpos 2:setonce 3:servo |
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# in rad rad, >0 climb |
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b_arg: c_pitch_value(X) 0.4538 # 26 deg |
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b_arg: end_action(enum) 2 # 0-quit, 2 resume |
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<end:b_arg> |
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# NOTE: These are symbolically defined beh_args.h |
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# b_arg: START_WHEN When the behavior should start, i.e. go from UNITIALIZED to ACTIVE |
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# BAW_IMMEDIATELY 0 // immediately |
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# BAW_STK_IDLE 1 // When stack is idle (nothing is being commanded) |
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# BAW_PITCH_IDLE 2 // When pitch is idle(nothing is being commanded) |
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# BAW_HEADING_IDLE 3 // When heading is idle(nothing is being commanded) |
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# BAW_UPDWN_IDLE 4 // When bpump/threng is idle(nothing is being commanded) |
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# BAW_NEVER 5 // Never stop |
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# BAW_WHEN_SECS 6 // After behavior arg "when_secs", from prior END if cycling |
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# BAW_WHEN_WPT_DIST 7 // When sensor(m_dist_to_wpt) < behavior arg "when_wpt_dist" |
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# BAW_WHEN_HIT_WAYPOINT 8 // When X_HIT_A_WAYPOINT is set by goto_wpt behavior |
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# BAW_EVERY_SECS 9 // After behavior arg "when_secs", from prior START if cycling |
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# BAW_EVERY_SECS_UPDWN_IDLE 10 // After behavior arg "when_secs", from prior START AND |
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# // updown is idle, no one commanding vertical motion |
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# BAW_SCI_SURFACE 11 // SCI_WANTS_SURFACE is non-zero |
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# BAW_NOCOMM_SECS 12 // when have not had comms for WHEN_SECS secs |
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# |
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# b_arg: STOP_WHEN |
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# 0 complete |
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# 1-N same as "start_when" |
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