Depth Configurations
In the Alpha example, the moos-ivp version of a Hello World program, the vehicle is a simulated surface craft. To simulated a UUV, a few modifications are required of three MOOS applications, including the helm. Once this is done, behaviors reasoning about depth may be used in the helm.
Modifications to the uSimMarine MOOS module:
More information on the uSimMarine simulator and configuration options can be found in the moos-ivp autonomy utilities documentation (PDF - 29.2MB).
BUOYANCY_RATE = 0.025 MAX_DEPTH_RATE = 5 MAX_DEPTH_RATE_SPEED = 2.0 DEFAULT_WATER_DEPTH = 400
Modifications to the pMarinePID MOOS module:
More information on the uSimMarine simulator and configuration options can be found in the utilities moos-ivp autonomy documentation (PDF - 29.2MB).
DEPTH_CONTROL = true //Pitch PID controller PITCH_PID_KP = 1.5 PITCH_PID_KD = 1.0 PITCH_PID_KI = 0 PITCH_PID_INTEGRAL_LIMIT = 0 //ZPID controller Z_TO_PITCH_PID_KP = 0.12 Z_TO_PITCH_PID_KD = 0 Z_TO_PITCH_PID_KI = 0.004 Z_TO_PITCH_PID_INTEGRAL_LIMIT = 0.05 MAXPITCH = 15 MAXELEVATOR = 13
Modifications to the pHelmIvP MOOS module:
More information on configuring the IvPHelm decision domain may be found on p. 47 in the helm documentation (PDF - 29.2MB).
Domain = depth:0:100:101
Modifications to the pNodeReporter MOOS module:
The modification below to pNodeReporter is mostly cosmetic. It changes the vehicle type to “UUV” so you see a UUV icon in your simulator diving, rather than a kayak. More information on pNodeReporter and configuration options can be found in the moos-ivp autonomy utilities documentation (PDF - 29.2MB).
VESSEL_TYPE = UUV
