Balefire Basic

Executing a Mission

To execute a mission, it must be pushed to the vehicle and then activated. The mission is pushed to the vehicle by selecting the Push Mission To Vehicle button from the Mission tab of the navigation control. Once the mission has been given to the vehicle, it is activated and deactivated by the Waypoint Following button within the Autopilot Control. If the waypoints are modified they must be pushed to the vehicle again before the vehicle will begin following the new instructions.

Editing Waypoints

To move a waypoint with the mouse simply click and drag it to the desired location. Precise location and other waypoint details are edited in the Waypoints tab.

The most important waypoint configuration options are Down, Down Mode, Speed, Tolerance and Configured Tasks.

Adding Waypoints

From the Mission View screen, use mouse to right-click desired waypoint location. Select Add Waypoint. The waypoint will appear in yellow and turn blue when selected.

What is a Mission?

A mission is a set of instructions used to determine the vehicle's path and actions when in automated mode. A path is constructed with a series of waypoints for the vehicle to follow. To access the map and plot waypoints, first select the Mission View screen by clicking the flame icon.

Autopilots Overview

Alarm Notification

The Greensea Workspace provides a configurable and comprehensive alarm management and notification system. Operators can monitor any signal in the system for alarm conditions using this utility. Alarms are not static and display the current status of the particular signal they are monitoring but a history of the alarms is provided. Alarms have priority levels and color code these priority levels from "Info" level to "Fatal" level.

Flight View Overview

The Flight View is the default Greensea Workspace display, accessed by clicking the Greensea icon on the Navigation Bar. All the tools used to monitor the ROV are located on the Flight View. (Note: Older versions of the system may have a flame icon in place of the Greensea icon.)

Application and Autopilot Keyboard Shortcuts

Press the F1 key to reveal keyboard shortcuts. The shortcuts are displayed in a pop-up over the map.

Application Keyboard Shortcuts

Alarm Status Bar

The Alarm Status Bar is on the far right of the Static Bar next to the Greensea logo. The Alarm Status Bar displays alarm notifications. Not all alarms active may be seen here though if there are many active alarms. The Alarm Status Bar also provides operators the ability to acknowledge all alarms by clicking the Acknowledge button or acknowledge individual alarms by clicking the alarm notification.

Health and Status Bar

The Health and Status Bar is in the middle of the Static Bar and provides aggregated communication status for critical subsystems including the Alarm Manager, the Signal Mapper, openCMD, openINS, the joybox, and any vehicle payload control system. Green LEDs indicate valid and reliable communications while red LEDs indicate invalid and/or unreliable communications.

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