The Balefire Workspace contains several autopilot functions that enable precise and accurate autopilot control over the vehicle. The autopilot functions can be used concurrently and can be used to fully automate vehicle motion, or to control the vehicle in fly-by-wire mode.
The autopilot functions are located directly beneath the vertical velocity gauge.
|
Function |
Description |
|
Station Keeping |
When Station Keeping is enabled the vehicle keeps station at the current location. The arrow keys, overlaying the top down image of the ROV, allow incremental axial and lateral movement, set using “XY” box. In Station Keeping mode, the operator can still use the joystick to control the vehicle. The joystick has open-loop control over the vehicle. |
|
Waypoint Following |
Waypoint Following mode commands the vehicle to fly a mission using waypoints to define the route it travels. |
|
Auto Heading |
The ROV maintains a heading set point. The arrow keys, overlaying the top down image of the ROV, enable incremental heading changes, set using the “HDG” box. The joystick controls the vehicle in fly-by-wire mode while the vehicle is in Auto Heading mode. Rather than directly controlling thrusters, the joystick instead controls the Auto Heading set point. |
|
Auto Depth |
The ROV maintains a depth set point. The depth can be incrementally changed in Auto Depth similarly to Station Keeping and Auto Heading. The “Z” box sets the incremental changes in the positive and negative z direction. Similar to Auto Heading, the joybox slider controls the auto-depth set point rather than the thrusters in fly-by-wire mode. |
|
Auto Altitude |
The ROV maintains an altitude set point. Similar to Auto Depth and Heading, the vehicle can be flown in fly-by-wire mode in while following an Auto Altitude set point. |
|
Auto Trim |
Some vehicles will have an option to Auto Trim, which will keep the vehicle level in the water, holding to zero pitch. |
|
Orbit Counter-Clockwise and Orbit Clockwise |
While in station-keeping mode, these options allow the operator to orbit clockwise or counter-clockwise around an object. |
|
Sonar Relative |
Moves the vehicle in relation to an object selected in the sonar. |
