Your vehicle software system implements vehicle control through heavy use of the openSEA framework. Operator inputs are processed through the Greensea Workspace, passed through openSEA, and implemented through the vehicle Payload Control System (xxx_pcs) which translates the openSEA maneuvering solution to the vehicle-specific thruster commands. The xxx_pcs application ultimately issues thruster commands through communication with the Accessio analog output board over the CMD channel.
The xxx_pcs application coordinates status from the Accessio board through the Accessio board's STAT channel. The openSEA applications all provide their status on STAT channels as well. The Greensea Workspace captures this status information and displays it in the operator workspace.
The common unit in vehicle control is percent, usually expressed as percent effort. The Signal Mapper scales inputs to percent effort commanded and openCMD calculates the percent effort required for each degree of freedom to achieve the maneuvering solution commanded by openMNGR. The xxx_pcs application calculates the percent effort required for each thruster and then converts that to thruster output units. The Signal Mapper scales the input commands while the subsea configuration file, xxx_motors.yml, scales the thruster percent effort commands to Digital-to-Analog units.
