Waypoints are special purpose markers that designate the path of the vehicle. Waypoints are points specified by an X, Y, and Z position. The Z position of the waypoint may be either depth or altitude from the seafloor. The Waypoints menu page allows operators to set the parameters of each waypoint and configure the vehicle's behavior during a waypoint run.
Waypoint parameters are configurable during a waypoint run but configurations do not take effect until the waypoints are "pushed" to the vehicle as a mission. This process is detailed in the "Mission Planning" article.
| Field | Description |
|
Name |
Unique identifier given to a specific waypoint by editing its name field. |
| Latitude |
The vehicle's latitude measured in degrees when placing the waypoint. |
| Longitude |
The vehicle's longitude measured in degrees when placing the waypoint. |
| Display Range and Bearing |
Selecting this box will show or hide the range and bearing to a waypoint in the top left HUD. |
| Down | The vertical position of the waypoint. |
| Down Mode |
By clicking the box in the Down Mode Menu, the status is modified from Depth (default) to Altitude. The reference is capable of holding a waypoint at a given depth from the surface or distance from the ocean floor to the ROV. |
| Speed |
The percent of maximum speed at which the vehicle is traveling to reach the target waypoint. |
| Tolerance |
Waypoint tolerance is the threshold (in meters) for having successfully met a waypoint in the vehicle's path. Important Note: Tighter tolerances will require greater effort by the vehicle to achieve the waypoint. This may result in undesirable behavior in some instances. |
| Zone Enabled |
Selecting this box will enable or disable a hazard zone display for each waypoint. |
| Zone Radius |
Sets the hazard zone radius around a waypoint in meters. |
| Zone Color |
The color of the hazard zone around a waypoint. The color can be changed by double-clicking on the colored sphere and selecting a new shade from the menu that appears. |
| Zone Opacity |
Zone opacity changes the shading of a hazard zone. A higher zone opacity will result in a more darkly shaded zone. This can be changed by double-clicking the zone opacity field, pressing the up and down arrows, or manually entering the desired value. |
| Delete |
Remove waypoints from the map by clicking the red X in the "Delete" field. |
Operators can set the behavior of the vehicle as it transits to each waypoint with the three buttons on the right side of the waypoint configuration tab.
| Button | Description |
| Effort vs Speed |
The speed to each waypoint is typically specified as a percentage of full effort. Operators can change this functionality to specify an absolute speed in knots. |
| Head Towards Waypoint |
Operators may desire the ROV to face towards each waypoint, where the vehicle's heading will be controlled by the bearing to the waypoint, or to control the vehicle's heading independently of the waypoint bearing. Enabling this button will command the vehicle's heading to the bearing of the approaching waypoint. Disabling this function will allow the operator to control the vehicle's heading during the waypoint route. |
| Waypoint Includes Z |
During the waypoint route execution, the vehicle will try to achieve each waypoint until the waypoint tolerance is met. Selecting "Waypoint Includes Z" enforces the vertical component of the waypoint is met before considering the waypoint achieved. If this is not selected, the vehicle will consider the waypoint met if only the X and Y positions are met. |
