OpenUxAS-SoI/examples/99_Tasks/CmasiLineSearchTask/Scenario_LineSearchTask.xml

<?xml version="1.0" encoding="UTF-8"?>
<AMASE>
  <ScenarioData>
    <SimulationView LongExtent=".33" Latitude="30.4775" Longitude="-87.1419"/>
    <ScenarioName>Line Search Example</ScenarioName>
    <Date>1/1/2020:12:00:00</Date>
    <ScenarioDuration>3600.0</ScenarioDuration>
    <TrackAgeOut/>
  </ScenarioData>
  <ScenarioEventList>
      <AirVehicleConfiguration Series="CMASI" Time="1.0">
        <ID>101</ID>
        <Label>UAV 101</Label>
        <MinimumSpeed>18.0055561065674</MinimumSpeed>
        <MaximumSpeed>33.4388885498047</MaximumSpeed>
        <NominalSpeed>22.0</NominalSpeed>
        <NominalAltitude>700.0</NominalAltitude>
        <NominalAltitudeType>MSL</NominalAltitudeType>
        <NominalFlightProfile>
         <FlightProfile Series="CMASI">
           <Name></Name>
           <Airspeed>22.1211109161377</Airspeed>
           <PitchAngle>0</PitchAngle>
           <VerticalSpeed>0</VerticalSpeed>
           <MaxBankAngle>20</MaxBankAngle>
           <EnergyRate>0.000277999992249534</EnergyRate>
         </FlightProfile>
        </NominalFlightProfile>
        <AlternateFlightProfiles>
        </AlternateFlightProfiles>
       <PayloadConfigurationList>
        <GimbalConfiguration Series="CMASI">
          <SupportedPointingModes />
          <MinAzimuth>-180.0</MinAzimuth>
          <MaxAzimuth>180.0</MaxAzimuth>
          <IsAzimuthClamped>true</IsAzimuthClamped>
          <MinElevation>-130.0</MinElevation>
          <MaxElevation>40.0</MaxElevation>
          <IsElevationClamped>true</IsElevationClamped>
          <MinRotation>0.0</MinRotation>
          <MaxRotation>0.0</MaxRotation>
          <IsRotationClamped>true</IsRotationClamped>
          <MaxAzimuthSlewRate>114.59</MaxAzimuthSlewRate>
          <MaxElevationSlewRate>114.59</MaxElevationSlewRate>
          <MaxRotationRate>0.0</MaxRotationRate>
          <ContainedPayloadList>
            <uint32>10001</uint32>
          </ContainedPayloadList>
          <PayloadID>1</PayloadID>
          <PayloadKind />
        </GimbalConfiguration>
        <CameraConfiguration Series="CMASI">
          <SupportedWavelengthBands>
            <WavelengthBand>AllAny</WavelengthBand>
          </SupportedWavelengthBands>
          <FieldOfViewMode>Discrete</FieldOfViewMode>
          <MinHorizontalFieldOfView>0.11</MinHorizontalFieldOfView>
          <MaxHorizontalFieldOfView>45.0</MaxHorizontalFieldOfView>
          <DiscreteHorizontalFieldOfViewList>
            <real32>45.0</real32>
            <real32>22.0</real32>
            <real32>7.6</real32>
            <real32>3.7</real32>
            <real32>0.63</real32>
            <real32>0.11</real32>
          </DiscreteHorizontalFieldOfViewList>
          <VideoStreamHorizontalResolution>1024</VideoStreamHorizontalResolution>
          <VideoStreamVerticalResolution>768</VideoStreamVerticalResolution>
          <PayloadID>10001</PayloadID>
          <PayloadKind />
        </CameraConfiguration>
      </PayloadConfigurationList>
        <AvailableLoiterTypes>
        <LoiterType>Circular</LoiterType>
        </AvailableLoiterTypes>
        <AvailableTurnTypes>
        <TurnType>TurnShort</TurnType>
        <TurnType>FlyOver</TurnType>
        </AvailableTurnTypes>
        <MinimumAltitude>0</MinimumAltitude>
        <MaximumAltitude>1000000</MaximumAltitude>
        <MinAltAboveGround>0</MinAltAboveGround>
      </AirVehicleConfiguration>
      
    <AirVehicleState Series="CMASI" Time="1.4">
      <ID>101</ID>
      <Location>
        <Location3D Series="CMASI">
          <Latitude>30.54388004451919</Latitude>
          <Longitude>-87.25883371332793</Longitude>
          <Altitude>700.0</Altitude>
          <AltitudeType>MSL</AltitudeType>
        </Location3D>
      </Location>
      <u>0</u>
      <v>0</v>
      <w>0</w>
      <udot>0</udot>
      <vdot>0</vdot>
      <wdot>0</wdot>
      <Heading>90</Heading>
      <Pitch>0</Pitch>
      <Roll>0</Roll>
      <p>0</p>
      <q>0</q>
      <r>0</r>
      <Airspeed>22.1211109161377</Airspeed>
      <VerticalSpeed>0</VerticalSpeed>
      <ActualEnergyRate>0</ActualEnergyRate>
      <EnergyAvailable>100</EnergyAvailable>
      <WindSpeed>0</WindSpeed>
      <WindDirection>0</WindDirection>
      <GroundSpeed>0</GroundSpeed>
      <GroundTrack>0</GroundTrack>
      <PayloadStateList>
        <GimbalState Series="CMASI">
          <PointingMode>AirVehicleRelativeAngle</PointingMode>
          <Azimuth>0.0</Azimuth>
          <Elevation>-45.0</Elevation>
          <Rotation>0.0</Rotation>
          <PayloadID>1</PayloadID>
        </GimbalState>
        <CameraState Series="CMASI">
          <HorizontalFieldOfView>45.0</HorizontalFieldOfView>
          <Footprint/>
          <PayloadID>10001</PayloadID>
        </CameraState>
      </PayloadStateList>
      <CurrentWaypoint>0</CurrentWaypoint>
      <CurrentCommand>0</CurrentCommand>
      <Mode>Waypoint</Mode>
      <AssociatedTasks>
        </AssociatedTasks>
      <Time>0</Time>
    </AirVehicleState>
    <!-- ///////////////////////////////////////////////////////////////////////////////////////////// -->
    <!-- ////////////////////////////////////////////////////////////////////////////////////////////// -->
  </ScenarioEventList>
</AMASE>