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OpenUxAS/examples/03_Example_DistributedCooperation/Scenario_DistributedCooperation.xml
derek.kingston eb9761e4d0 Added new test to ensure eligible entity handling 
- Test #4 in AutomationRequest tests. Currently commented out.
   Waiting until fix passes test for complete push to general.
- Fixed double-nested XML tags in Distributed Cooperation
   example.
- Consistency updates for destructor logging in 00_TaskTemplate
   and AssignmentCoordinatorTaskService
- Removed old Visual Studio project files in Utilities folder
2017-06-12 13:01:19 -04:00

393 lines
14 KiB
XML
Raw Blame History

<?xml version="1.0" encoding="UTF-8"?>
<AMASE>
<ScenarioData>
<SimulationView LongExtent="0.11" Latitude="-22.7485171253276" Longitude="150.644304882855"/>
<ScenarioName>Distributed Cooperation Example</ScenarioName>
<Date>1/1/2020:16:50:18</Date>
<ScenarioDuration>7200.0</ScenarioDuration>
<TrackAgeOut/>
</ScenarioData>
<ScenarioEventList>
<AirVehicleConfiguration Series="CMASI" Time="1.0">
<MinimumSpeed>15</MinimumSpeed>
<MaximumSpeed>30</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Nominal</Name>
<Airspeed>24</Airspeed>
<PitchAngle>0</PitchAngle>
<VerticalSpeed>0</VerticalSpeed>
<MaxBankAngle>20</MaxBankAngle>
<EnergyRate>0.00687171705067158</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AvailableLoiterTypes>
<LoiterType>VehicleDefault</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>3048</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>1000</ID>
<Label>SuperBat-1000</Label>
<NominalSpeed>24</NominalSpeed>
<NominalAltitude>300</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes>
<GimbalPointingMode>AirVehicleRelativeAngle</GimbalPointingMode>
<GimbalPointingMode>AirVehicleRelativeSlewRate</GimbalPointingMode>
<GimbalPointingMode>InertialRelativeSlewRate</GimbalPointingMode>
<GimbalPointingMode>LatLonSlaved</GimbalPointingMode>
</SupportedPointingModes>
<MinAzimuth>-180</MinAzimuth>
<MaxAzimuth>180</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-45</MinElevation>
<MaxElevation>-45</MaxElevation>
<IsElevationClamped>true</IsElevationClamped>
<MinRotation>-180</MinRotation>
<MaxRotation>180</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>200</MaxAzimuthSlewRate>
<MaxElevationSlewRate>200</MaxElevationSlewRate>
<MaxRotationRate>0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind>1680-01-7000008</PayloadKind>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>22</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>22</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>0</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>640</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>480</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind>6710-01-7000006</PayloadKind>
</CameraConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>SWIR</SupportedWavelengthBand>
<FieldOfViewMode>Discrete</FieldOfViewMode>
<MinHorizontalFieldOfView>10.3717193603516</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>10.3717193603516</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>23</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>640</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>480</VideoStreamVerticalResolution>
<PayloadID>3</PayloadID>
<PayloadKind>6710-01-7000007</PayloadKind>
</CameraConfiguration>
<VideoStreamConfiguration Series="CMASI">
<AvailableSensorList>
<int64>2</int64>
<int64>3</int64>
</AvailableSensorList>
<PayloadID>101</PayloadID>
<PayloadKind></PayloadKind>
</VideoStreamConfiguration>
</PayloadConfigurationList>
</AirVehicleConfiguration>
<AirVehicleConfiguration Series="CMASI" Time="1.1">
<MinimumSpeed>15</MinimumSpeed>
<MaximumSpeed>30</MaximumSpeed>
<NominalFlightProfile>
<FlightProfile Series="CMASI">
<Name>Nominal</Name>
<Airspeed>24</Airspeed>
<PitchAngle>0</PitchAngle>
<VerticalSpeed>0</VerticalSpeed>
<MaxBankAngle>20</MaxBankAngle>
<EnergyRate>0.00687171705067158</EnergyRate>
</FlightProfile>
</NominalFlightProfile>
<AvailableLoiterTypes>
<LoiterType>VehicleDefault</LoiterType>
</AvailableLoiterTypes>
<AvailableTurnTypes>
<TurnType>TurnShort</TurnType>
</AvailableTurnTypes>
<MinimumAltitude>0</MinimumAltitude>
<MinAltitudeType>AGL</MinAltitudeType>
<MaximumAltitude>3048</MaximumAltitude>
<MaxAltitudeType>MSL</MaxAltitudeType>
<ID>2000</ID>
<Label>SuperBat-2000</Label>
<NominalSpeed>24</NominalSpeed>
<NominalAltitude>300</NominalAltitude>
<NominalAltitudeType>AGL</NominalAltitudeType>
<PayloadConfigurationList>
<GimbalConfiguration Series="CMASI">
<SupportedPointingModes>
<GimbalPointingMode>AirVehicleRelativeAngle</GimbalPointingMode>
<GimbalPointingMode>AirVehicleRelativeSlewRate</GimbalPointingMode>
<GimbalPointingMode>InertialRelativeSlewRate</GimbalPointingMode>
<GimbalPointingMode>LatLonSlaved</GimbalPointingMode>
</SupportedPointingModes>
<MinAzimuth>-180</MinAzimuth>
<MaxAzimuth>180</MaxAzimuth>
<IsAzimuthClamped>false</IsAzimuthClamped>
<MinElevation>-45</MinElevation>
<MaxElevation>-45</MaxElevation>
<IsElevationClamped>true</IsElevationClamped>
<MinRotation>-180</MinRotation>
<MaxRotation>180</MaxRotation>
<IsRotationClamped>true</IsRotationClamped>
<MaxAzimuthSlewRate>200</MaxAzimuthSlewRate>
<MaxElevationSlewRate>200</MaxElevationSlewRate>
<MaxRotationRate>0</MaxRotationRate>
<ContainedPayloadList>
<int64>2</int64>
<int64>3</int64>
</ContainedPayloadList>
<PayloadID>1</PayloadID>
<PayloadKind>1680-01-7000008</PayloadKind>
<Parameters>
</Parameters>
</GimbalConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>EO</SupportedWavelengthBand>
<FieldOfViewMode>Continuous</FieldOfViewMode>
<MinHorizontalFieldOfView>22</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>22</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>18</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>640</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>480</VideoStreamVerticalResolution>
<PayloadID>2</PayloadID>
<PayloadKind>6710-01-7000006</PayloadKind>
</CameraConfiguration>
<CameraConfiguration Series="CMASI">
<SupportedWavelengthBand>SWIR</SupportedWavelengthBand>
<FieldOfViewMode>Discrete</FieldOfViewMode>
<MinHorizontalFieldOfView>10.3717193603516</MinHorizontalFieldOfView>
<MaxHorizontalFieldOfView>10.3717193603516</MaxHorizontalFieldOfView>
<DiscreteHorizontalFieldOfViewList>
<real32>30</real32>
</DiscreteHorizontalFieldOfViewList>
<VideoStreamHorizontalResolution>640</VideoStreamHorizontalResolution>
<VideoStreamVerticalResolution>480</VideoStreamVerticalResolution>
<PayloadID>3</PayloadID>
<PayloadKind>6710-01-7000007</PayloadKind>
</CameraConfiguration>
<VideoStreamConfiguration Series="CMASI">
<AvailableSensorList>
<int64>2</int64>
<int64>3</int64>
</AvailableSensorList>
<PayloadID>101</PayloadID>
<PayloadKind></PayloadKind>
</VideoStreamConfiguration>
</PayloadConfigurationList>
</AirVehicleConfiguration>
<AirVehicleState Series="CMASI" Time="1.4">
<Airspeed>24</Airspeed>
<VerticalSpeed>0</VerticalSpeed>
<WindSpeed>0</WindSpeed>
<WindDirection>0</WindDirection>
<ID>1000</ID>
<u>0</u>
<v>0</v>
<w>0</w>
<udot>0</udot>
<vdot>0</vdot>
<wdot>0</wdot>
<Heading>0</Heading>
<Pitch>0</Pitch>
<Roll>0</Roll>
<p>0</p>
<q>0</q>
<r>0</r>
<Course>0</Course>
<Groundspeed>0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Altitude>300</Altitude>
<Latitude>-22.7385171253276</Latitude>
<Longitude>150.644304882855</Longitude>
<AltitudeType>AGL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100</EnergyAvailable>
<ActualEnergyRate>0</ActualEnergyRate>
<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>22</HorizontalFieldOfView>
<PayloadID>2</PayloadID>
</CameraState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>10.3717193603516</HorizontalFieldOfView>
<PayloadID>3</PayloadID>
</CameraState>
</PayloadStateList>
<CurrentWaypoint>1</CurrentWaypoint>
<CurrentCommand>100</CurrentCommand>
<Mode>Waypoint</Mode>
</AirVehicleState>
<AirVehicleState Series="CMASI" Time="1.5">
<Airspeed>24</Airspeed>
<VerticalSpeed>0</VerticalSpeed>
<WindSpeed>0</WindSpeed>
<WindDirection>0</WindDirection>
<ID>2000</ID>
<u>0</u>
<v>0</v>
<w>0</w>
<udot>0</udot>
<vdot>0</vdot>
<wdot>0</wdot>
<Heading>0</Heading>
<Pitch>0</Pitch>
<Roll>0</Roll>
<p>0</p>
<q>0</q>
<r>0</r>
<Course>0</Course>
<Groundspeed>0</Groundspeed>
<Location>
<Location3D Series="CMASI">
<Altitude>300</Altitude>
<Latitude>-22.7485171253276</Latitude>
<Longitude>150.644304882855</Longitude>
<AltitudeType>AGL</AltitudeType>
</Location3D>
</Location>
<EnergyAvailable>100</EnergyAvailable>
<ActualEnergyRate>0</ActualEnergyRate>
<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>22</HorizontalFieldOfView>
<PayloadID>2</PayloadID>
</CameraState>
<CameraState Series="CMASI">
<HorizontalFieldOfView>10.3717193603516</HorizontalFieldOfView>
<PayloadID>3</PayloadID>
</CameraState>
</PayloadStateList>
<CurrentWaypoint>1</CurrentWaypoint>
<CurrentCommand>100</CurrentCommand>
<Mode>Waypoint</Mode>
</AirVehicleState>
<MissionCommand Series="CMASI" Time="1.8">
<CommandID>100</CommandID>
<VehicleID>1000</VehicleID>
<WaypointList>
<Waypoint Series="CMASI">
<Number>1</Number>
<NextWaypoint>1</NextWaypoint>
<Speed>24</Speed>
<SpeedType>Airspeed</SpeedType>
<ClimbRate>0</ClimbRate>
<TurnType>TurnShort</TurnType>
<VehicleActionList>
<LoiterAction Series="CMASI">
<LoiterType>VehicleDefault</LoiterType>
<Radius>100</Radius>
<Axis>0</Axis>
<Length>0</Length>
<Direction>VehicleDefault</Direction>
<Duration>0</Duration>
<Airspeed>24</Airspeed>
<Location>
<Location3D Series="CMASI">
<Altitude>300</Altitude>
<Latitude>-22.7385171253276</Latitude>
<Longitude>150.644304882855</Longitude>
<AltitudeType>AGL</AltitudeType>
</Location3D>
</Location>
</LoiterAction>
</VehicleActionList>
<ContingencyWaypoint>0</ContingencyWaypoint>
<Altitude>300</Altitude><AltitudeType>AGL</AltitudeType>
<Latitude>-22.7385171253276</Latitude>
<Longitude>150.644304882855</Longitude>
</Waypoint>
</WaypointList>
<FirstWaypoint>1</FirstWaypoint>
<Status>Pending</Status>
</MissionCommand>
<MissionCommand Series="CMASI" Time="1.9">
<CommandID>100</CommandID>
<VehicleID>2000</VehicleID>
<WaypointList>
<Waypoint Series="CMASI">
<Number>1</Number>
<NextWaypoint>1</NextWaypoint>
<Speed>24</Speed>
<SpeedType>Airspeed</SpeedType>
<ClimbRate>0</ClimbRate>
<TurnType>TurnShort</TurnType>
<VehicleActionList>
<LoiterAction Series="CMASI">
<LoiterType>VehicleDefault</LoiterType>
<Radius>100</Radius>
<Axis>0</Axis>
<Length>0</Length>
<Direction>VehicleDefault</Direction>
<Duration>0</Duration>
<Airspeed>24</Airspeed>
<Location>
<Location3D Series="CMASI">
<Altitude>300</Altitude>
<Latitude>-22.7485171253276</Latitude>
<Longitude>150.644304882855</Longitude>
<AltitudeType>AGL</AltitudeType>
</Location3D>
</Location>
</LoiterAction>
</VehicleActionList>
<ContingencyWaypoint>0</ContingencyWaypoint>
<Altitude>300</Altitude><AltitudeType>AGL</AltitudeType>
<Latitude>-22.7485171253276</Latitude>
<Longitude>150.644304882855</Longitude>
</Waypoint>
</WaypointList>
<FirstWaypoint>1</FirstWaypoint>
<Status>Pending</Status>
</MissionCommand>
<!-- ///////////////////////////////////////////////////////////////////////////////////////////// -->
<!-- ////////////////////////////////////////////////////////////////////////////////////////////// -->
</ScenarioEventList>
</AMASE>
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