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One fixed lawnmower mission (10 m legs, 5 m steps) installed with blueboat_gazebo, a static test on the file, and a walkthrough that flies it in AUTO against figures stated beforehand. SITL runs in lockstep, so the figures are exact rather than tolerances. The parameter file gains the shipped waypoint navigation block (WP_PIVOT_*, WP_ACCEL, WP_JERK, MIS_DONE_BEHAVE, PSC_*). Without WP_PIVOT_ANGLE the firmware default disables pivot turns and the boat arcs through corners. Finding, recorded in the walkthrough and the spec: pivots drift forward, because a steering-only command leaves a net surge force on this model (published thrust ratio 2.0 vs MOT_THST_ASYM 1.6). Spec: phase 6 cut to the minimum; failsafes and a headless mission test deferred. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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October 18, 2026 22:26
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I'll look at merge conflicts later today |
Status tracking in the markdown is unnecessary: the pull requests and their state on GitHub already say which phases are done, in review or next, and a hand-kept column only goes stale. The status legend goes with it. Phase 7 (waves, boat only) is removed: buoyancy acts at the flat water plane and the waves are only drawn, so a wave-world run would exercise nothing the flat-water phases do not. The number is kept so references to phases 8 and 9 stay valid. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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@j-rivero Long story short, part of CI is broken since Ryan's #83. The reasoning was probably faulty from a stricter dev workflow, but for this small group it should get back to green with #85. Basically I needed to make changes as a consequence of Ryan's name change, so it is a two step process. Otherwise, this PR should be ready to review. You can do it now or wait until we merge #85, then rebase, and the CI should fully pass again. |
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Phase 6 of
docs/specs/SITL_SPEC.md. The spec lays out the intent.The BlueBoat flies one small waypoint mission unattended in
AUTOmode and walkthrough documentation for step-by-step user instructions.What's in it
blueboat_gazebo/missions/lawnmower.waypoints: 10 m legs east/west, 5 m steps north, a diagonal home. .test_mission_file.py: static checks on the installed file (format, pinned home, on the water, waypoints distinct).blueboat_sitl.params: the shipped waypoint-navigation block (WP_PIVOT_*,WP_ACCEL,WP_JERK,MIS_DONE_BEHAVE,PSC_*), verbatim fromBlueBoat120.params. WithoutWP_PIVOT_ANGLEthe firmware disables pivot turns. This is important because we want to be using the hardware parameters in SITLdocs/vehicles/blueboat/mission-sitl-boat.md, with figures from the scripted runs.Review Request
Please go through the walkthrough - bluerobotics_models/docs/vehicles/blueboat/mission-sitl-boat.md.
The walkthrough attempts to be step-by-step and reproducible. Step through it manually (not with AI) and check that the steps are clear and understandable by a human. The point is to verify that the SITL control and guidance, using the Blue Boat hardware params, performs similarly for the simulated vessel. This implicitly verifies the physics (dynamics, hydro, etc.) This does so without environmental disturbances (wind and waves) as a baseline.