API Reference

class UUVehicle

Main vehicle control interface for the Mini-UUV system.

from mini_uuv import UUVehicle

# Initialize vehicle connection
vehicle = UUVehicle(port="/dev/ttyUSB0", baudrate=115200)

# Arm the vehicle
vehicle.arm()

# Set control mode
vehicle.set_mode(UUVehicle.MODE_DEPTH_HOLD)

# Command velocity
vehicle.set_velocity(forward=0.5, lateral=0.0, vertical=0.0)

# Get current state
state = vehicle.get_state()
print(f"Depth: {state.depth}m, Heading: {state.heading}°")

class NavigationEKF

Extended Kalman Filter for sensor fusion navigation.

from mini_uuv.navigation import NavigationEKF

# Initialize EKF with configuration
ekf = NavigationEKF(
    process_noise=0.01,
    measurement_noise={'imu': 0.1, 'dvl': 0.05, 'depth': 0.02}
)

# Update with sensor measurements
ekf.predict(dt=0.02, imu_data=imu)
ekf.update_dvl(dvl_velocity)
ekf.update_depth(pressure_depth)

# Get estimated state
position, velocity, attitude = ekf.get_state()

class PIDController

from mini_uuv.control import PIDController

# Create depth controller
depth_pid = PIDController(
    kp=2.0, ki=0.5, kd=1.0,
    output_limits=(-1.0, 1.0),
    anti_windup=True
)

# Compute control output
control = depth_pid.update(
    setpoint=target_depth,
    measurement=current_depth,
    dt=0.02
)

class ThrusterAllocator

from mini_uuv.control import ThrusterAllocator

# Initialize with thruster configuration
allocator = ThrusterAllocator(config="vectored_4dof.yaml")

# Compute thruster commands from desired forces
thruster_cmds = allocator.allocate(
    force=[Fx, Fy, Fz],
    torque=[Mx, My, Mz]
)