Mars Pathfinder Rover Flight Rules


Updated 11/27/96





CONTENTS

















Mars Pathfinder Rover Flight Rules

Updated 11/27/96

CHANGE SUMMARY


Change Date: 7/28/96

Changes:


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Mars Pathfinder Rover Flight Rules

Updated 11/27/96


ROVER FLIGHT RULES
Indexed by Rule Name





Mars Pathfinder Rover Flight Rules

Updated 11/27/96


ROVER FLIGHT RULES
Indexed by Rover Command
CommandParameterFlight Rule

ABORT SEQUENCE*
 ABORT SEQUENCE Command Usage

APPLY PATCH

CALIBRATE HEADING WITH SUN

CALL FUNCTION (RL)
 CALL FUNCTION Command Prohibition

CAPTURE IMAGE		Compression Color Image Compression Prohibition
Compression Front Camera Image Compression Usage

CLEAR *(RL)
DEPLOY APXS
 APXS Operation: Sensor Head Orientation Limits

 ADM Operation Time of Day

 ADM Operation on Batteries

DRIVE MOTORS FOR CENTONS (RL ONLY)
 DRIVE MOTOR Command Prohibition
END OF SEQUENCE *(RL)
 END OF SEQUENCE Command Usage Constraints

FIND ROCK
 TURN TOWARD Before FIND ROCK

 Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image

GO TO WAYPOINT
 Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image

HEALTH CHECK (RL)

HEAT FOR n MINUTES

LIMIT-CALIBRATE POSITION SENSORS

MATERIAL ADHERENCE (RL)
{DUST_CVR} Precautions

MOVE FORWARD
MOVE BACKWARD
Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image

OUTPUT TO PORT (RL)

PATCH MEMORY (RL)

POSITION APXS
 APXS Operation: Sensor Head Orientation Limits

 Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image

READ ANALOG CHANNEL (RL)

READ BYTES FROM PORT (RL)

READ n BYTES FROM SEGMENT (RL)

RUN MOTOR FOR CENTONS

RUN MOTOR TO (RL)

SEND APXS COMMAND (RL)		Open Shutter (D1)APXS Operation: Temperature Restrictions when Opening the Shutter
Close Shutter (21)APXS Operation: Temperature Restrictions when Closing the Shutter
ALL APXS Operation: Minimum Uninterrupted Data Collection Periods
ALL APXS Operation: Electronics Operating Temperatures
ALLAPXS Operation: Sensor Head Operating Temperature

SET CLOCK (RL)

SET DEVICE STATUS

SET ERROR MASK *(RL)

SET MISSION PHASE


CommandParameterFlight Rule

SET PARAMETER (RL)		Steering rate
{ADC_PER_CENTON}		 {ADC_PER_CENTON} Parameter Change Prohibition
APXS driving position limit
{APXS_DLIM}
APXS night mode
{APXS_NIGHT}		{APXS_NIGHT} Restrictions
APXS integration time
{APXS_TIME_RL}
(Rover Lite ONLY)		{APXS_TIME_RL} Restrictions
Auto imaging after failed traverse
{AUTO_IMAGE}
Turning rate (time)
{BAM_PER_CENTON} 		{BAM_PER_CENTON} Parameter Change Prohibition
Turning rate (counts)
{BAM_PER_COUNT}		 {BAM_PER_COUNT} Parameter Change Prohibition
Battery usage override
{BATT_USAGE}
Bogey/differential sensor offsets
{BOGEY_REF}, {DIFF_REF}
Command acknowledge
{CMD_ACK}
APID for command execution report
{CMD_APID}
Command query interval
{CMD_RATE}
Command timeout limit
{CMD_TLIM}
Session retry limit
{COMM_RETRY}
Contact sensor enable mask
{CONTACT_MASK}
Wheel rate
{COUNTS_PER_CENTON} 		{COUNTS_PER_CENTON} Parameter Change Prohibition
Default wakeup time-of-day
{DEFAULT_WAKEUP}
MAE Dust cover open time
{DUST_CVR} 		{DUST_CVR} Precautions
"End of day" time-of-day
{END_OF_DAY}
Error reporting severity threshold
{EREP_LEVEL}
CCD Defect correction
{FIX_IMG}
Hazard avoidance enable
{HAZ_AVOID}
Distance between heartbeats
{HB_DIST}
Automatic health check level
{HEALTH_LEVEL}
Automatic health check interval
{HEALTH_RATE} 		{HEALTH_RATE} Precautions during APXS Operations
Hold Communication
{HOLD_COMM} 		{HOLD_COMM} Precautions
Minimum safe distance from lander
{LANDER_PROX}
Laser image exposure time
{LASER_EXP}
Local midnight reference time
{MIDNIGHT}
Minimum core bus voltage
{MIN_CORE_BUS}
Encoder scale factor
{MM_PER_COUNT}
Modem heating time
{MODEM_HEAT}
Modem reheating time
{MODEM_REHEAT}
Modem reheating temperature
{MODEM_TEMP}
Motor cooldown time
{MOTOR_COOL}
Motor energy limit
{MOTOR_LIMIT}
Power-saving mode
{POWER_SAVE}
Laser proximity sensing mode
{PROX_MODE}
Risk level
{RISK_LEVEL}
"End of day" solar power threshold
{SHUTDOWN_POWER}
Maximum squeeze mode navigation
{SQUEEZE_DIST}
Motor stall current
{STALL_CURRENT}
Steering sensor offsets
{STEER_REF}
Telemetry buffering mode
{TBUF_MODE}
Traversal telemetry (detail level)
{TELEM_RATE}
Thermal management update rate
{THERM_RATE}
Traverse cycle distance
{TRAV_CYCLE}
Turn sensor scale factor
{TURN_SCALE}
WEB set A limit
{WEB_HEAT_A}
WEB set B limit
{WEB_HEAT_B}
WEB overtemp
{WEB_LIMIT}
WEB temperature sensor set A
{WEB_SET_A}
WEB temperature sensor set B
{WEB_SET_B}


CommandParameterFlight Rule
SHUTDOWN UNTIL t *(RL)t (0 to 99999) Relative Shutdown Prohibition
SOIL MECHANICS TEST
SYNCHRONIZE CLOCK (RL)
 Synchronize Clock before End-of-Day
TEST n BYTES OF MEMORY (RL)
TURN LEFT n BAMS
TURN RIGHT n BAMS
 Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image
TURN ON DEVICESbit 0 (WEB heater)
bit 1 (left wheel motor heaters)
bit 2 (right wheel motor heaters)
bit 3 (steering motor heaters)
bit 4 (APXS motor heater)
bit 5 (modem heater)
bit 6 (modem)
bit 7 (APXS) APXS Operation: Electronics Operating Temperatures

APXS Operation: Sensor Head Operating Temperature
bit 8 (far left laser)
bit 9 (near left laser)
bit 10 (center laser)
bit 11 (near right laser)
bit 12 (far right laser )
bit 13 (current limiter bypass)
bit 14 (MAE QCM)
bit 15 (MAE dust cover) Turn On Devices: Dust Cover Prohibition
bit 16 (LEDs)
[APXS contact/wheel encoders]
bit 17 (turn rate sensor) Gyro Preheating for Traverse
bit 18 (linear accelerometers)
bit 19 (CCDs)
bit 20 (3BSS batteries )
bit 21(APXS failsafe)
TURN OFF DEVICESbit 0 (WEB heater)
bit 1 (left wheel motor heaters)
bit 2 (right wheel motor heaters)
bit 3 (steering motor heaters)
bit 4 (APXS motor heater)
bit 5 (modem heater)
bit 6 (modem)
bit 7 (APXS)
bit 8 (far left laser)
bit 9 (near left laser)
bit 10 (center laser)
bit 11 (near right laser)
bit 12 (far right laser )
bit 13 (current limiter bypass)
bit 14 (MAE QCM)
bit 15 (MAE dust cover)
bit 16 (LEDs)
[APXS contact/wheel encoders]
bit 17 (turn rate sensor) Gyro Shutdown after Traverse
bit 18 (linear accelerometers)
bit 19 (CCDs)
bit 20 (3BSS batteries )
bit 21(APXS failsafe)
TURN TO HEADING
Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image
TURN TOWARD
 Gyro Preheating for Traverse

 Gyro Shutdown after Traverse

 Straighten Wheels Before EOD Image
UNSTOW
 Mask Contact Sensors Before Unstow
WAIT FOR s SECONDS (RL)
WAIT UNTIL MISSION TIME t (RL)
WAIT UNTIL LOCAL TIME t (RL)
WAIT UNTIL s < v, LIMIT m
WAIT UNTIL s > v, LIMIT m
WHEEL ABRASION MEASUREMENT
 Health Check After WAE Command

Intentional Wheel Abrasion must Avoid Lifting Front Wheel
ZERO-CALIBRATE POSITION SENSORS



Web page author: Andrew Mishkin

All information on this site, including text and images describing the Rover, is copyright © 1996, Jet Propulsion Laboratory, California Institute of Technology and the National Aeronautics and Space Administration.