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MSS Toolbox 2.1

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@cybergalactic cybergalactic released this 26 Oct 17:14
· 76 commits to master since this release
2.1
6529fe3

This feature release includes the following updates.

  • Introduced a new unified maneuvering and seakeeping model for the Otter USV using MSS-Capytaine frequency-dependent hydrodynamic data, power-based equivalent matrices, nonlinear Coriolis/centripetal terms, damping, and twin-pontoon cross-flow drag.
  • Retained the first-principles model as otter_legacy.m. The SIMotter GUI selects between the models, with the new model as default. exOtter retains the legacy model for the EKF/course-control example.
  • Expanded the SIMotter GUI with ocean-current settings, wave selection, significant wave height, peak frequency, wave direction, simulation duration, and time step.
  • Added exKalmanWavefilterAutopilot, exPassiveWavefilterAutopilot, and exPassiveWavefilterDP demonstrating wave filtering.
  • Added optional wn_d to headingAutopilot, allowing independent reference-model bandwidth.
  • Corrected the IIR option in notchFilter to give unity DC gain.
  • Updated waveForceRAO and waveMotionRAO to accumulate signed encounter phase during maneuvering, consistent with Fossen (2027, Chapter 10). Updated the simulations and examples to retain the returned waveModel history.
  • Improved mssPath to remove obsolete paths and exclude hidden folders, with updated installation instructions.
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