交互程序基本完成,需要增加锁相功能

missions/alder/alder.bhv

@@ -1,33 +1,94 @@
-//--------    FILE: alder.bhv   -------------
+//--------    FILE: alpha.bhv   -------------
 
 initialize   DEPLOY = false
 initialize   RETURN = false
-
+	
 //----------------------------------------------
-Behavior = BHV_SimpleWaypoint
+Behavior = BHV_Waypoint
 { 
-  name      = waypt_to_point
+  name      = waypt_survey
   pwt       = 100
   condition = RETURN = false
   condition = DEPLOY = true
   endflag   = RETURN = true
 
-  speed      = 2.0   // meters per second
-  radius     = 8.0
-  ptx        = 100
-  pty        = -50
+	configflag = CRUISE_SPD = $[SPEED]
+	//configflag = OSPOS = $[OSX],$[OSY]
+
+	activeflag = INFO=$[OWNSHIP]
+	activeflag = INFO=$[BHVNAME]
+	activeflag = INFO=$[BHVTYPE]
+
+	cycleflag = CINFO=$[OSX],$[OSY]
+
+	wptflag = PREV=$(PX),$(PY)
+	wptflag = NEXT=$(NX),$(NY)
+	wptflag = TEST=$(X),$(Y)
+	wptflag = OSPOS=$(OSX),$(OSY)
+	wptflag_on_start = true
+
+  updates    = WPT_UPDATE
+  perpetual  = true
+
+	    speed_alt = 1.2
+  use_alt_speed = true
+                lead = 8
+         lead_damper = 1
+       lead_to_start = true
+               speed = 12   // meters per second
+        capture_line = true
+      capture_radius = 5.0
+         slip_radius = 15.0
+	efficiency_measure = all
+
+  //           points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
+	           polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
+
+               order = normal
+             //repeat  = 100000
+             repeat  = 3
+
+    visual_hints = nextpt_color=yellow
+    visual_hints = nextpt_vertex_size=8
+    visual_hints = nextpt_lcolor=gray70
+    visual_hints = vertex_color=dodger_blue, edge_color=white
+    visual_hints = vertex_size=5, edge_size=1
 }
 
 //----------------------------------------------
-Behavior = BHV_Waypoint
+Behavior=BHV_Waypoint
 {
   name       = waypt_return
   pwt        = 100
-  condition  = (RETURN = true)
-  condition  = (DEPLOY = true)
+  condition  = RETURN = true
+  condition  = DEPLOY = true
+  condition  =  ((DEPLoy = true) or (alpha = one)) or (bravo = two)
+  perpetual  = true
+  updates    = RETURN_UPDATE
+  endflag    = RETURN = false
+  endflag    = DEPLOY = false
+  endflag    = MISSION = complete
+	
+           speed = 2.0
+  capture_radius = 2.0
+     slip_radius = 8.0
+          points = 0,-20
+ }
 
-  speed      = 2.0
-  radius     = 8.0
-  point      = 0,0
+//----------------------------------------------
+Behavior=BHV_ConstantSpeed
+{
+  name       = const_speed
+  pwt        = 200
+  condition  = SPD=true
+  condition  = DEPLOY = true
+  perpetual  = true
+  updates    = SPEED_UPDATE
+  endflag    = SPD = false
+
+     speed = 0.5
+		 duration = 10
+		 duration_reset = CONST_SPD_RESET=true
+	
 }
 

missions/alder/alder.moos

@@ -14,13 +14,13 @@ ProcessConfig = ANTLER
   MSBetweenLaunches = 200
 
   Run = MOOSDB        @ NewConsole = false
-  Run = uSimMarineV22	@ NewConsole = false
+  //Run = uSimMarineV22	@ NewConsole = false
   Run = pNodeReporter	@ NewConsole = false
   Run = pMarinePIDV22 @ NewConsole = false
   Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
-  //Run = pOdometry     @ NewConsole = false
+  Run = pAUV150       @ NewConsole = false
 }
 
 //------------------------------------------
@@ -80,8 +80,8 @@ ProcessConfig = pHelmIvP
 
 ProcessConfig = pMarinePIDV22
 {
-  AppTick    = 20
-  CommsTick  = 20
+  AppTick    = 5
+  CommsTick  = 5
 
   VERBOSE       = true
   DEPTH_CONTROL = false
@@ -148,5 +148,22 @@ ProcessConfig = pNodeReporter
   AppTick	  = 2
   CommsTick	= 2
 
-  vessel_type = kayak
+  platform_length = 1.5              // meters
+  //platform_beam   = 0.2             // meters
+  platform_type   = auv
+  platform_color  = dodger_blue
+  //vessel_type = auv
+}
+
+ProcessConfig = pAUV150
+{
+  AppTick   = 4
+  CommsTick = 4
+
+  server_host = 10.127.0.18
+  LatOrigin  = 43.825300 
+  LongOrigin = -70.330400 
+
+  ControlFrequency = 5
+
 }