交互程序基本完成,需要增加锁相功能

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
+
 }