修改missions and controller

missions/alpha/alpha_vehicle.moos

@@ -22,6 +22,9 @@ ProcessConfig = ANTLER
   Run = pShare        @ NewConsole = false
 }
 
+//------------------------------------------
+// pShare config block
+
 ProcessConfig = pShare
 {
   AppTick    = 10
@@ -64,10 +67,11 @@ ProcessConfig = pHelmIvP
   AppTick    = 4
   CommsTick  = 4
 
-  Behaviors  = alpha.bhv
+  Behaviors  = gly_1.bhv
   Verbose    = quiet
   Domain     = course:0:359:360
   Domain     = speed:0:4:21
+  Domain     = depth:0:100:101
 
   //IVP_BEHAVIOR_DIR = ../../lib
 
@@ -83,13 +87,16 @@ ProcessConfig = pNodeReporter
   AppTick	  = 2
   CommsTick	= 2
 
-  platform_length = 1.5              // meters
+  platform_length = 2              // meters
   //platform_beam   = 0.2             // meters
   platform_type   = auv
   platform_color  = dodger_blue
   //vessel_type = auv
 }
 
+//------------------------------------------
+// pAUV150 config block
+
 ProcessConfig = pAUV150
 {
   AppTick   = 10
@@ -98,13 +105,18 @@ ProcessConfig = pAUV150
   //server_host = 10.127.0.18
   //server_host = 127.0.0.1
   server_host = 192.168.137.1
-  LatOrigin  = 43.825300 
-  LongOrigin = -70.330400 
+  //LatOrigin  = 43.825300 
+  //LongOrigin = -70.330400
+
+  LatOrigin  = 43.825750 
+  LongOrigin = -70.329158 
 
   ControlFrequency = 10
-
 }
 
+//------------------------------------------
+// pLogger config block
+
 ProcessConfig = pLogger
 {
   AppTick       = 10