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zjk
2025-06-16 18:27:52 +08:00
parent 930545b427
commit c1afe465eb
3 changed files with 11 additions and 10 deletions
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13
missions/alder/alder.moos
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@@ -20,7 +20,7 @@ ProcessConfig = ANTLER
Run = pMarineViewer @ NewConsole = false Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false Run = pHelmIvP @ NewConsole = false
Run = pAUV150 @ NewConsole = true Run = pAUV150 @ NewConsole = false
Run = pMotionControler @ NewConsole = false Run = pMotionControler @ NewConsole = false
} }
@@ -162,17 +162,18 @@ ProcessConfig = pAUV150
CommsTick = 10 CommsTick = 10
//server_host = 10.127.0.18 //server_host = 10.127.0.18
server_host = 127.0.0.1 //server_host = 127.0.0.1
server_host = 172.16.2.223
LatOrigin = 43.825300 LatOrigin = 43.825300
LongOrigin = -70.330400 LongOrigin = -70.330400
ControlFrequency = 5 ControlFrequency = 10
} }
ProcessConfig = pMotionControler ProcessConfig = pMotionControler
{ {
AppTick = 5 AppTick = 10
CommsTick = 5 CommsTick = 10
config_file = /home/zjk/project/prj_015/moos-ivp-extend/missions/alder/ControlParam.json config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
} }

2
src/CMakeLists.txt
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@@ -19,7 +19,7 @@ ADD_SUBDIRECTORY(lib_behaviors-test)
ADD_SUBDIRECTORY(pExampleApp) ADD_SUBDIRECTORY(pExampleApp)
ADD_SUBDIRECTORY(pXRelayTest) ADD_SUBDIRECTORY(pXRelayTest)
add_subdirectory(pAUV150) add_subdirectory(pAUV150)
# add_subdirectory(pMotionControler) add_subdirectory(pMotionControler)
############################################################################## ##############################################################################
# END of CMakeLists.txt # END of CMakeLists.txt
############################################################################## ##############################################################################

6
src/pAUV150/AUV150.cpp
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@@ -13,7 +13,7 @@
#include <string> #include <string>
#include <iostream> #include <iostream>
#define DEBUG_ // #define DEBUG_
using namespace std; using namespace std;
@@ -428,8 +428,8 @@ bool AUV150::buildReport()
{"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"}, {"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"},
{ {
(isConnected() ? "Yes" : "No"), (isConnected() ? "Yes" : "No"),
doubleToString(getRealReadFreq(), 2) + " Hz", doubleToString(getRealReadFreq(), 4) + " Hz",
doubleToString(getRealWriteFreq(), 2) + " Hz", doubleToString(getRealWriteFreq(), 4) + " Hz",
ulintToString(getCounter()), ulintToString(getCounter()),
m_serverHost, m_serverHost,
doubleToString(m_OriginLatitude, 5) + "deg", doubleToString(m_OriginLatitude, 5) + "deg",