init

missions/alder/ControlParam.json

@@ -0,0 +1,43 @@
+{
+	"speed" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 5.0,
+		"Kd" : 0.0,
+		"LimitDelta" : 50,
+		"MaxOut" : 100,
+		"MinOut" : 0
+	},
+	"heading" :
+	{
+		"Kp" : 10.0,
+		"Ki" : 0.5,
+		"Kd" : 2.2,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"depth" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 0.3,
+		"Kd" : 2.0,
+		"LimitDelta" : 5,
+		"MaxOut" : 10,    
+		"MinOut" : -10
+	},
+	"pitch" : 
+	{
+		"Kp" : 0.6,
+		"Ki" : 0.03,
+		"Kd" : 1.5,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"const_thrust" : 0,
+	"dead_zone" : 10,
+	"speedCol" : true,
+	"depthCol" : true,
+	"HeadingCol" : true
+}

missions/alder/alder.moos

@@ -16,11 +16,12 @@ ProcessConfig = ANTLER
   Run = MOOSDB        @ NewConsole = false
   //Run = uSimMarineV22	@ NewConsole = false
   Run = pNodeReporter	@ NewConsole = false
-  Run = pMarinePIDV22 @ NewConsole = false
+  //Run = pMarinePIDV22 @ NewConsole = false
   Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
-  Run = pAUV150       @ NewConsole = false
+  Run = pAUV150       @ NewConsole = true
+  Run = pMotionControler @ NewConsole = false
 }
 
 //------------------------------------------
@@ -80,17 +81,17 @@ ProcessConfig = pHelmIvP
 
 ProcessConfig = pMarinePIDV22
 {
-  AppTick    = 5
-  CommsTick  = 5
+  AppTick    = 10
+  CommsTick  = 10
 
   VERBOSE       = true
   DEPTH_CONTROL = false
 
   // Yaw PID controller
-  YAW_PID_KP		 = 0.5
-  YAW_PID_KD		 = 0.0
-  YAW_PID_KI		 = 0.0
-  YAW_PID_INTEGRAL_LIMIT = 0.07
+  YAW_PID_KP		 = 1
+  YAW_PID_KD		 = 1
+  YAW_PID_KI		 = 1
+  YAW_PID_INTEGRAL_LIMIT = 1
 
   // Speed PID controller
   SPEED_PID_KP		 = 1.0
@@ -99,8 +100,8 @@ ProcessConfig = pMarinePIDV22
   SPEED_PID_INTEGRAL_LIMIT = 0.07
 
   //MAXIMUMS
-  MAXRUDDER    = 100
-  MAXTHRUST    = 100
+  MAXRUDDER    = 35
+  MAXTHRUST    = 35
 
   // A non-zero SPEED_FACTOR overrides use of SPEED_PID
   // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
@@ -157,13 +158,21 @@ ProcessConfig = pNodeReporter
 
 ProcessConfig = pAUV150
 {
-  AppTick   = 4
-  CommsTick = 4
+  AppTick   = 10
+  CommsTick = 10
 
-  server_host = 10.127.0.18
+  //server_host = 10.127.0.18
+  server_host = 127.0.0.1
   LatOrigin  = 43.825300 
   LongOrigin = -70.330400 
 
   ControlFrequency = 5
 
 }
+
+ProcessConfig = pMotionControler
+{
+  AppTick    = 5
+  CommsTick  = 5
+  config_file = /home/zjk/project/prj_015/moos-ivp-extend/missions/alder/ControlParam.json
+}