From f81f58c44833ccca2f122765f877ea4aef2137ff Mon Sep 17 00:00:00 2001
From: zjk <1553836110@qq.com>
Date: Sun, 29 Jun 2025 19:04:39 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E5=B9=B3=E5=8F=B0=E7=AB=AF?=
 =?UTF-8?q?=E5=8F=A3=E7=9A=84=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6?=
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---
 missions/alpha/{alpha_test.bhv => alpha.bhv} |  0
 missions/alpha/alpha.moos                    | 21 +++++++++++++++++---
 missions/alpha/alpha_shoreside.moos          |  2 +-
 missions/alpha/alpha_vehicle.moos            | 15 +++++++-------
 src/pAUV150/Controler/Controler_data.cpp     |  2 +-
 5 files changed, 28 insertions(+), 12 deletions(-)
 rename missions/alpha/{alpha_test.bhv => alpha.bhv} (100%)

diff --git a/missions/alpha/alpha_test.bhv b/missions/alpha/alpha.bhv
similarity index 100%
rename from missions/alpha/alpha_test.bhv
rename to missions/alpha/alpha.bhv
diff --git a/missions/alpha/alpha.moos b/missions/alpha/alpha.moos
index 8c73803..c7e3422 100644
--- a/missions/alpha/alpha.moos
+++ b/missions/alpha/alpha.moos
@@ -17,12 +17,27 @@ ProcessConfig = ANTLER
   //Run = uSimMarineV22	@ NewConsole = false
   Run = pNodeReporter	@ NewConsole = false
   //Run = pLogger         @ NewConsole = false
-  //Run = pMarinePIDV22 @ NewConsole = false
   Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
-  Run = pAUV150       @ NewConsole = true
-  //Run = pMotionControler @ NewConsole = false
+  Run = pAUV150       @ NewConsole = false
+  Run = pShare        @ NewConsole = false
+}
+
+ProcessConfig = pShare
+{
+  AppTick    = 10
+  CommsTick  = 10
+  //UUV 信息
+  //output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
+  //App 信息
+  output = src_name = APPCAST*, route = 192.168.137.7:8085
+  //路径点信息
+  //output = src_name = VIEW*, route = 192.168.137.7:8085
+
+  //output = src_name = *, route = 192.168.137.7:8085
+  //调试端输入端口
+  input = route = localhost:8082
 }
 
 //------------------------------------------
diff --git a/missions/alpha/alpha_shoreside.moos b/missions/alpha/alpha_shoreside.moos
index c21204f..0921e0c 100644
--- a/missions/alpha/alpha_shoreside.moos
+++ b/missions/alpha/alpha_shoreside.moos
@@ -28,7 +28,7 @@ ProcessConfig = pShare
   CommsTick  = 2
 
   input = route =  localhost:8085
-  output = src_name=APPCAST_REQ, route=10.25.0.230:8081
+  output = src_name=APPCAST_REQ, route=10.25.0.230:8082
   
   //输出有两个端口，8081和8082，选择用1或者2
   //发送消息看以下格式
diff --git a/missions/alpha/alpha_vehicle.moos b/missions/alpha/alpha_vehicle.moos
index 79c0911..52c61ed 100644
--- a/missions/alpha/alpha_vehicle.moos
+++ b/missions/alpha/alpha_vehicle.moos
@@ -1,7 +1,7 @@
 // Alder mission file
 ServerHost = localhost
 ServerPort = 9000
-Community  = alpha
+Community  = auv150
 MOOSTimeWarp = 1
 
 LatOrigin  = 43.825300 
@@ -16,7 +16,6 @@ ProcessConfig = ANTLER
   Run = MOOSDB        @ NewConsole = false
   Run = pNodeReporter	@ NewConsole = false
   //Run = pLogger     @ NewConsole = false
-  //Run = pMarineViewer	@ NewConsole = false
   Run = uProcessWatch @ NewConsole = false
   Run = pHelmIvP      @ NewConsole = false
   Run = pAUV150       @ NewConsole = false
@@ -25,14 +24,16 @@ ProcessConfig = ANTLER
 
 ProcessConfig = pShare
 {
-  AppTick    = 2
-  CommsTick  = 2
+  AppTick    = 10
+  CommsTick  = 10
   //UUV 信息
-  output = src_name = NODE_REPORT*, route = 10.25.0.160:8085
+  //output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
   //App 信息
-  output = src_name = APPCAST*, route = 10.25.0.160:8085
+  //output = src_name = APPCAST*, route = 192.168.137.7:8085
   //路径点信息
-  output = src_name = VIEW*, route = 10.25.0.160:8085
+  //output = src_name = VIEW*, route = 192.168.137.7:8085
+
+  output = src_name = *, route = 192.168.137.7:8085
   //调试端输入端口
   input = route = localhost:8082
 }
diff --git a/src/pAUV150/Controler/Controler_data.cpp b/src/pAUV150/Controler/Controler_data.cpp
index 7609911..7126152 100644
--- a/src/pAUV150/Controler/Controler_data.cpp
+++ b/src/pAUV150/Controler/Controler_data.cpp
@@ -44,7 +44,7 @@ Controler::P Controler::rtP{
   //    '<S49>/Proportional Gain'
 
   {
-    1,
+    5.0,
     0.8,
     0.01,
     10.0