修改速度

missions/auv150/alpha_shoreside.moos

@@ -77,7 +77,29 @@ ProcessConfig = pMarineViewer
   hash_shade           = 0.4
   hash_viewable        = true
 
-  scope = ODOMETRY_DIST
+  scope = rtU_speed_cmd
+  scope = rtU_u
+  scope = rtU_v
+  scope = rtU_w
+  scope = rtU_phi
+  scope = rtU_theta
+  scope = rtU_psi
+  scope = rtU_x
+  scope = rtU_y
+  scope = rtU_z
+  scope = rtU_dx
+  scope = rtU_dy
+  scope = rtU_dz
+  scope = rtU_heading_cmd
+  scope = rtU_depth_cmd
+  scope = rtY_MainThrusterSpeedCmd
+  scope = rtY_DirectUpperRudderServoAngleCmd
+  scope = rtY_DirectLowerRudderServoAngleCmd
+  scope = rtY_DirectLeftRudderServoAngleCmd
+  scope = rtY_DirectRightRudderServoAngleCmd
+  scope = rtY_heading_error
+  scope = rtY_pitch_error
+  scope = rtY_depth_error
 
    // Appcast configuration
   appcast_height       = 75
@@ -92,7 +114,7 @@ ProcessConfig = pMarineViewer
   BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
 
   BUTTON_TWO = RETURN # RETURN=true
-  
+
   BUTTON_Three = PZ # PZ=true
 
   BUTTON_Four = LED # LED=on

missions/auv150/gly_1.bhv

@@ -36,7 +36,7 @@ Behavior = BHV_Waypoint
                 lead = 8
          lead_damper = 1
        lead_to_start = true
-               speed = 2   // meters per second
+               speed = 2  // meters per second
         capture_line = true
       capture_radius = 5.0
          slip_radius = 15.0