AUV_150/missions/alpha/alpha.moos

// Alder mission file
ServerHost = localhost
ServerPort = 9000
Community  = alder
MOOSTimeWarp = 1

LatOrigin  = 43.825300 
LongOrigin = -70.330400

//------------------------------------------
// Antler config block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB        @ NewConsole = false
  //Run = uSimMarineV22	@ 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
  Run = pShare        @ NewConsole = false
}

//------------------------------------------
// pShare config block

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
}

//------------------------------------------
// uSimMarineV22 config block

ProcessConfig = uSimMarineV22
{
  AppTick	  = 10
  CommsTick	= 10

  START_X       = 0
  START_Y       = 0
  START_SPEED   = 0
  START_HEADING = 180
  PREFIX        = NAV
}

//------------------------------------------
// uProcessWatch config block

ProcessConfig = uProcessWatch
{
  AppTick   = 4
  CommsTick = 4

  summary_wait = 5

  nowatch   = uXMS*
  nowatch   = uMAC*
  nowatch   = uPokeDB*
  nowatch   = uQueryDB*
  nowatch   = uTermCommand*
  watch_all = true
}

//------------------------------------------
// pHelmIvP config block

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  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

  ok_skew = any
  start_in_drive = false
}

//------------------------------------------
// pMarinePIDV22 config block

ProcessConfig = pMarinePIDV22
{
  AppTick    = 10
  CommsTick  = 10

  VERBOSE       = true
  DEPTH_CONTROL = false

  // Yaw PID controller
  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
  SPEED_PID_KD		 = 0.0
  SPEED_PID_KI		 = 0.0
  SPEED_PID_INTEGRAL_LIMIT = 0.07

  //MAXIMUMS
  MAXRUDDER    = 35
  MAXTHRUST    = 35

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  SPEED_FACTOR = 20
}

//------------------------------------------
// pMarineViewer config block

ProcessConfig = pMarineViewer
{
  AppTick    = 4
  CommsTick  = 4

  TIFF_FILE            = forrest19.tif
  set_pan_x            = -90
  set_pan_y            = -280
  zoom                 = 1
  vehicle_shape_scale  = 1.5
  hash_delta           = 50
  hash_shade           = 0.4
  hash_viewable        = true
  VName = abc
  scope = ODOMETRY_DIST

   // Appcast configuration
  appcast_height       = 75
  appcast_width        = 30
  appcast_viewable     = true
  appcast_color_scheme = indigo
  nodes_font_size      = medium
  procs_font_size      = medium
  appcast_font_size    = small

  BUTTON_ONE = DEPLOY # DEPLOY=true
  BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
  BUTTON_TWO = RETURN # RETURN=true
}

//------------------------------------------
// pNodeReporter config block

ProcessConfig = pNodeReporter
{
  AppTick	  = 2
  CommsTick	= 2

  platform_length = 2              // meters
  platform_beam   = 2             // meters
  platform_type   = auv
  platform_color  = dodger_blue
  //vessel_type = auv
}

//------------------------------------------
// pAUV150 config block

ProcessConfig = pAUV150
{
  AppTick   = 10
  CommsTick = 10

  //server_host = 10.127.0.18
  //server_host = 127.0.0.1
  //server_host = 192.168.137.1
  server_host = 192.168.220.1
  //server_host = 192.168.43.131
  //LatOrigin  = 43.825300 
  //LongOrigin = -70.330400

  LatOrigin  = 43.825750 
  LongOrigin = -70.329158

  ControlFrequency = 10
}

//------------------------------------------
// pMotionControler config block

ProcessConfig = pMotionControler
{
  AppTick    = 10
  CommsTick  = 10
  config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
}

//------------------------------------------
// pLogger config block

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10
  
  File          = XLOG_SHORESIDE
  PATH          = ./
  SyncLog       = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = true

  LogAuxSrc     = true

  // Log it all!!!!!
  WildCardLogging = true 

  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
}