178 lines
3.5 KiB
Plaintext
178 lines
3.5 KiB
Plaintext
// Alder mission file
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ServerHost = localhost
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ServerPort = 9000
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Community = alder
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MOOSTimeWarp = 1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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//------------------------------------------
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// Antler config block
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ProcessConfig = ANTLER
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{
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MSBetweenLaunches = 200
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Run = MOOSDB @ NewConsole = false
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//Run = uSimMarineV22 @ NewConsole = false
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Run = pNodeReporter @ NewConsole = false
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//Run = pMarinePIDV22 @ NewConsole = false
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Run = pMarineViewer @ NewConsole = false
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Run = uProcessWatch @ NewConsole = false
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Run = pHelmIvP @ NewConsole = false
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Run = pAUV150 @ NewConsole = true
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Run = pMotionControler @ NewConsole = false
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}
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//------------------------------------------
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// uSimMarineV22 config block
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ProcessConfig = uSimMarineV22
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{
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AppTick = 10
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CommsTick = 10
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START_X = 0
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START_Y = 0
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START_SPEED = 0
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START_HEADING = 180
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PREFIX = NAV
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}
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//------------------------------------------
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// uProcessWatch config block
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ProcessConfig = uProcessWatch
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{
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AppTick = 4
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CommsTick = 4
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summary_wait = 5
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nowatch = uXMS*
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nowatch = uMAC*
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nowatch = uPokeDB*
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nowatch = uQueryDB*
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nowatch = uTermCommand*
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watch_all = true
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}
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//------------------------------------------
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// pHelmIvP config block
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ProcessConfig = pHelmIvP
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{
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AppTick = 4
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CommsTick = 4
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Behaviors = alder.bhv
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Verbose = quiet
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Domain = course:0:359:360
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Domain = speed:0:4:21
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//IVP_BEHAVIOR_DIR = ../../lib
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ok_skew = any
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start_in_drive = false
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}
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//------------------------------------------
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// pMarinePIDV22 config block
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ProcessConfig = pMarinePIDV22
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{
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AppTick = 10
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CommsTick = 10
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VERBOSE = true
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DEPTH_CONTROL = false
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// Yaw PID controller
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YAW_PID_KP = 1
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YAW_PID_KD = 1
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YAW_PID_KI = 1
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YAW_PID_INTEGRAL_LIMIT = 1
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// Speed PID controller
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SPEED_PID_KP = 1.0
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SPEED_PID_KD = 0.0
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SPEED_PID_KI = 0.0
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SPEED_PID_INTEGRAL_LIMIT = 0.07
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//MAXIMUMS
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MAXRUDDER = 35
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MAXTHRUST = 35
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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SPEED_FACTOR = 20
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}
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//------------------------------------------
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// pMarineViewer config block
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ProcessConfig = pMarineViewer
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{
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AppTick = 4
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CommsTick = 4
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TIFF_FILE = forrest19.tif
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set_pan_x = -90
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set_pan_y = -280
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zoom = 0.65
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vehicle_shape_scale = 1.5
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hash_delta = 50
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hash_shade = 0.4
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hash_viewable = true
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scope = ODOMETRY_DIST
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// Appcast configuration
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appcast_height = 75
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appcast_width = 30
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appcast_viewable = true
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appcast_color_scheme = indigo
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nodes_font_size = medium
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procs_font_size = medium
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appcast_font_size = small
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BUTTON_ONE = DEPLOY # DEPLOY=true
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BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
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BUTTON_TWO = RETURN # RETURN=true
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}
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//------------------------------------------
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// pNodeReporter config block
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ProcessConfig = pNodeReporter
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{
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AppTick = 2
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CommsTick = 2
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platform_length = 1.5 // meters
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//platform_beam = 0.2 // meters
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platform_type = auv
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platform_color = dodger_blue
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//vessel_type = auv
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}
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ProcessConfig = pAUV150
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{
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AppTick = 10
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CommsTick = 10
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//server_host = 10.127.0.18
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server_host = 127.0.0.1
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LatOrigin = 43.825300
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LongOrigin = -70.330400
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ControlFrequency = 5
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}
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ProcessConfig = pMotionControler
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{
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AppTick = 5
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CommsTick = 5
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config_file = /home/zjk/project/prj_015/moos-ivp-extend/missions/alder/ControlParam.json
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} |