迁移pi上的master分支

missions/alder/alder.moos

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+// Level 2 Configuration file: M. Benjamin
+
+ServerHost = localhost
+ServerPort = 9000
+Simulator  = true
+
+Community  = alder
+
+MOOSTimeWarp = 1
+
+LatOrigin  = 43.825300 
+LongOrigin = -70.330400 
+
+//------------------------------------------
+// Antler configuration  block
+ProcessConfig = ANTLER
+{
+  MSBetweenLaunches = 200
+
+  Run = MOOSDB		@ NewConsole = false
+  Run = uSimMarine	@ NewConsole = false
+  Run = pNodeReporter	@ NewConsole = false
+  Run = pMarinePID	@ NewConsole = false
+  Run = pMarineViewer	@ NewConsole = false
+  Run = uProcessWatch   @ NewConsole = false
+  Run = pHelmIvP	@ NewConsole = false
+  Run = pOdometry	@ NewConsole = false
+  Run = pBoardSupportComm	  @ NewConsole = false  
+}
+
+//------------------------------------------
+// uSimMarine config block
+
+ProcessConfig = uSimMarine
+{
+  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
+
+  term_report_interval = 0.8
+
+  summary_wait = 5
+
+  nowatch   = uXMS*
+  nowatch   = uPokeDB*
+  nowatch   = uTermCommand*
+  watch_all = true
+}
+
+
+//------------------------------------------
+// pHelmIvP config block
+
+ProcessConfig = pHelmIvP
+{
+  AppTick    = 4
+  CommsTick  = 4
+
+  Behaviors  = alder.bhv
+  Verbose    = quiet
+  Domain     = course:0:359:360
+  Domain     = speed:0:4:21
+
+  IVP_BEHAVIOR_DIR = ../../lib
+  //IVP_BEHAVIOR_DIR = /Users/mikerb/Research/moos-ivp-extend/trunk/lib
+
+  ok_skew = any
+  start_in_drive = false
+}
+
+//------------------------------------------
+// pMarinePID config block
+
+ProcessConfig = pMarinePID
+{
+  AppTick    = 20
+  CommsTick  = 20
+
+  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
+
+  // 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    = 100
+  MAXTHRUST    = 100
+
+  // 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                 = 0.65
+  vehicle_shape_scale  = 1.5
+  hash_delta           = 50
+  hash_shade           = 0.4
+  hash_viewable        = true
+
+  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
+  VESSEL_TYPE   = KAYAK
+}
+
+ProcessConfig = pBoardSupportComm
+{
+   AppTick   = 4
+   CommsTick = 4
+}