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setting/ControlParam.json

@@ -0,0 +1,43 @@
+{
+	"speed" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 5.0,
+		"Kd" : 0.0,
+		"LimitDelta" : 50,
+		"MaxOut" : 100,
+		"MinOut" : 0
+	},
+	"heading" :
+	{
+		"Kp" : 0.8,
+		"Ki" : 0.05,
+		"Kd" : 2.2,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"depth" : 
+	{
+		"Kp" : 10.0,
+		"Ki" : 0.3,
+		"Kd" : 2.0,
+		"LimitDelta" : 5,
+		"MaxOut" : 10,    
+		"MinOut" : -10
+	},
+	"pitch" : 
+	{
+		"Kp" : 0.6,
+		"Ki" : 0.03,
+		"Kd" : 1.5,
+		"LimitDelta" : 5,
+		"MaxOut" : 30,
+		"MinOut" : -30
+	},
+	"const_thrust" : 0,
+	"dead_zone" : 10,
+	"speedCol" : true,
+	"depthCol" : true,
+	"HeadingCol" : true
+}

setting/Origin.json

@@ -0,0 +1,6 @@
+{
+	"AltOrigin" : 0,
+	"LatOrigin" : 50.825298309326172,
+	"LongOrigin" : -90.330398559570312,
+	"TaskName" : "east_waypt_survey"
+}

setting/PlanConfigure.json

@@ -0,0 +1,199 @@
+{
+	"east_waypt_survey" : 
+	{
+		"boardStamp" : 1699945816.369447,
+		"clientStamp" : 1699945815.876014,
+		"closedLoop" : true,
+		"constSpeed" : -1.0,
+		"duration" : -1.0,
+		"maxDepth" : -1.0,
+		"minDepth" : -1.0,
+		"origin" : 
+		{
+			"altitude" : 0.0,
+			"lat" : 50.825299999999999,
+			"lon" : -90.330399999999997
+		},
+		"perpetual" : false,
+		"points" : 
+		[
+			{
+				"depth" : 10.0,
+				"east" : 121.51780491942635,
+				"lat" : 43.824428558349609,
+				"lon" : -70.328887939453125,
+				"name" : "station_1",
+				"north" : -96.635898081838207,
+				"speed" : 3.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 8.0,
+				"east" : 201.91511278899367,
+				"lat" : 43.824676513671875,
+				"lon" : -70.327888488769531,
+				"name" : "station_2",
+				"north" : -69.083922179977435,
+				"speed" : 5.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 6.0,
+				"east" : 203.75986507534614,
+				"lat" : 43.823623657226562,
+				"lon" : -70.327865600585938,
+				"name" : "station_3",
+				"north" : -186.06549181810368,
+				"speed" : 7.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 4.0,
+				"east" : 131.33919016412341,
+				"lat" : 43.823623657226562,
+				"lon" : -70.328765869140625,
+				"name" : "station_4",
+				"north" : -186.06731482554795,
+				"speed" : 9.0,
+				"type" : "point"
+			}
+		],
+		"priority" : 10,
+		"repeat" : 1,
+		"sourceAddress" : "10.25.0.160",
+		"sourceName" : "CCU Neptus 0_163",
+		"taskId" : "1",
+		"taskName" : "east_waypt_survey"
+	},
+	"plan1_toMoos" : 
+	{
+		"boardStamp" : 1699602762.2845099,
+		"clientStamp" : 1699602762.7520001,
+		"closedLoop" : false,
+		"duration" : -1.0,
+		"maxDepth" : -1.0,
+		"minDepth" : -1.0,
+		"origin" : 
+		{
+			"altitude" : 0.0,
+			"lat" : 50.825299999999999,
+			"lon" : -90.330399999999997
+		},
+		"perpetual" : false,
+		"points" : 
+		[
+			{
+				"depth" : 2.0,
+				"east" : 117.83291847226671,
+				"lat" : 43.825713999999998,
+				"lon" : -70.32893,
+				"name" : "Goto1",
+				"north" : 46.200319317940647,
+				"speed" : 2.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 2.0,
+				"east" : -17.18366087421261,
+				"lat" : 43.826782000000001,
+				"lon" : -70.330609999999993,
+				"name" : "Goto2",
+				"north" : 164.87635389378988,
+				"speed" : 2.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 2.0,
+				"east" : -241.19025325837993,
+				"lat" : 43.825465999999999,
+				"lon" : -70.333399999999997,
+				"name" : "Goto3",
+				"north" : 18.653618776002617,
+				"speed" : 2.0,
+				"type" : "point"
+			},
+			{
+				"depth" : 2.0,
+				"east" : -203.76118848802312,
+				"lat" : 43.823234999999997,
+				"lon" : -70.332930000000005,
+				"name" : "Goto4",
+				"north" : -229.29782627916489,
+				"speed" : 2.0,
+				"type" : "point"
+			}
+		],
+		"priority" : 10,
+		"repeat" : 1,
+		"sourceAddress" : "10.25.0.163",
+		"sourceName" : "CCU JHL 0_163",
+		"taskId" : "0,106,3,-96,8,-103,13,6,9,32,50,-13,47,-71,61,1",
+		"taskName" : "plan1_toMoos"
+	},
+	"west_waypt_survey" : 
+	{
+		"boardStamp" : 1698135268.3958621,
+		"clientStamp" : 1698135268.2057669,
+		"closedLoop" : true,
+		"constSpeed" : -1.0,
+		"duration" : -1.0,
+		"maxDepth" : -1.0,
+		"minDepth" : -1.0,
+		"origin" : 
+		{
+			"altitude" : 0.0,
+			"lat" : 43.825298309326172,
+			"lon" : -70.330398559570312
+		},
+		"perpetual" : true,
+		"points" : 
+		[
+			{
+				"depth" : 9.0,
+				"east" : -91.445572043530944,
+				"lat" : 43.824195861816406,
+				"lon" : -70.331535339355469,
+				"name" : "station_1",
+				"north" : -122.49101460421512,
+				"speed" : 4.0,
+				"type" : "point"				
+			},
+			{
+				"depth" : 7.0,
+				"east" : 5.5235485468483718,
+				"lat" : 43.824298858642578,
+				"lon" : -70.330329895019531,
+				"name" : "station_2",
+				"north" : -111.04778559533926,
+				"speed" : 6.0,
+				"type" : "point"				
+			},
+			{
+				"depth" : 5.0,
+				"east" : 4.2961493948725868,
+				"lat" : 43.823516845703125,
+				"lon" : -70.330345153808594,
+				"name" : "station_3",
+				"north" : -197.93630920628678,
+				"speed" : 8.0,
+				"type" : "track"				
+			},
+			{
+				"depth" : 3.0,
+				"east" : -81.013520711457318,
+				"lat" : 43.823207855224609,
+				"lon" : -70.331405639648438,
+				"name" : "station_4",
+				"north" : -232.26737690334403,
+				"speed" : 10.0,
+				"type" : "track"					
+			}
+		],
+		"priority" : 10,
+		"repeat" : -1,
+		"sourceAddress" : "10.25.0.160",
+		"sourceName" : "CCU Neptus 0_163",
+		"taskId" : "2",
+		"taskName" : "west_waypt_survey"
+	}
+}