ServerHost = localhost ServerPort = $(MOOS_PORT) Community = $(VNAME) #include plug_origin_warp.moos //------------------------------------------------------------ Processconfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = uSimMarine @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = uProcessWatch @ NewConsole = false Run = pShare @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = uFldMessageHandler @ NewConsole = false Run = uTimerScript @ NewConsole = false Run = pBasicContactMgr @ NewConsole = false //Run = pContactMgrV20 @ NewConsole = false Run = pRealm @ NewConsole = false Run = pFrontEstimate @ NewConsole = false } #include plug_pShare.moos #include plug_pHostInfo.moos #include plug_pLogger.moos #include plug_uProcessWatch.moos //#include plug_pContactMgrV20.moos #include plug_pBasicContactMgr.moos //---------------------------------------------------- // pFrontEstimate Configuration Block ProcessConfig = pFrontEstimate { AppTick = 4 CommsTick = 4 vname = $(VNAME) temperature_factor = $(COOL_FAC) cooling_steps = $(COOL_STEPS) min_offset = -120 max_offset = -60 min_angle = -5 max_angle = 10 min_amplitude = 0 max_amplitude = 50 min_period = 150 max_period = 250 min_wavelength = 100 max_wavelength = 300 min_alpha = 500 max_alpha = 500 min_beta = 10 max_beta = 30 // min_T_N = 15 max_T_N = 25 min_T_S = 20 max_T_S = 30 concurrent = $(CONCURRENT) adaptive=$(ADAPTIVE) report_interval = 30; } //---------------------------------------------------- // pHelmIvP Configuration Block ProcessConfig = pHelmIvP { AppTick = 2 CommsTick = 2 behaviors = targ_$(VNAME).bhv verbose = false domain = course:0:359:360 domain = speed:0:5:26 ok_skew = any } //-------------------------------------------------------- // uTimerScript Configuration Block ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 paused = false reset_max = unlimited reset_time = end delay_reset = 0.5 event = var=UCTD_SENSOR_REQUEST, val=vname=$(VNAME), time=5 } //------------------------------------------------------ // uSimMarine Configuration Block ProcessConfig = uSimMarine { AppTick = 10 CommsTick = 10 start_pos = $(START_POS), 180, 0 prefix = NAV } //-------------------------------------------------------- // pNodeReporter Configuration Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 vessel_type = $(VTYPE) } //-------------------------------------------------- // uFldNodeBroker Configuration Block ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE) bridge = src=VIEW_POLYGON bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=APPCAST bridge = src=UCTD_SENSOR_REQUEST bridge = src=UCTD_PARAMETER_ESTIMATE bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE } //-------------------------------------------------- // uFldMessageHandler Configuration Block ProcessConfig = uFldMessageHandler { AppTick = 3 CommsTick = 3 strict_addressing = false } //----------------------------------------------------- // pMarinePID Configuration Block ProcessConfig = pMarinePID { AppTick = 10 CommsTick = 10 verbose = true depth_control = false active_start = true // Yaw PID controller yaw_pid_kp = 0.4 yaw_pid_kd = 0.1 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 }