// MOOS file

ServerHost   = localhost
ServerPort   = 9000
Community    = alpha
MOOSTimeWarp = 1

LatOrigin  = 43.825300 
LongOrigin = -70.330400 

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 500

  Run = MOOSDB          @ NewConsole = false
  Run = iKFController   @ NewConsole = false
}


//------------------------------------------
// iKFController configuration  block

ProcessConfig = iKFController
{
  // The controller needs to run at least 10Hz
  // otherwise the Clearpath API will timeout
  AppTick = 20
  CommsTick = 20
  
  Port = /dev/ttyUSB0
  Timeout = 3  

  // If 1 then heading is computed from magnetometers
  ComputeHeading = 0
  // Magnetometer offsets in Gauss
  MagOffsetX = 0.0
  MagOffsetY = 0.0
  MagOffsetZ = 0.0
  // An orientation from compass to vehicle in degrees
  HeadingOffset = -90.0
}