// Alpha Configuration file: M. Benjamin

ServerHost = localhost
ServerPort = 9000
Community  = alpha

MOOSTimeWarp = 1
TERM_REPORTING = false

// Forest Lake
LatOrigin  = 43.825300 
LongOrigin = -70.330400 

//------------------------------------------
// Antler configuration  block
ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = MOOSDB		@ NewConsole = false
  Run = pLogger         @ NewConsole = false
  Run = uSimMarine	@ NewConsole = false
  Run = pMarinePID	@ NewConsole = false
  Run = pHelmIvP	@ NewConsole = false
  Run = pMarineViewer	@ NewConsole = false
  Run = uProcessWatch	@ NewConsole = false
  Run = pNodeReporter	@ NewConsole = false
}

//------------------------------------------
// 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
}


//------------------------------------------
// pLogger config block

ProcessConfig = pLogger
{
  AppTick   = 8
  CommsTick = 8

  AsyncLog = true

  // For variables that are published in a bundle on their first post,
  // explicitly declare their logging request

  Log = IVPHELM_LIFE_EVENT @ 0 NOSYNC

  LogAuxSrc = true
  WildCardLogging = true
  WildCardOmitPattern = *_STATUS
  WildCardExclusionLog = true
}

//------------------------------------------
// uSimMarine config block

ProcessConfig = uSimMarine
{
  AppTick	= 4
  CommsTick	= 4

  start_x       = 0
  start_y       = -25
  start_speed   = 0
  start_heading = 180

  prefix        = NAV

  turn_rate     = 40
  thrust_map    = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
}

//------------------------------------------
// pHelmIvP config block

ProcessConfig = pHelmIvP
{
  MaxAppTick = 10
  AppTick    = 4
  CommsTick  = 4

  behaviors  = alpha.bhv
  domain     = course:0:359:360
  domain     = speed:0:4:21
}

//------------------------------------------
// pMarinePID config block

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  VERBOSE       = true
  DEPTH_CONTROL = false

  // SIM_INSTABILITY = 20

  // Yaw PID controller
  YAW_PID_KP		 = 1.2
  YAW_PID_KD		 = 0.0
  YAW_PID_KI		 = 0.3
  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

  trails_point_size   = 1

  // 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
  
  scope  = MODE

  button_one = DEPLOY # DEPLOY=true
  button_one = MOOS_MANUAL_OVERRIDE=false # RETURN=false
  button_two = RETURN # RETURN=true
}

//------------------------------------------
// pNodeReporter config block

ProcessConfig = pNodeReporter
{
  MaxAppTick    = 2
  AppTick	= 2
  CommsTick	= 2

  platform_type   = KAYAK
  platform_length = 4
}