/*****************************************************************/
/* NAME: Michael Benjamin */
/* ORGN: Dept of Mechanical Eng / CSAIL, MIT Cambridge MA */
/* FILE: MarinePID_Info.cpp */
/* DATE: July 6th 2011 */
/* */
/* This file is part of MOOS-IvP */
/* */
/* MOOS-IvP is free software: you can redistribute it and/or */
/* modify it under the terms of the GNU General Public License */
/* as published by the Free Software Foundation, either version */
/* 3 of the License, or (at your option) any later version. */
/* */
/* MOOS-IvP is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See */
/* the GNU General Public License for more details. */
/* */
/* You should have received a copy of the GNU General Public */
/* License along with MOOS-IvP. If not, see */
/* . */
/*****************************************************************/
#include
#include
#include "ColorParse.h"
#include "ReleaseInfo.h"
#include "MarinePID_Info.h"
using namespace std;
//----------------------------------------------------------------
// Procedure: showSynopsis()
void showSynopsis()
{
blk("SYNOPSIS: ");
blk("------------------------------------ ");
blk(" Provides a basic PID controller interface to control heading ");
blk(" speed and depth based on incoming desired heading, speed and ");
blk(" depth objectives and output on rudder, thrust and elevator ");
blk(" fed through three PID controllers. ");
blk(" Note: As of July 2022, this app has been deprecated in favor ");
blk(" of pMarinePIDV22. ");
}
//----------------------------------------------------------------
// Procedure: showHelpAndExit()
void showHelpAndExit()
{
blk(" ");
blu("========================================================== ");
blu("Usage: pMarinePID file.moos [OPTIONS] ");
blu("========================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("Options: ");
mag(" --alias","= ");
blk(" Launch pMarinePID with the given process name rather ");
blk(" than pMarinePID. ");
mag(" --example, -e ");
blk(" Display example MOOS configuration block. ");
mag(" --help, -h ");
blk(" Display this help message. ");
mag(" --interface, -i ");
blk(" Display MOOS publications and subscriptions. ");
mag(" --version,-v ");
blk(" Display release version of pMarinePID. ");
blk(" ");
blk("Note: If argv[2] does not otherwise match a known option, ");
blk(" then it will be interpreted as a run alias. This is ");
blk(" to support pAntler launching conventions. ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showExampleConfigAndExit
void showExampleConfigAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pMarinePID Example MOOS Configuration ");
blu("=============================================================== ");
blu("Blue lines: ","Default configuration, i.e., the below blue ");
blu(" lines, as configured, could be ommitted with no net effect. ");
blk(" ");
blk("ProcessConfig = pMarinePID ");
blk("{ ");
blk(" AppTick = 20 "," // Default MOOS AppTick=4 ");
blk(" CommsTick = 20 "," // Default MOOS CommsTick=4 ");
blk(" ");
blk(" speed_factor = 20 "," // Range [0,inf) ");
blu(" sim_instability = 0 "," // Range [0,inf) ");
blk(" ");
blu(" max_sat_hdg_debug = false ");
blu(" max_sat_spd_debug = false ");
blu(" max_sat_dep_debug = false ");
blk(" ");
blu(" tardy_helm_threshold = 2.0 ");
blu(" tardy_nav_threshold = 2.0 ");
blu(" active_start = false "," // or {true} ");
blu(" verbose = terse "," // or {verbose, quiet} ");
blk(" ");
blk(" // Yaw control configuration ");
blk(" yaw_pid_kp = 0.5 ");
blk(" yaw_pid_kd = 0.1 ");
blk(" yaw_pid_ki = 0.012 ");
blk(" yaw_pid_integral_limit = 0.07 ");
blk(" yaw_pid_ki_limit = 0.2 ");
blk(" maxrudder = 100 ");
blk(" ");
blk(" // Speed control configuration ");
blk(" speed_pid_kp = 0.8 ");
blk(" speed_pid_kd = 0.1 ");
blk(" speed_pid_ki = 0.11 ");
blk(" speed_pid_ki_limit = 0.07 ");
blk(" maxthrust = 100 ");
blk(" ");
blk(" // Depth control configuration ");
blk(" depth_control = true "," // or {false} ");
blk(" z_to_pitch_pid_kp = 0.12 ");
blk(" z_to_pitch_pid_kd = 1.0 ");
blk(" z_to_pitch_pid_ki = 0.004 ");
blk(" z_to_pitch_pid_integral_limit = 0.05 ");
blk(" maxpitch = 15 ");
blk(" ");
blk(" // Depth control configuration ");
blk(" pitch_pid_kp = 0.5 ");
blk(" pitch_pid_kd = 1.0 ");
blk(" pitch_pid_ki = 0 ");
blk(" pitch_pid_integral_limit = 0 ");
blk(" maxelevator = 13 ");
blk(" ");
blk(" ");
blk(" // Integral reset configuration (to avoid integral winding) ");
blk(" ");
blk(" // To reset integral to 0 when current value crosses ");
blk(" // the desired command (i.e. error approaches zero) ");
blk(" reset_heading_i_at_zero_error = true ");
blk(" reset_speed_i_at_zero_error = true ");
blk(" reset_depth_i_at_zero_error = true ");
blk(" reset_pitch_i_at_zero_error = true ");
blk(" ");
blk(" // To reset integral to 0 when a new desired command received ");
blk(" // the desired value (i.e. error approaches zero) ");
blk(" reset_heading_i_at_new_desired = true ");
blk(" reset_speed_i_at_new_desired = true ");
blk(" reset_depth_i_at_new_desired = true ");
blk(" reset_pitch_i_at_new_desired = true ");
blk(" ");
blk(" ");
blk(" app_logging = true // {true or file} By default disabled ");
blk("} ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showInterfaceAndExit
void showInterfaceAndExit()
{
blk(" ");
blu("=============================================================== ");
blu("pMarinePID INTERFACE ");
blu("=============================================================== ");
blk(" ");
showSynopsis();
blk(" ");
blk("SUBSCRIPTIONS: ");
blk("------------------------------------ ");
blk(" DESIRED_HEADING = 189 ");
blk(" DESIRED_SPEED = 3.2 ");
blk(" DESIRED_DEPTH = 15 ");
blk(" NAV_HEADING = 182 ");
blk(" NAV_YAW = 0.12 ");
blk(" NAV_SPEED = 3.4 ");
blk(" NAV_DEPTH = 22 ");
blk(" NAV_PITCH = -1.9 ");
blk(" SPEED_FACTOR = 20 ");
blk(" PID_VERBOSE = verbose/quiet/terse ");
blk(" MOOS_MANUAL_OVERIDE = false ");
blk(" MOOS_MANUAL_OVERRIDE = false ");
blk(" ");
blk(" ");
blk("PUBLICATIONS: ");
blk("------------------------------------ ");
blk(" DESIRED_RUDDER = -22 ");
blk(" DESIRED_THRUST = 60 ");
blk(" DESIRED_ELEVATOR = -1.2 ");
blk(" ");
blk(" PID_MAX_SAT_HDG = true ");
blk(" PID_MAX_SAT_SPD = true ");
blk(" PID_MAX_SAT_DEP = true ");
blk(" ");
blk(" PID_MAX_SAT_HDG_DEBUG = dfeIn=0.00000, ");
blk(" dfErrorTime=18677697.28731, m_dfDT=0.05311, ");
blk(" dfDiffNow=0.00000, DiffHistSize=9, mdfeDiff(1)=0.00000, ");
blk(" mdfeDiff(2)=0.00000, m_dfOut(1)0 ");
blk(" PID_MAX_SAT_SPD_DEBUG = dfeIn=0.00000, ... ");
blk(" PID_MAX_SAT_DEP_DEBUG = dfeIn=0.00000, ... ");
blk(" ");
exit(0);
}
//----------------------------------------------------------------
// Procedure: showReleaseInfoAndExit()
void showReleaseInfoAndExit()
{
showReleaseInfo("pMarinePID", "gpl");
exit(0);
}