ServerHost = localhost
ServerPort = 9000
Community = hotel
MOOSTimeWarp = 1
LatOrigin = 43.825300
LongOrigin = -70.330400
//------------------------------------------
// Antler configuration block
ProcessConfig = ANTLER
{
MSBetweenLaunches = 500
Run = MOOSDB @ NewConsole = false
Run = pMarineViewer @ NewConsole = true
Run = pLogger @ NewConsole = false
Run = uSimMarine @ NewConsole = true
Run = pNodeReporter @ NewConsole = false
Run = pMarinePID @ NewConsole = false
Run = pHelmIvP @ NewConsole = true
Run = uTimerScript @ NewConsole = true
Run = uFldBeaconRangeSensor @ NewConsole = true
}
//------------------------------------------
// uFldBeaconRangeSensor config block
ProcessConfig = uFldBeaconRangeSensor
{
AppTick = 4
CommsTick = 4
// System-wide Simulator configuration
ping_payments = upon_accept
report_vars = long
// Configurations for all vehicles/nodes
//reach_distance = default = nolimit
node_push_dist = default = 100
node_pull_dist = default = 100
ping_wait = default = 20
// Configurations for all beacons
//default_beacon_report_range = nolimit
default_beacon_push_dist = 85
default_beacon_pull_dist = 75
default_beacon_shape = circle
default_beacon_color = blue
default_beacon_width = 5
default_beacon_freq = never
//default_beacon_freq = 30:50
// Configurations for individual beacons
// Example:
// beacon = x=1,y=2,label=foo,freq=17,shape=square,width=3,color=orange
beacon = x=200, y=0, label=01
beacon = x=-100, y=-100, label=02
beacon = x=0, y=-200, label=03, freq=15
beacon = x=-65, y=-345, label=04
beacon = x=115, y=-150, label=05, push_dist=33, pull_dist=95
//beacon = x=160, y=-100, label=01
//beacon = x=290, y=-190, label=02, freq=30:45
//beacon = x=200, y=-260, label=03
//beacon = x=-40, y=-150, label=04, qrange=200
}
//------------------------------------------
// uTimerScript config block
ProcessConfig = uTimerScript
{
AppTick = 4
CommsTick = 4
PAUSED = false
RESET_MAX = 5000
RESET_TIME = end
CONDITION = (NAV_SPEED > 0)
randvar = varname=UVAR, min=0, max=359, key=at_post
randvar = varname=GVAR, type=gaussian, min=0, max=400, mu=200, sigma=20, key=at_post
randvar = varname=LGVAR, type=gaussian, min=0, max=400, mu=80, sigma=10, key=at_post
//event = var=GAUSS_TEST_VAL, val=$(GVAR), time=4
//event = var=GAUSS_TEST_VAL, val=$(GVAR), time=0:40
//event = var=LGAUSS_TEST_VAL, val=$(LGVAR), time=5
//event = var=LGAUSS_TEST_VAL, val=$(LGVAR), time=0:20
//event = var=UNIFORM_TEST_VAL, val=$(UVAR), time=0
//event = var=UNIFORM_TEST_VAL, val=$(UVAR), time=15:20
reset_max = no_limit
reset_time = all-posted
time_warp = 1:2
//delay_reset = 25
//delay_start = 10:20
EVENT = var=BRS_RANGE_REQUEST, val="name=hotel", time=1:2
//EVENT = var=BRS_RANGE_REQUEST, val="name=hotel", time=15:20
}
//------------------------------------------
// pLogger config block
ProcessConfig = pLogger
{
AppTick = 4
CommsTick = 4
SyncLog = false
AsyncLog = true
Log = VIEW_VECTOR @ 0
LogAuxSrc = true
WildCardLogging = true
LoggingDirectorySummaryFile = /Users/mikerb/.plogger2
}
//------------------------------------------
// uXMS config block
ProcessConfig = uXMS
{
AppTick = 0.5
CommsTick = 0.5
VAR = IMS_*
VAR = NAV_X
VAR = NAV_Y
VAR = NAV_SPEED
}
//------------------------------------------
// uSimMarine config block
ProcessConfig = uSimMarine
{
AppTick = 10
CommsTick = 10
START_X = 0
START_Y = 0
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
{
AppTick = 4
CommsTick = 4
Behaviors = hotel.bhv
Verbose = quiet
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 = AerialMIT.tif
set_pan_x = -60
set_pan_y = 160
zoom = 1.25
vehicle_shape_scale = 1.5
seglist_edge_width = 2.0
seglist_vertex_size = 4
seglist_vertex_color = red
point_vertex_size = 6
hash_delta = 50
hash_shade = 0.25
hash_view = true
scope = VIEW_SEGLIST
scope = VIEW_POINT
scope = VIEW_POLYGON
scope = NAV_X
scope = NAV_Y
scope = MVIEWER_LCLICK
scope = MVIEWER_RCLICK
BUTTON_ONE = DEPLOY # DEPLOY=true
BUTTON_ONE = MOOS_MANUAL_OVERRIDE=false # RETURN=false
BUTTON_TWO = RETURN # RETURN=true
ACTION = MENU_KEY=deploy # DEPLOY = true # RETURN = false
ACTION+ = MENU_KEY=deploy # MOOS_MANUAL_OVERRIDE=false
ACTION = RETURN=true
ACTION = HSLINE=off
ACTION = HSLINE=on
ACTION = UPDATES_RETURN=speed=1.4
// MIT OP-AREA
op_vertex = x=-220, y=-120,lwidth=1,lcolor=yellow,looped=true,group=moa
op_vertex = x=-100, y=-430,lwidth=1,lcolor=yellow,looped=true,group=moa
op_vertex = x=380, y=-240,lwidth=1,lcolor=yellow,looped=true,group=moa
op_vertex = x=254, y=46,lwidth=1,lcolor=yellow,looped=true,group=moa
op_vertex = x=112, y=21,lwidth=1,lcolor=yellow,looped=true,group=moa
}
//------------------------------------------
// pNodeReporter config block
ProcessConfig = pNodeReporter
{
AppTick = 2
CommsTick = 2
VESSEL_TYPE = KAYAK
}