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 = false Run = pLogger @ NewConsole = false Run = uSimMarine @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePID @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = uTimerScript @ NewConsole = false Run = uFldBeaconRangeSensor @ NewConsole = false } //------------------------------------------ // uFldBeaconRangeSensor config block ProcessConfig = uFldBeaconRangeSensor { AppTick = 2 CommsTick = 2 // System-wide Simulator configuration ping_payments = upon_accept report_vars = long verbose = true // 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 = nolimit reset_time = all-posted time_warp = 1 //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=25:30 } //------------------------------------------ // pLogger config block ProcessConfig = pLogger { AppTick = 4 CommsTick = 4 SyncLog = false AsyncLog = true Log = VIEW_VECTOR @ 0 LogAuxSrc = true WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //------------------------------------------ // 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 hash_delta = 50 hash_shade = 0.25 // 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 = 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 }