// Level 2 Configuration file: M. Benjamin ServerHost = localhost ServerPort = 9000 Community = indigo 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 = 4 CommsTick = 4 // Configuring aspects of the vehicles ping_wait = default = 30 ping_payments = upon_accept //report_vars = short default_beacon_freq = never // Only on request (ping) default_beacon_shape = circle default_beacon_color = orange default_beacon_width = 5 default_beacon_push_dist = 50 default_beacon_pull_dist = 50 beacon = x=200, y=0, label=01, push_dist=500, pull_dist=500 beacon = x=400, y=-200, label=02 beacon = x=0, y=-200, label=03 verbose = true ground_truth = true rn_algorithm = uniform,pct=0.15 } //------------------------------------------ // uTimerScript config block ProcessConfig = uTimerScript { AppTick = 4 CommsTick = 4 paused = false reset_max = nolimit reset_time = end condition = (NAV_SPEED > 0) event = var=BRS_RANGE_REQUEST, val="name=indigo", time=25:35 } //------------------------------------------ // pLogger config block ProcessConfig = pLogger { AppTick = 4 CommsTick = 4 SyncLog = false AsyncLog = true Log = SBR_RANGE_REPORT @ 0 LogAuxSrc = true WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //------------------------------------------ // 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 = indigo.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_viewable_all = false hash_delta = 50 hash_shade = 0.25 hash_viewable = 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 }