ServerHost = localhost
ServerPort = $(VPORT)

// MIT Sailing Pavilion
LatOrigin  =  42.358456		
LongOrigin = -71.087589	

// Community name IS the vehicle name
Community  = $(VNAME)

//------------------------------------------------------------
Processconfig = ANTLER
{
  MSBetweenLaunches = 100
  
  Run = MOOSDB             @ NewConsole = false
  Run = iM200              @ NewConsole = false
  Run = uTimerScript       @ NewConsole = false
  Run = pLogger            @ NewConsole = false
}

ProcessConfig = iM200                                           
{                                                               
  AppTick        = 20                                           
  CommsTick      = 20                                           
                                                                
  port_number    = 29500                                        
  ip_address     = localhost     // Default is 'localhost'      
  GPS_PREFIX     = NAV
  DIRECT_THRUST  = true
  HEADING_OFFSET = 0.0       // Offset to add to published heading 
  PUBLISH_RAW    = false     // When true, publish all messages from
                             // front seat to M200_RAW_NMEA
  MAX_RUDDER     = 50.0      // Rudder value will be capped to this, +/-
  MAX_THRUST     = 100.0     // Thrust value to each motor will be
                             // capped to this value, +/-
} 

ProcessConfig = uTimerScript
{
  AppTick   = 20
  CommsTick = 20

       paused = true
	event = var=	COMMANDED_L, val = $(THRUST)
	event = var=	COMMANDED_R, val = $(THRUST)
	reset_time = all-posted
}


ProcessConfig = pLogger
{
  AppTick 	= 5
  CommsTick = 5
  
  File		= LOG_%(SERIAL)
  PATH		= ./
  AsyncLog 	= true
  FileTimeStamp = true

  // Log it all!!!!!
  LogAuxSrc = true
  WildCardLogging = true 
  WildCardOmitPattern = *_STATUS
  WildCardOmitPattern = DB_VARSUMMARY
  WildCardOmitPattern = DB_RWSUMMARY
  WildCardExclusionLog = true
}