ServerHost = localhost
ServerPort = 9000
Community  = compassTest

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


ProcessConfig = ANTLER
{
  MSBetweenLaunches = 200

  Run = pHelmIvP        @ NewConsole = false
  Run = MOOSDB		@ NewConsole = false
//  Run = iGPS_KF		@ NewConsole = false
  Run = iOS5000AC       @ NewConsole = false
//  Run = pNodeReporter   @ NewConsole = false
//  Run = pLogger         @ NewConsole = false
//  Run = pMarinePID      @ NewConsole = false
//  Run = iActuationKFAC  @ NewConsole = false
//  Run = pEchoVar        @ NewConsole = false
}

ProcessConfig = pEchoVar
{
  echo = NODE_REPORT_LOCAL -> NODE_REPORT
  echo = GPS_X -> NAV_X
  echo = GPS_Y -> NAV_Y
  echo = GPS_SPEED -> NAV_SPEED
  echo = COMPASS_HEADING -> NAV_HEADING
}

ProcessConfig = iActuationKFAC
{
  AppTick     = 10
  CommsTick   = 10

  // tty port for communicating with the vehicle controller
  Port                          = /dev/KINGFISHER       

  // No helm command in Timeout seconds = ALL STOPPED
  Timeout                       = 6                     

  ComputeHeading                = 0         // 0 = NO, 1 = YES
  m_verbose                     = 1
  MAX_THRUST_VALUE              = 84
  CRITICAL_VOLTAGE = 11.0
  CRITICAL_CURRENT = 5.0
  CRITICAL_CURRENT_TIMEOUT = 10
//  MAX_THRUST_VALUE = 1000
  // MagOffsetX                 = 0.0
  // MagOffsetY                 = 0.0
  // ProcessOrientationData     = true
  // ProcessMagnetometerData    = true

  OFFSET_LT10        =  8.5
  OFFSET_GTE10_LT20  =  8.5
  OFFSET_GTE20_LT30  =  8.5
  OFFSET_GTE30_LT40  =  8.0
  OFFSET_GTE40_LT50  =  7.5
  OFFSET_GTE50_LT60  =  7.0
  OFFSET_GTE60_LT70  =  7.0
  OFFSET_GTE70_LT80  =  7.0
  OFFSET_GTE80_LT90  =  7.5
  OFFSET_GTE90       =  8.5
}

ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true
  
  // Yaw PID controller
  YAW_PID_KP             = 0.35
  YAW_PID_KD             = 0.0
  YAW_PID_KI             = 0.0
  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 = 67
  
}

ProcessConfig = pHelmIvP
{
  AppTick    = 4
  CommsTick  = 4

  ok_skew      = any

  Behaviors    = bhv.bhv
  Verbose      = false
  Domain       = course:0:359:360
  Domain       = speed:0:5:26
}

ProcessConfig = iOS5000AC
{
  AppTick                       = 5
  CommsTick                     = 5
  Port                          = /dev/cu.SLAB_USBtoUART // tty port for communicating with the dig compass
  BAUDRATE                      = 19200                 // Always set to 19200 (OS5000 baud rate)
  MAG_VAR                       = -15                   // Adjust by -15 for magnetic variation in Boston
}

ProcessConfig = pNodeReporter
{
  AppTick     = 5
  CommsTick   = 5

  VESSEL_TYPE = KAYAK
}

ProcessConfig = pLogger
{
  AppTick       = 10
  CommsTick     = 10

  File          = LOG_GPS
  PATH          = ./
  //SyncLog     = true @ 0.2
  AsyncLog      = true
  FileTimeStamp = false

  Log = IVPHELM_LIFE_EVENT @ 0 nosync                                                              
                                                                                                   
  // Log it all!!!!!                                                                               
  LogAuxSrc = true                                                                                 
  WildCardLogging = true                                                                           
                                                                                                   
  CompressAlogs = false                                                                            
}  



ProcessConfig = iGPS_KF
{
        AppTick = 10
        CommsTick = 10
        Port = /dev/ttyACM0
        Streaming = true
        Verbose = false
        BaudRate = 115200
        Type = UBLOX
        SHOW_CEP = false
        RAW_GPS = true
}