//--------------------------------------------------------
// iM300 Config Block
	
ProcessConfig = iM300
{
  AppTick    = 10
  CommsTick  = 10

	// iM300 needs to know the IP address of the M300 front seat
	// computer, from the perspective of the PABLO. This is different
	// than the IP of the front seat computer for users logging in from
	// outside the vehicle.

#ifdef XMODE SIM
	comms_type = client
	#ifdef VNAME abe
 	   port    = 29501
	#elseifdef VNAME ben
	   port    = 29502
	#else
	   port    = 29500
	#endif
	ip_addr    = $(IP_ADDR)
#elseifdef XMODE M300
	comms_type = client
  	port       = 29500
	ip_addr    = $(FSEAT_IP)
#endif



  warn_bad_nmea_len  = false   
  warn_bad_nmea_form = false   
	
	stale_thresh = 2
	stale_check_enabled = true
	
	max_rudder  = 50
	max_thrust  = 100
	drive_mode  = normal
	ignore_msg  = $GPGLL, $GPGSV, $GPVTG, $GPZDA, $CPALT, $CPIMU, $GPGST, $GNGLL, $GNGSV, $GNVTG, $GNZDA, $GLGSV, $GNGSA, $GNTXT
	ignore_checksum_errors = true

	max_appcast_events       = 8
  // max_appcast_run_warnings = 10

	// heading_source options are gps, imu, or auto where auto uses imu
	// when available and not timed out as defined in the
	// stale_nave_msg_thresh parameter
 	heading_source = auto    

	// threshold in seconds, default is 1.5
	stale_gps_msg_thresh = 3
	
	nav_prefix 			= NAV
	gps_prefix			= GPS
	compass_prefix	= COMPASS

	// Publish the body-relative velocities for adaptive controller
	publish_body_vel = true
	use_nvg_msg_for_nav_x_nav_y = true
	
	stale_compass_thresh = 1      // threshold for compass measurement
			       	      // used in calc of body-relative vel
	mag_declination_deg = -14.2   // Hack for now, should use a gps reference

        add_thruster_fault_factor = true
	fault_factor_thruster_l   = 1.0
	fault_factor_thruster_r   = 1.0
	fault_bias_thruster_l   = 0.0
	fault_bias_thruster_r   = 0.0


}