//------------------------------------------------
// iHydroMAN_IvPExtend config block

ProcessConfig = iHydroMAN_IvPExtend
{
   AppTick   = 4
   CommsTick = 4

   LatOrigin = 42.358436
   LongOrigin = -71.087448

   hydroman_gateway_port = $(HYDROMAN_IPORT)
   hydroman_gateway_ip = 127.0.0.1

   // *********************************************************************************************
   // OWNSHIP NAVIGATION RELATED
   // *********************************************************************************************

   gps_expiration_time = 5             // in seconds
   compass_stdev = 1                   // stdev in degrees

   // Prefixes of the ownship sensor data messages, which will be sent to HydroMAN
   prefix_gps_msg = GPS
   prefix_imu_msg = IMU
   prefix_compass_msg = NAV
   prefix_actuator_msg = PYDIR_THRUST

   // Prefixes for nav and target nav output provided by HydroMAN
   // Msg style eg: "prefix_nav_data" + X/Y/LAT/LON/HEADING
   prefix_nav_output = HYDROMAN_NAV_           

   // *********************************************************************************************
   // TARGET VEHICLE NAVIGATION RELATED 
   // *********************************************************************************************

   //target_vehicles=JING,KIRK,IDA,GUS
   ownship_name=$(VNAME)

   // Prefixes of the target vehicle sensor data messages, which will be sent to HydroMAN
   // Msg style eg: "range_msg" 
   range_msg = CRS_RANGE_REPORT
   bearing_msg = CRS_BEARING_REPORT
   track_msg = UNIT_TRACK_IN

   // Msg style eg: "prefix_target_nav_output" + "target_name" + X/Y/LAT/LONG/HEADING
   //prefix_target_nav_output = HYDROMAN_TARGET_NAV_  
}