//******************************************************* // Vehicle behavior configuration file initialize DEPLOY = false initialize RETURN = false initialize STATION_KEEP = false initialize LEG_RUNNING = false initialize ATURNING = false initialize ZIGGING = false initialize FULL_STOPPING = false initialize FIX_TURNING = false initialize AVOID = true set MODE = ACTIVE { DEPLOY = true } INACTIVE set MODE = STATION-KEEPING { MODE = ACTIVE STATION_KEEP = true } set MODE = RETURNING { MODE = ACTIVE RETURN = true } set MODE = LEGRUN { MODE = ACTIVE LEG_RUNNING = true } //---------------------------------------------- Behavior = BHV_LegRunZ { name = legs pwt = 100 condition = MODE == LEGRUN updates = LEG_UPDATE perpetual = true lead = 5 lead_damper = 1 speed = 1 // capture_line = true capture_radius = 5 slip_radius = 15 patience = 90 offboard_tgap = 20 #ifdef VLANE arlo leg = x=3,y=-39,len=50,ang=64.64 turn1_bias = 100 turn2_bias = 100 turn1_dir = port turn2_dir = star turn_ext = 10 #elseifdef VLANE bear leg = x=9.42,y=-52.55,len=50,ang=64.64 turn1_bias = 50 turn2_bias = 50 turn1_dir = port turn2_dir = star turn2_ext = 25 turn1_ext = 25 #elseifdef VLANE cole leg = x=15.85,y=-66.1,len=50,ang=64.64 turn1_bias = 50 turn2_bias = 50 turn1_dir = star turn2_dir = port turn_ext = 10 #elseifdef VLANE dion leg = x=22.27, y=-79.66,len=50,ang=64.64 turn1_bias = 100 turn2_bias = 100 turn1_dir = star turn2_dir = port turn_ext = 25 #elseifdef VLANE ezra leg = x=28.7, y=-93.22,len=50,ang=64.64 turn1_bias = 100 turn2_bias = 100 turn1_dir = star turn2_dir = port turn_ext = 5 #endif coord = true coord_extrap = true coord_onleg = false repeat = 3 turn1_rad = 6 turn2_rad = 6 mid_pct = 20 adjust_turn = false legflag = PCT_TO_NEXT=$[PCT_NP] wptflag = LEG_RESULT="id=$[LEG_ID],dist=$[LEG_ODO],wraps=$[WRAPS]" visual_hints = nextpt_color=yellow visual_hints = nextpt_vertex_size=8 visual_hints = nextpt_lcolor=gray70 visual_hints = vertex_color=dodger_blue, edge_color=white visual_hints = vertex_size=6, edge_size=1 visual_hints = turn_edge_color=gray80 visual_hints = turn_vertex_color=green } //---------------------------------------------- Behavior=BHV_Waypoint { name = waypt_return pwt = 100 condition = MODE==RETURNING perpetual = true updates = RETURN_UPDATE endflag = RETURN = false endflag = DEPLOY = false endflag = MISSION = complete lead = 8 lead_damper = 1 lead_to_start = true speed = 0.8 capture_radius = 2.0 slip_radius = 8.0 #ifdef VNAME abe point = 21,-1 #elseifdef VNAME ben point = 13.77, -4.43 #elseifdef VNAME cal point = 6.54, -7.85 #elseifdef VNAME deb point = -0.69, -11.28 #elseifdef VNAME eve point = -7.92, -14.71 #elseifdef VNAME fin point = -15.15 -18.13 #elseifdef VNAME max point = 28.23, 2.43 #elseifdef VNAME ned point = 35.46, 5.85 #elseifdef VNAME oak point = 42.69, 9.28 #else point = $(START_POS) #endif } //---------------------------------------------- Behavior = BHV_StationKeep { name = station-keep pwt = 100 condition = MODE==STATION-KEEPING center_activate = true inner_radius = 5 outer_radius = 10 outer_speed = 1.0 transit_speed = 1.3 swing_time = 7 visual_hints = vertex_size=0, edge_color=gray50 } //---------------------------------------------- Behavior = BHV_AvdColregsV22 { name = avdcol_ pwt = 350 condition = AVOID = true condition = MODE==ACTIVE updates = CONTACT_INFO endflag = CONTACT_RESOLVED = $[CONTACT] templating = spawn contact = to-be-set on_no_contact_ok = true extrapolate = true decay = 30,60 headon_only = true //velocity_filter = min_spd=0.2, max_spd=1.0, pct=40 use_refinery = true // eval_tol = 30 pwt_outer_dist = 14 pwt_inner_dist = 6 completed_dist = 15 min_util_cpa_dist = 3 max_util_cpa_dist = 8 pwt_grade = linear // bearing_line_config = white:0, green:0.65, yellow:0.8, red:1.0 } //---------------------------------------------- Behavior = BHV_OpRegionRecover { name = recover pwt = 300 updates = RECOVER_UPDATES activeflag = RECOVER = true inactiveflag = RECOVER = false // pav60 explicitly: // polygon = pts={60,10:-30.36,-32.837:-4.658,-87.053:85.702,-44.216} // pav90 explicitly polygon = pts={60,10:-75.54,-54.256:-36.987,-135.58:98.554,-71.324} // Prefer to get the rescue region from uFldRescuMgr //dynamic_region_var = RECOVER_REGION buffer_dist = 5 trigger_entry_time = 1 trigger_exit_time = 1 visual_hints = edge_size = 2 visual_hints = edge_color = gray30 visual_hints = label_color = off } //---------------------------------------------- Behavior = BHV_OpRegion { name = op_region pwt = 100 //condition =a SAFETY=true //updates = OPREGION_UPDATES max_time = 0 // default (seconds) reset_var = OPREGION_RESET // example trigger_entry_time = 1 // default (seconds) trigger_exit_time = 0.5 // default (seconds) polygon = pts={69,14.3:67.6,16.5:65.7,18.2:63.4,19.4:60.8,20:55.7,19:-79.8,-45.2:-82,-46.6:-83.8,-48.6:-85,-50.9:-85.5,-53.4:-84.6,-58.5:-46,-139.9:-44.6,-142.1:-42.7,-143.8:-40.3,-145:-37.8,-145.5:-35.2,-145.4:-32.7,-144.6:102.8,-80.4:105,-78.9:106.8,-77:108,-74.7:108.5,-72.1:108.4,-69.5:107.6,-67} breached_poly_flag = SAY_MOOS = the op region has been violated visual_hints = vertex_color = burlywood visual_hints = vertex_size = 0 visual_hints = edge_color = burlywood visual_hints = edge_size = 1 visual_hints = label_color = off }