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caravela.ini
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############################################################################
# Copyright 2007-2021 OceanScan - Marine Systems & Technology, Lda. #
############################################################################
# This file is part of DUNE: Unified Navigation Environment. #
# #
# Commercial Licence Usage #
# Licencees holding valid commercial DUNE licences may use this file in #
# accordance with the commercial licence agreement provided with the #
# Software or, alternatively, in accordance with the terms contained in a #
# written agreement between you and Faculdade de Engenharia da #
# Universidade do Porto. For licensing terms, conditions, and further #
# information contact [email protected]. #
# #
# Modified European Union Public Licence - EUPL v.1.1 Usage #
# Alternatively, this file may be used under the terms of the Modified #
# EUPL, Version 1.1 only (the "Licence"), appearing in the file LICENCE.md #
# included in the packaging of this file. You may not use this work #
# except in compliance with the Licence. Unless required by applicable #
# law or agreed to in writing, software distributed under the Licence is #
# distributed on an "AS IS" basis, WITHOUT WARRANTIES OR CONDITIONS OF #
# ANY KIND, either express or implied. See the Licence for the specific #
# language governing permissions and limitations at #
# https://github.com/LSTS/dune/blob/master/LICENCE.md and #
# http://ec.europa.eu/idabc/eupl.html. #
############################################################################
# Author: José Braga #
############################################################################
# ASV Caravela configuration file. #
############################################################################
[Require common/evologics-addresses.ini]
[Require common/imc-addresses.ini]
[Require common/transports.ini]
[Require auv/transports.ini]
[Require auv/plans.ini]
[Require auv/maneuvers.ini]
[Require auv/monitors.ini]
[Require auv/navigation.ini]
[Require auv/supervisors.ini]
[Require auv/general.ini]
[Require hardware/lctr-a6xx/pctlv2.ini]
[Require hardware/lctr-a6xx/gsm-lc2m.ini]
[Require hardware/lctr-a6xx/gps-lc2m.ini]
[Require hardware/lctr-a6xx/limu.ini]
[Require hardware/lctr-a6xx/amc.ini]
[Require hardware/lctr-a6xx/evologics.ini]
[Require hardware/lctr-a6xx/seatrac.ini]
[Require hardware/lctr-a6xx/imagenex837b.ini]
[Require hardware/lctr-a6xx/imagenex852.ini]
############################################################################
# General Parameters. #
############################################################################
[General]
Vehicle = caravela
Absolute Maximum Depth = 0
Battery Capacity = 2080
Power Model -- Conversion - Watt = 0, 14, 23.5, 48, 88
Power Model -- Conversion - RPM = 0, 500, 850, 1200, 1485
Speed Conversion -- Actuation = 0, 36, 44, 59.4
Speed Conversion -- RPM = 0, 900, 1100, 1485
Speed Conversion -- MPS = 0, 1, 1.3, 1.8
Maximum Absolute Speed = 2.0
Vehicle Type = asv
[Monitors.FuelLevel]
Enabled = Never
[Transports.Announce]
Ignored Interfaces = eth0:prv
System Type = usv
[Transports.Logging]
Flush Interval = 0.5
[Transports.MobileInternet]
Enabled = Hardware
Entity Label = Mobile Internet
GSM - APN = internet
Enable IP Forwarding = false
Code Presentation Mode = false
[Transports.UDP]
Filtered Entities = CpuUsage:Daemon,
Distance:Altimeter+DVL Filtered+Echo Sounder,
Temperature:CTD+Depth Sensor+Motor 0+Motor 1+Motor 2+Motor 3,
Voltage:Batteries+Motor 0+Motor 1+Motor 2+Motor 3,
Current:Motor 0+Motor 1+Motor 2+Motor 3,
Rate Limiters = AlignmentState:0.5,
CpuUsage:0.2,
Distance:0.2,
EntityState:1,
EstimatedState:2,
Rpm:1,
SimulatedState:0.5,
StorageUsage:0.05,
Voltage:0.1
############################################################################
# Navigation. #
############################################################################
[Navigation.AUV.Navigation]
Depth Sensor = false
Reject all LBL ranges = true
Distance Between GPS and CG = 0.14
Entity Label - Altitude - Hardware = Echo Sounder
############################################################################
# Control. #
############################################################################
[Control.ASV.HeadingAndSpeed]
Enabled = Always
Entity Label = Heading & Speed Controller
Maximum Thrust Actuation = 1.0
Maximum Thrust Differential Actuation = 0.2
Ramp Actuation Limit = 0.0
Hardware RPMs Control = true
RPMs at Maximum Thrust = 2500
RPMs PID Gains = 0.2e-3, 0.21e-3, 29.0e-6
RPMs Feedforward Gain = 0.46e-3
MPS PID Gains = 0.0, 25.0, 0.0
MPS Integral Limit = 400.0
MPS Feedforward Gain = 1000.0
Minimum RPM Limit = 200
Maximum RPM Limit = 2000
Maximum RPM Acceleration = 160
Yaw PID Gains = 1.5, 0.0, 0.0
Maximum Heading Error to Thrust = 60.0
Entity Label - Port Motor = Motor - Port
Entity Label - Starboard Motor = Motor - Starboard
Share Saturation = true
Log PID Parcels = true
Debug Level = Spew
[Control.Path.VectorField]
Enabled = Always
Entity Label = Path Control
Debug Level = None
ETA Minimum Speed = 0.1
Control Frequency = 10
Along-track -- Monitor = false
Along-track -- Check Period = 20
Along-track -- Minimum Speed = 0.05
Along-track -- Minimum Yaw = 2
Cross-track -- Monitor = false
Cross-track -- Nav. Unc. Factor = 1
Cross-track -- Distance Limit = 25
Cross-track -- Time Limit = 20
Position Jump Threshold = 10.0
Position Jump Time Factor = 0.5
ETA Minimum Speed = 0.1
New Reference Timeout = 5.0
Course Control = false
Corridor -- Width = 2.5
Corridor -- Entry Angle = 15.0
Extended Control -- Enabled = false
Extended Control -- Controller Gain = 1.0
Extended Control -- Turn Rate Gain = 1.0
Bottom Track -- Enabled = false
Bottom Track -- Forward Samples = 7
Bottom Track -- Safe Pitch = 35.0
Bottom Track -- Minimum Range = 4.0
Bottom Track -- Slope Hysteresis = 1.5
Bottom Track -- Check Trend = false
Bottom Track -- Execution Frequency = 5
Bottom Track -- Depth Avoidance = true
Bottom Track -- Admissible Altitude = 2.5
[Control.ASV.RemoteOperation]
Enabled = Always
Entity Label = Remote Control
Execution Frequency = 10
Connection Timeout = 2.0
############################################################################
# Maneuvers. #
############################################################################
[Maneuver.FollowSystem]
Enabled = Never
[Maneuver.FollowTrajectory]
Enabled = Never
[Maneuver.VehicleFormation.SMC]
Enabled = Never
[Maneuver.FollowReference.AUV]
Enabled = Always
Entity Label = Follow Reference Maneuver
Horizontal Tolerance = 15.0
Vertical Tolerance = 1.0
Loitering Radius = 7.5
Default Speed = 1.2
Default Speed Units = m/s
Default Z = 0
Default Z Units = DEPTH
############################################################################
# Monitors. #
############################################################################
[Monitors.Entities]
Default Monitoring = Daemon,
GPS,
Navigation,
Operational Limits,
Path Control
Default Monitoring -- Hardware = Clock,
Collisions,
Leak Sensor,
Motor Controller - Port,
Motor Controller - Starboard
[Monitors.Medium]
Enabled = Never
[Monitors.Servos]
Enabled = Never
[Monitors.Emergency]
SMS Recipient Number = +351933651186
############################################################################
# Hardware. #
############################################################################
[Actuators.AMC]
Motor 1 - State = false
Motor 2 - State = false
Motor 0 - Orientation = -1
Motor 3 - Orientation = 1
[Sensors.GPS]
Enabled = Hardware
Entity Label = GPS
IO Port - Device = uart:///dev/uart/8:115200
Sentence Order = GPZDA, GPGGA, GPRMC, GPVTG
[Sensors.LIMU]
Hard-Iron Calibration = 0.0590, -0.0907, 0.0000
[Sensors.Imagenex837B]
X-Axis Distance to GPS = -0.14
IO Port - Device = tcp://192.168.0.2:4040
Auto Gain Mode = false
[Sensors.Imagenex852]
Sonar position = 0.02, 0.00, 0.62
Sonar orientation = 0, -90, 0
IO Port - Device = uart:///dev/uart/9
Automatic Activation = false
[Require hardware/lctr-a6xx/sch311x.ini]
[Supervisors.Power]
Enabled = Hardware
Entity Label = Power Supervisor
Main Power Channel = System
Command - On Power Down = services syslog stop && mount -o remount,ro /opt
Command - On Power Down Abort = mount -o remount,rw /opt && services syslog restart
# PCTL
[Power.PCTLv2]
ADC Reference Voltage = 1.095
Minimum Operating Voltage = 11.5
Power Channel 1 - Name = Right Camera
Power Channel 1 - State = 1
Power Channel 2 - Name = Emergency
Power Channel 2 - State = 1
Power Channel 4 - Name = Acoustic Modem
Power Channel 4 - State = 1
Power Channel 5 - Name = GPS
Power Channel 5 - State = 1
Power Channel 7 - Name = N/C (Bout_4)
Power Channel 7 - State = 0
Power Channel 9 - Name = N/C (+5V_2)
Power Channel 9 - State = 0
Power Channel 11 - Name = CPU AUX (RPI2)
Power Channel 11 - State = 1
Power Channel 12 - Name = Motor Controller
Power Channel 12 - State = 1
Power Channel 13 - Name = N/C (+5V_6)
Power Channel 13 - State = 0
Power Channel 15 - Name = Left Camera
Power Channel 15 - State = 1
[Transports.GSM]
Serial Port - Device = /dev/ttyUSB4
Debug Level = Spew
############################################################################
# Simulators. #
############################################################################
[Require common/vsim-models.ini]
# Vehicle simulator.
[Simulators.VSIM]
Enabled = Simulation
Entity Label = Simulation Engine
Execution Frequency = 25
Stream Speed East = 0
Stream Speed North = 0
# GPS simulator.
[Simulators.GPS]
Enabled = Simulation
Execution Frequency = 1
Entity Label = GPS
Number of Satellites = 8
HACC = 2
HDOP = 0.9
Activation Depth = 0.2
Report Ground Velocity = false
Report Yaw = false
Initial Position = 41.1850, -8.7062
# Port motor.
[Simulators.Motor/Port]
Enabled = Simulation
Entity Label = Motor - Port
Execution Frequency = 20
Thruster Act to RPM Factor = 9.55, 2450.40
Thruster Id = 0
# Starboard motor.
[Simulators.Motor/Starboard]
Enabled = Simulation
Entity Label = Motor - Starboard
Execution Frequency = 20
Thruster Act to RPM Factor = 9.55, 2450.40
Thruster Id = 1
# Acoustic Modem
[Transports.Evologics]
Enabled = Hardware
IPv4 Address = 10.0.50.5
[Transports.UAN]
Enabled = Always
Entity Label = Acoustic Access Controller
Enable Reports = true
[Transports.Seatrac]
Enabled = Never
Serial Port - Device = tcp://10.0.50.200:5000
[Maneuver.RowsCoverage]
Enabled = Always