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lauv-noptilus-3.ini
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############################################################################
# Copyright 2007-2024 Universidade do Porto - Faculdade de Engenharia #
# Laboratório de Sistemas e Tecnologia Subaquática (LSTS) #
############################################################################
# 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: Ricardo Martins #
############################################################################
# LAUV Noptilus 3 configuration file #
############################################################################
[Require auv/basic.ini]
[Require hardware/lctr-a6xx/basic.ini]
[Require hardware/lctr-a6xx/batman.ini]
[Require hardware/lctr-a6xx/scrtv4.ini]
[Require hardware/lctr-a6xx/broom-36v.ini]
[Require hardware/lctr-a6xx/evologics.ini]
[Require hardware/lctr-a6xx/gps-lc2m.ini]
[Require hardware/lctr-a6xx/gsm-lc2m.ini]
[Require hardware/lctr-a6xx/hg1700.ini]
[Require hardware/lctr-a6xx/imagenex852.ini]
[Require hardware/lctr-a6xx/imagenex872.ini]
[Require hardware/lctr-a6xx/iridiumsbd-lc2m.ini]
[Require hardware/lctr-a6xx/lumenera.ini]
[Require hardware/lctr-a6xx/navquestdvl.ini]
[Require hardware/lctr-a6xx/psimar.ini]
[Require hardware/lctr-a6xx/slavecpu.ini]
[Require hardware/lctr-a6xx/microstrain3dmgx3.ini]
############################################################################
# Vehicle specific overrides #
############################################################################
[General]
Vehicle = lauv-noptilus-3
Absolute Maximum Depth = 50
Absolute Minimum Altitude = 1.2
Battery Packs = 4
Battery Capacity = 700
Power Model -- Conversion - Watt = 0, 14, 23.5, 70
Power Model -- Conversion - RPM = 0, 500, 850, 1400
Speed Conversion -- Actuation = 0, 34, 46
Speed Conversion -- RPM = 0, 850, 1150
Speed Conversion -- MPS = 0, 1, 1.3
Maximum Absolute Speed = 1.6
Hardware List = LSTS PCTLv2,
IEI PM-LX2-800W,
Ubiquiti PicoStation M2HP,
BeagleBone Black,
TP-LINK SF1008D,
GSM/UMTS/HDSPA,
Evologics S2CR 18/34,
U-blox EVK-6H,
Keller-33x,
LSTS LIMUv1,
LSTS BROOM + Motor,
LSTS SCRTv4 + BMS-705MG,
LinkQuest NavQuest 600 Micro,
Honeywell HG1700,
Imagenex 852,
Imagenex 872,
AML SV Xchange,
Lumenera
[Control.AUV.Attitude]
Roll PID Gains = 1.0, 0.02, 0.2
Roll Integral Limit = 1.0
Depth PID Gains = 0.4, 0.05, 0.7
Depth Integral Limit = 10.0
Heading Rate PID Gains = 1.2, 0.0, 0.0
Heading PID Gains = 1.0, 0.0, 0.0
Pitch Angle At Surface = 5.0
Pitch PID Gains = 1.55, 0.05, 0.6
Pitch Integral Limit = 1.0
Roll Compensation -- Use Speed = true
Roll Compensation -- Speed Bounds = 1.0, 1.8
Roll Compensation -- Speed Gain = 0.5
Altitude Control -- Enabled = true
Altitude Integral Limit = 6.0
Altitude PID Gains = 2.5, 0.005, 4.5
[Control.Path.VectorField]
Bottom Track -- Enabled = true
[Monitors.Entities]
Default Monitoring -- Hardware = BATMAN,
Clock,
Collisions,
DVL,
IMU,
Leak Sensor - Antenna,
Leak Sensor - Bottom,
Logger,
Motor Controller,
Servo Controller
[Monitors.FuelLevel]
Capacity Decay Factor = 6.0
Warning Level = 20
Error Level = 15
[Monitors.Emergency]
Transmission Interface = GSM
[Navigation.AUV.Ranger]
Enabled = Always
Entity Label = Ranger
Ping Periodicity = 5
Debug Level = Spew
[Navigation.AUV.Navigation]
Distance Between DVL and CG = 0.51
Distance Between LBL and GPS = 0.86
[Power.BATMANv2]
Serial Port - Device = /dev/ttyS10
Scale Factor A/Ah = 1.2
Warning Level = 20
Error Level = 15
[Power.PCTLv2]
Serial Port - Device = /dev/ttyS11
ADC Reference Voltage = 1.083
Power Channel 2 - Name = Sound Velocity Sensor
Power Channel 2 - State = 1
Power Channel 3 - Name = N/C (+12V_5)
Power Channel 3 - State = 0
Power Channel 6 - Name = Private (Camera - CPU)
Power Channel 6 - State = 0
Power Channel 10 - Name = AHRS
Power Channel 10 - State = 1
Power Channel 11 - Name = CPU - AUX
Power Channel 11 - State = 0
Power Channel 13 - Name = BATMAN
Power Channel 13 - State = 1
[Sensors.SCH311X]
Enabled = Never
[Sensors.Imagenex837B]
X-Axis Distance to GPS = 0.93
IO Port - Device = tcp://192.168.0.30:4040
[Sensors.Imagenex852]
Serial Port - Device = /dev/ttyS8
[Sensors.Imagenex872]
IO Port - Device = tcp://192.168.0.50:4040
[Sensors.NavQuestDVL]
Serial Port - Device = /dev/ttyS9
Device Position = 0.86, 0, 0.12
[Sensors.Keller]
Serial Port - Device = /dev/ttyS2
[Actuators.SCRTv4]
Serial Port - Device = /dev/ttyS4
[Actuators.Broom]
Serial Port - Device = /dev/ttyS5
[Simulators.LBL]
Wait for Ping Request = true
[Supervisors.SlaveCPU]
Slave System Name = lauv-noptilus-3-cpu-cam
[Supervisors.Power]
Slave System Names = lauv-noptilus-3-cpu-cam
[Transports.Evologics]
IPv4 Address = 10.0.10.105
[Transports.UAN]
Enabled = Always
Entity Label = Acoustic Access Controller
Enable Reports = true
[Transports.TCP.Server/BackSeat]
Enabled = Never
[Transports.TCP.Server/SlaveCPU]
Enabled = Always
[Vision.Lumenera]
Camera IPv4 Address = 10.0.10.106
Slave Entities = Slave CPU,
lauv-noptilus-3-cpu-cam:Camera Backend
[Maneuver.RowsCoverage]
Enabled = Always
[Monitors.Clock]
Enabled = Hardware
[Supervisors.ClockPPS]
Enabled = Never
[Sensors.Microstrain3DMGX3]
Serial Port - Device = /dev/ttyS7