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lauv-xplore-5.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: Pedro Gonçalves #
############################################################################
# LAUV Xplore 5 configuration file #
############################################################################
[Require auv/basic.ini]
[Require hardware/lctr-a6xx/basic.ini]
[Require hardware/lctr-a6xx/batman.ini]
[Require hardware/lctr-a6xx/broom-36v.ini]
[Require hardware/lctr-a6xx/gps-lc2m.ini]
[Require hardware/lctr-a6xx/gsm-lc2m.ini]
[Require hardware/lctr-a6xx/limu.ini]
[Require hardware/lctr-a6xx/iridiumsbd-lc2m.ini]
[Require hardware/lctr-a6xx/scrtv4.ini]
[Require hardware/lctr-a6xx/oemx.ini]
############################################################################
# Vehicle specific overrides #
############################################################################
[General]
Vehicle = lauv-xplore-5
Absolute Maximum Depth = 105
Absolute Minimum Altitude = 1.2
Battery Packs = 8
Battery Capacity = 1400
Power Model -- Conversion - Watt = 0, 14, 20, 54, 70
Power Model -- Conversion - RPM = 0, 500, 850, 1250, 1400
Speed Conversion -- Actuation = 0, 36, 46
Speed Conversion -- RPM = 0, 900, 1150
Speed Conversion -- MPS = 0, 1, 1.3
Maximum Absolute Speed = 2.1
Hardware List = LSTS PCTLv2,
IEI PM-LX2-800W,
Raspberry Pi 2,
Ubiquiti PicoStation M2HP,
TP-LINK SF1008D,
GSM/UMTS/HDSPA,
U-blox EVK-6H,
Keller-33x,
LSTS BROOM + Motor,
LSTS SCRTv4 + BMS-705MG,
RBR XR-620CTD
[Control.AUV.Allocator]
Fin effect Rpm minimum value = 200
Fin effect Velocity dependent = true
Fin effect Velocity dependent unit = RPM
Fin effect minimum Meter Per Second value = 0.2
Roll not velocity dependent = true
k pitch = 1.3
k roll = 2.0
k yaw = 2.0
[Control.AUV.Attitude]
Depth Integral Limit = 5.0
Depth PID Gains = 0.5, 0.008, 0.1
Depth-to-pitch PID sampling rate relation = 2
Maximum Pitch Reference = 15.0
Pitch Integral Limit = 25.0
Pitch PID Gains = 1.7, 0.0, 0.0
Roll Integral Limit = 5.0
Roll PID Gains = 0.4, 0.05, 0.3
Roll Compensation -- Use Speed = false
Roll Compensation -- Speed Gain = 0.2
Heading Rate PID Gains = 1.2, 0.0, 0.0
Heading PID Gains = 1.5, 0.0, 0.15
Pitch Angle At Surface = 5.0
[Control.AUV.RemoteOperation]
Pitch Reference = 5.0
[Monitors.Entities]
Default Monitoring = Attitude,
Daemon,
GPS,
Navigation,
Operational Limits,
Path Control
Default Monitoring -- Hardware = AHRS,
Clock,
Collisions,
BATMAN,
Medium Sensor,
Leak Sensor,
Motor Controller,
Servo Controller
[Monitors.FuelLevel]
Capacity Decay Factor = 6.0
Warning Level = 20
Error Level = 15
# to be corrected
[Navigation.AUV.Navigation]
GPS Maximum HACC = 40.0
Distance Between LBL and GPS = 0.98
Abort if Uncertainty Exceeded = false
Activate speed to rpm estimation limit = true
Depth sensor localization in x axis = 0.92
Rpm to speed estimation = true
speed to rpm estimation percentage limit= 15
[Simulators.Environment]
Simulate - Bottom Distance = false
Simulate - Forward Distance = false
[Sensors.LIMU]
IO Port - Device = uart:///dev/ttyAMA1
Power Channel - Name =
Hard-Iron Calibration = 0.0054, -0.0612, 0.0
[Sensors.GPS]
Power Channel - Names = GPS
[Sensors.Keller]
IO Port - Device = uart:///dev/ttyUSB4:9600
Serial Port - Local Echo = 0
[Sensors.OEMX]
Serial Port - Device = /dev/ttyUSB1
Serial Port - Baud Rate = 38400
Primary Mount = Conductivity
#SoundSpeed
#Temperature
Secondary Mount = Pressure,
Temperature
#Turbidity
[Sensors.SCH311X]
Enabled = Never
[Sensors.ThermalZone]
Enabled = Hardware
Entity Label = Thermal Zone
Execution Frequency = 1
Path = /sys/class/thermal/thermal_zone0/temp
Entity Label - Temperature = Mainboard (Core)
[Actuators.SCRTv4]
Serial Port - Device = /dev/ttyAMA2
[Actuators.Broom]
Serial Port - Device = /dev/ttyAMA3
[Power.BATMANv2]
Serial Port - Device = /dev/ttyAMA4
Scale Factor A/Ah = 4.0
Warning Level = 20
Error Level = 15
[Power.PCTLv2]
Serial Port - Device = /dev/ttyUSB0
ADC Reference Voltage = 1.083
ADC Channel 0 - Entity Label = pctl - Bat
ADC Channel 1 - Entity Label = pctl - Bat
Leak 0 - Entity Label = Medium Sensor
Leak 0 - Medium Sensor = true
Leak 1 - Entity Label = Leak Sensor
Minimum Operating Voltage = 18
Wakeup Operating Voltage = 22
Power Channel 2 - Name = OEMX Smart-x
Power Channel 2 - State = 1
Power Channel 4 - Name = N/C (Bout_1)
Power Channel 4 - State = 0
Power Channel 5 - Name = N/C (Bout_2)
Power Channel 5 - State = 0
Power Channel 6 - Name = LC2M
Power Channel 6 - State = 1
Power Channel 7 - Name = N/C (Bout_4)
Power Channel 7 - State = 0
Power Channel 10 - Name = Switch Ethernet
Power Channel 10 - State = 1
Power Channel 11 - Name = Auxiliary CPU
Power Channel 11 - State = 1
Power Channel 13 - Name = N/C (+5V_6)
Power Channel 13 - State = 0
Power Channel 15 - Name = BATMAN
Power Channel 15 - State = 1
Power Channel 17 - Name = N/C (DVL)
Power Channel 17 - State = 0
[Transports.LoggingDigest]
Enabled = Hardware
Entity Label = Logger (Digest)
Sample Interval = 1
Flush Interval = 5
Transports = EntityInfo,
EstimatedState,
Temperature,
Salinity,
Conductivity,
Pressure
[Transports.UDP]
Filtered Entities = CpuUsage:Daemon,
Distance:Altimeter+DVL Filtered+Echo Sounder,
Temperature:CTD+Depth Sensor+BATMAN,
Voltage:Batteries+Rhodamine+Turbidity+Chlorophyll+CELL 1+CELL 2+CELL 3+CELL 4+CELL 5+CELL 6+CELL 7+BATMAN,
Current:BATMAN+FCap+RCap
[Monitors.Clock]
Enabled = Hardware
[Supervisors.ClockPPS]
Enabled = Never
[Monitors.Medium]
# Reported sound speed in air is 1450...
Sound Speed Threshold = 1600
# Ignore state of medium sensor
Entity Label - Medium Sensor = N/A
# Use pure pursuit path controller
#[Require common/pure-pursuit.ini]
[Maneuver.Multiplexer]
PopUp -- Report at PopUps = true
[Transports.Announce]
Ignored Interfaces = eth1:prv