sailingrobot/config_ASPire.json at develop · AlandSailingRobots/sailingrobot · GitHub

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{
"config_ais": {
  "loop_time":1
},

"config_ais_processing": {
  "loop_time":0.5,
  "radius":300e6,
  "mmsi_aspire":230082790
},

"config_can_arduino": {
  "loop_time":1
},

"config_compass": {
  "loop_time":0.1,
  "heading_buffer_size": 1
},

"config_course_regulator": {
  "loop_time": 0.5,
  "max_rudder_angle": 30,
  "p_gain": 0.2,
  "i_gain": 0.3,
  "d_gain": 0.4
},

"config_dblogger": {
  "loop_time": 1
},

"config_gps": {
  "loop_time": 0.5
},

"config_line_follow": {
  "loop_time": 0.5,
  "close_hauled_angle": 45,
  "broad_reach_angle": 30,
  "tacking_distance": 15
},

"config_solar_tracker": {
  "loop_time": 0.5
},

"config_vessel_state": {
  "loop_time": 0.5,
  "course_config_speed_1": 0.5,
  "course_config_speed_2": 1
},

"config_voter_system": {
  "loop_time": 0.5,
  "max_vote": 100,
  "course_voter_weight": 0.6,
  "waypoint_voter_weight": 1,
  "wind_voter_weight": 1,
  "channel_voter_weight": 1,
  "midrange_voter_weight": 0,
  "proximity_voter_weight": 0,
  "lastcourse_voter_weight": 0.7
},

"config_wind_sensor": {
  "loop_time": 0.5
},

"config_wingsail_control": {
  "loop_time": 0.5,
  "max_cmd_angle": 10
},

"config_xbee": {
  "loop_time": 0.1,
  "send": 0,
  "receive": 0,
  "send_logs": 0,
  "push_only_latest_logs": 1
}

}