From 781b2cb832706723caaa8ec606e6a703e3665a25 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Tue, 23 Jul 2024 11:31:54 +0100 Subject: [PATCH] conf/params/caravel: Updated parameters. --- conf/params/caravel.en_US.xml | 7188 +++++++++++++++++++++++++++------ conf/params/caravel.pt_PT.xml | 7188 +++++++++++++++++++++++++++------ 2 files changed, 11736 insertions(+), 2640 deletions(-) diff --git a/conf/params/caravel.en_US.xml b/conf/params/caravel.en_US.xml index 73b8f5e038..66fb1c4279 100644 --- a/conf/params/caravel.en_US.xml +++ b/conf/params/caravel.en_US.xml @@ -1,1322 +1,5870 @@ - - -
- -Entity LabelstringdeveloperglobalText ActionsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalDebugNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Reply timeoutintegerdeveloperglobal6030 - -Documentation URLstringdeveloperglobalhttps://bit.ly/2LZ0EOc - -Valid Commandslist:stringdeveloperglobalabort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode -
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- -Entity LabelstringdeveloperglobalHeading ControllerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Enable Gain SchedulingbooleandeveloperglobalfalseEnable gain scheduling during turn - -Preferred schedulingstringdeveloperglobaladcpPreferred information for computing gamma. - -Gain Scheduling Intervalrealdeveloperglobal60Interval for recomputing PID gains.30 - -Use new gainsbooleandeveloperglobalfalseEnable gain scheduling based on gamma - -Enable Thrust AssistancebooleandeveloperglobaltrueAssist navigation with thruster - -Enable Thrust During TurnbooleandeveloperglobaltrueAssist the turn using the thruster - -Thrust Assistancerealdeveloperglobal0.25Percentage of thrust assistance - -Maximum Thrust Actuationrealdeveloperglobal1.0Maximum Motor Command - -Minimum Speed for Thrustrealdeveloperglobal0.1Speed [m/s] below which thruster is used - -Maximum Rudder Actuationrealdeveloperglobal1.0Maximum Rudder Command - -Course PID Gains Transectlist:realdeveloperglobal0.75, 0.001, 0.0PID gains for Course controller during straight line3 - -Course PID Gains Turninglist:realdeveloperglobal0.5, 0.0, 0.0PID gains for Course controller during turn3 - -Ramp Actuation Limitrealdeveloperglobal0.0Ramp actuation limit when the value is rising in actuation per second - -Log PID ParcelsbooleandeveloperglobaltrueLog the size of each PID parcel - -Entity Label - NavigationstringdeveloperglobalNavigation ManagerEntity label of 'GpsFix' message - -Activate LP FilteringbooleandeveloperglobalfalseActivate Low-pass filtering of computed rudder angle - -Activate N FilteringbooleandeveloperglobalfalseActivate Notch filtering of computed rudder angle - -Activate BS FilteringbooleandeveloperglobalfalseActivate Band-stop filtering of computed rudder angle - -Activate External FilteringbooleandeveloperglobalfalseActivate external user-defined filtering of computed rudder angle - -External Filter TypestringdeveloperglobalLPFExternal user-defined filter type - -Activate Desired Course FilteringbooleandeveloperglobalfalseActivate desired user-defined course filtering - -LP tapsrealdeveloperglobal20Low-pass filter number of taps1.0 - -LPF scalingrealdeveloperglobal1.2Low-pass filter gain to remove HF components1.0 - -NF tapsrealdeveloperglobal10Notch filter number of taps1.0 - -BSF tapsrealdeveloperglobal10Band-stop filter(s) number of taps1.0 - -BSF scalingrealdeveloperglobal20BSF scaling percentage around cut-off estimated frequency1 - -External Filter Frequencyrealdeveloperglobal1.0HzFrequency for external user-defined filter. - -Desired Course Percentage Increaseintegerdeveloperglobal30Incremental portioning during desired course change. - -Heading ControlbooleandeveloperglobalfalseSwitch to heading control. - -SOG threshold - Heading Controlrealdeveloperglobal0.2SOG threshold above which switch to heading control.0.001 - -Correlation Limitrealdeveloperglobal0Correlation above which measurement is discarded.0100 - -Amplitude Limitrealdeveloperglobal0dBAmplitude above which measurement is discarded. - -Vehicle Pitch Rate Limitrealdeveloperglobal18Pitching rate above which measurement is discarded. - -Vehicle Roll Rate Limitrealdeveloperglobal20Roll rate above which measurement is discarded. - -Enable speed controllerbooleandeveloperglobalfalse - -Minimum Turning Errorrealdeveloperglobal25°Minimum heading error to consider vessel is turning (in degrees). -
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- -Entity LabelstringdeveloperglobalRemote ControlMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal10HzFrequency at which task is executed - -Active - ScopestringdeveloperglobalmaneuverScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -ActivebooleandevelopermaneuvertrueTrue to activate task, false otherwise - -Connection Timeoutrealdeveloperglobal2.0s - -Thrust Scalerealdeveloperglobal1 -
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- -Entity LabelstringdeveloperglobalPath ControlMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Control Frequencyrealdeveloperglobal10HzControl frequency (< 0 for event-driven EstimatedState processing) - -State Report Frequencyrealdeveloperglobal1HzState report frequency - -Course ControlbooleandeveloperglobaltrueEnable course control - -Along-track -- MonitorbooleandeveloperglobalfalseEnable along-track error monitoring - -Along-track -- Check Periodrealdeveloperglobal15sPeriod for along-track error check - -Along-track -- Minimum Speedrealdeveloperglobal0.25m/sMinimum speed for along-track progress - -Along-track -- Minimum Yawrealdeveloperglobal10°/sMinimum yaw speed for track bearing convergence - -Cross-track -- MonitorbooleandeveloperglobalfalseEnable cross-track error monitoring - -Cross-track -- Distance Limitrealdeveloperglobal15mDistance threshold value for cross-track error - -Cross-track -- Time Limitrealdeveloperglobal10sTime threshold value for cross-track error - -Cross-track -- Nav. Unc. Factorrealdeveloperglobal-1 - -Position Jump Thresholdrealdeveloperglobal7.0mThreshold for a jump in EstimatedState to turn monitors off - -Position Jump Time Factorrealdeveloperglobal0.3m/sRelation between monitor disabling time and position jump0.1 - -ETA Minimum Speedrealdeveloperglobal1.0m/sETA minimum admissible speed0.1 - -New Reference Timeoutrealdeveloperglobal5sTimeout for new incoming path reference310 - -Bottom Track -- EnabledbooleandeveloperglobalfalseEnable or disable bottom track control - -Bottom Track -- Forward Samplesintegerdeveloperglobal5Number of samples for forward range moving average - -Bottom Track -- Safe Pitchrealdeveloperglobal15.0°Safe pitch angle to perform bottom tracking. Reboot BottomTracker to update. - -Bottom Track -- Slope Hysteresisrealdeveloperglobal1.5°Slope hysteresis when recovering from avoidance. Reboot BottomTracker to update. - -Bottom Track -- Minimum Rangerealdeveloperglobal4.0mMinimum admissible forward range for bottom tracking - -Bottom Track -- Check TrendbooleandeveloperglobaltrueCheck slope angle trend in unsafe state - -Bottom Track -- Execution Frequencyrealdeveloperglobal5HzBottom tracker's execution frequency. Reboot BottomTracker to update. - -Bottom Track -- Depth AvoidancebooleandeveloperglobaltrueEnable or disable obstacle avoidance during depth control - -Bottom Track -- Admissible Altituderealdeveloperglobal3.0mAdmissible altitude when doing depth control - -Bottom Track -- Minimum Depthrealusermaneuver0.0mMinimum depth to maintain during bottom tracking - -Maximum Track Lengthrealdeveloperglobal25000mMaximum admissible track length - -Entity Label - Navigation simulationstringdeveloperglobalGPS NavigationEntity label of 'GpsFix' message - -Entity Label - Navigation hardwarestringdeveloperglobalNavigation ManagerEntity label of 'GpsFix' message - -Entity Label - WindstringdeveloperglobalEntity label of 'AbsoluteWind' message - -Entity Label - HeavestringdeveloperglobalGPSEntity label of 'Displacement' message - -Entity Label - Wave FrequencystringdeveloperglobalWave Frequency EstimatorEntity label of 'Frequency' message - -Enable Collision AvoidancebooleandeveloperglobaltrueEnable collision avoidance algorithm - -Enable Anti GroundingbooleandeveloperglobaltrueEnable anti-grounding algorithm - -Maximum Obstacle Surveillance Rangerealdeveloperglobal5000mLimit for absolute value of obstacle surveillance range0.0100000.0 - -Remove Disappeared Obstaclesrealdeveloperglobal240sAmount of time after which a disappeared obstacle is removed from the list. [sec].1.0600.0 - -Prediction Horizon - Simulation Timerealdeveloperglobal600sSimulation time - Prediction Horizon [sec].0.06000.0 - -Horizon Time Steprealdeveloperglobal5sSimulation Time Step [sec].020 - -Prediction Horizon Geog Constraintsrealdeveloperglobal600sSimulation time (prediction horizon) for static obstacles [sec].0.06000.0 - -Weight on Time to Evaluation Instantrealdeveloperglobal0.5Weight on Time to Evaluation Instant.0.510.0 - -Weight on Time to Evaluation Instant for Groundingrealdeveloperglobal0.05Weight on Time to Evaluation Instant for Grounding.0.010.0 - -Weight on Distance at Evaluation Instantrealdeveloperglobal4.0Weight on Distance at Evaluation Instant.1.010.0 - -COLREGS Distancerealdeveloperglobal1000.0mDistance where COLREGS are applied [m].300.02000.0 - -SB_MPC Surveillance Rangerealdeveloperglobal2000.0mMaximum SB_MPC Surveillance Range.300.02000.0 - -Minimum safe distance to vesselsrealdeveloperglobal300.0mMinimum distance to moving obstacle which is considered as safe [m].50.0 - -Minimum safe distance to landrealdeveloperglobal800.0mMinimum distance to static obstacle which is considered as safe [m].10.0 - -Cost of collisionsrealdeveloperglobal1.0Cost of Collision.0.01.0 - -Cost of groundingrealdeveloperglobal100.0Cost of Grounding.0.0 - -Weights environmental factorslist:realdeveloperglobal10.0,50.0,50.0,50.0,100.0Weights on environmental factors.0.0, 0.0, 0.0, 0.0, 0.0 - -Cost of not complying COLREGSrealdeveloperglobal3.0Cost of not Complying with the COLREGS.0.010.0 - -Cost of changing COLREGSrealdeveloperglobal100.0Cost of changing a COLREGS behavior.0.0100.0 - -PHI AHrealdeveloperglobal68.5°Angle within which an obstacle is said to be ahead [deg].0.0180.0 - -PHI OTrealdeveloperglobal68.5°Angle outside of which an obstacle will be said to be overtaking, if the speed of the obstacle is larger than the ship's own speed [deg].0.0180.0 - -PHI HOrealdeveloperglobal22.5°Angle within which an obstacle is said to be head on [deg].0.0180.0 - -PHI CRrealdeveloperglobal68.5Angle outside of which an obstacle is said to be crossing, if it is on the starboard side, heading towards the ship and not overtaking the ship [deg].0.0180.0 - -Cost of Deviating from Nominal Speedrealdeveloperglobal10.5Cost of deviating from the nominal speed.0.011.0 - -Cost of Changing Speed Offsetrealdeveloperglobal0.5Cost of Changing the Speed Offset0.010.0 - -Cost of Deviating from Nominal Courserealdeveloperglobal1.5Cost of deviating from the nominal Course.0.010.0 - -Cost of Course change to SBrealdeveloperglobal0.5Cost of Changing the Course Offset to Starboard.0.010.0 - -Cost of Course change to Portrealdeveloperglobal0.9Cost of Changing the Course Offset to Port.0.011.0 - -Cost of Selecting Turn to SBrealdeveloperglobal1.5mCost of Selecting Turn to SB.0.020.0 - -Cost of Selecting Turn to Portrealdeveloperglobal10.5Cost of Selecting Turn to Port.0.011.0 - -Guidance Strategyintegerdeveloperglobal00=Line-of-sight (LOS), 1= WP-pursiut (WPP), >1= Course-Hold (CH) or Heading-Hold (HH).03 - -WP Acceptance Radiusrealdeveloperglobal20.0WP Acceptance Radius.5.0100.0 - -LOS lookahead distancerealdeveloperglobal300.0LOS lookahead distance.50.01000.0 - -LOS integral gainrealdeveloperglobal0.0LOS integral gain.0.02.0 - -Course offset rangerealdeveloperglobal90.0°Course angle range in degrees0.0180.0 - -Positive granularityrealdeveloperglobal15.0°Portions of positive angle range in degrees10.045.0 - -Radius around threatrealdeveloperglobal50.0mSafety radius around a static threat at sea. - -Course offsetslist:realdeveloperglobal90.0,75.0,60.0,45.0,30.0,15.0,0.0,-15.0,-30.0,-45.0,-60.0,-75.0,-90.0°Course offsets for contours surroundings - -Correlation Limitrealdeveloperglobal50Correlation above which measurement is discarded.0100 - -Amplitude Limitrealdeveloperglobal0dBAmplitude above which measurement is discarded. - -Vehicle Pitch Rate Limitrealdeveloperglobal0Pitching rate above which measurement is discarded. - -Vehicle Roll Rate Limitrealdeveloperglobal0Roll rate above which measurement is discarded. - -Corridor -- Widthrealdeveloperglobal5.0mWidth of corridor for attack entry angle1.050.0 - -Corridor -- Entry Anglerealdeveloperglobal15°Attack angle when lateral track error equals corridor width245 -
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- -Entity LabelstringdeveloperglobalCommunications Relay ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Loitering Radiusrealdeveloperglobal10.0mRadius of loitering circle after arriving at destination - -Z Valuerealdeveloperglobal0.0mZ value to maintain while executing this maneuver. - -Z ModestringdeveloperglobalNoneZ Mode to use. One of Depth, Altitude or Height. -
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- -Entity LabelstringdeveloperglobalCompass Calibration ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Maximum Pitch Variationrealdeveloperglobal20.0°Maximum pitch variation step when changing z direction - -Entity Label - CompassstringdeveloperglobalAHRSEntity label of 'AHRS' messages - -Cross Track Tolerancerealdeveloperglobal1.0mTolerance in cross-track error to consider loiter has started - -Number Of Turnsrealdeveloperglobal50Number of 360 degree turns until calibration - -Calibrate CompassbooleandeveloperglobaltruePerform compass calibration if true -
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- -Entity LabelstringdeveloperglobalMultiplexer ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Entity Label -- IdleManeuverstringdeveloperglobalIdle ManeuverIdleManeuver maneuver's entity label - -Entity Label -- GotostringdeveloperglobalGoto ManeuverGoto maneuver's entity label - -Entity Label -- LaunchstringdeveloperglobalLaunch ManeuverLaunch maneuver's entity label - -Entity Label -- LoiterstringdeveloperglobalLoiter ManeuverLoiter maneuver's entity label - -Entity Label -- StationKeepingstringdeveloperglobalStation Keeping ManeuverStationKeeping maneuver's entity label - -Entity Label -- YoYostringdeveloperglobalYoYo ManeuverYoYo maneuver's entity label - -Entity Label -- RowsstringdeveloperglobalRows ManeuverRows maneuver's entity label - -Entity Label -- FollowPathstringdeveloperglobalFollow Path ManeuverFollowPath maneuver's entity label - -Entity Label -- ElevatorstringdeveloperglobalElevator ManeuverElevator maneuver's entity label - -Entity Label -- PopUpstringdeveloperglobalPop Up ManeuverPopUp maneuver's entity label - -Entity Label -- DislodgestringdeveloperglobalDislodge ManeuverDislodge maneuver's entity label - -Entity Label -- ScheduledGotostringdeveloperglobalScheduledGoto ManeuverScheduledGoto maneuver's entity label - -Entity Label -- TakeoffstringdeveloperglobalTakeoff ManeuverTakeoff maneuver's entity label - -Entity Label -- LandstringdeveloperglobalLand ManeuverLand maneuver's entity label - -Entity Label -- DropstringdeveloperglobalDrop ManeuverDrop maneuver's entity label - -Entity Label -- SamplestringdeveloperglobalSample ManeuverSample maneuver's entity label - -Entity Label -- StationKeepingExtendedstringdeveloperglobalStationKeepingExtended ManeuverStationKeepingExtended maneuver's entity label - -Unsupportedlist:stringdeveloperglobalList of unsupported maneuvers - -Loiter -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for Loiter to prevent incompatibility with path controller - -StationKeeping -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for StationKeeping to prevent incompatibility with path controller - -YoYo -- Maximum Pitch Variationrealdeveloperglobal2°Maximum pitch variation step when changing z direction - -YoYo -- Check Path ErrorsbooleandeveloperglobalfalseTrue if we should check path errors and stabilize pitch - -YoYo -- Maximum Cross Track Errorrealdeveloperglobal6mMaximum cross track error admissible - -YoYo -- Maximum Course Errorrealdeveloperglobal15°Maximum course error admissible - -YoYo -- Minimum Altitude Referencerealdeveloperglobal5.0mMinimum admissible altitude reference1.0 - -Elevator -- Radius Tolerancerealdeveloperglobal2.0mDistance tolerance to start loitering near elevator's location - -Elevator -- VMonitor -- Minimum Speedrealdeveloperglobal-1.0m/sNegative values will disable vertical progress monitor - -Elevator -- VMonitor -- Timeoutrealdeveloperglobal15.0sTimeout when progress is below the specified value - -Elevator -- Minimum Radiusrealdeveloperglobal10.0mMinimum radius to prevent incompatibility with path controller - -PopUp -- Minimum Satellitesintegerdeveloperglobal7Least number of satellites to accept fixes - -PopUp -- Minimum Distancerealdeveloperglobal3.0mMinimum distance between gps_fix position and the estimated state - -PopUp -- Elevator Radiusrealdeveloperglobal15.0mRadius for the elevator behavior - -PopUp -- Maximum Distance From Stationrealdeveloperglobal15.0mMaximum distance from station keeping radial circle - -PopUp -- Report at PopUpsbooleandeveloperglobalfalseRequest reports when popping at surface - -Dislodge -- Burstsintegerdeveloperglobal5Number of bursts with the motor - -Dislodge -- Attemptsintegerdeveloperglobal5Number of total attempts - -Dislodge -- Burst Timerealdeveloperglobal10.0sBurst duration - -Dislodge -- Interval Timerealdeveloperglobal5.0sTime interval between bursts - -Dislodge -- Minimum Distancerealdeveloperglobal3.0mMinimum distance to ground or object to stop burst - -Dislodge -- Safe Depth Gaprealdeveloperglobal3.0mSafe depth change to consider the maneuver was successful - -Dislodge -- Safe Depth Gaprealdeveloperglobal3.0mSafe depth change to consider the maneuver was successful - -ScheduledGoto -- Minimum Speedrealdeveloperglobal0.7m/sMove only at speeds higher than the minimum speed - -ScheduledGoto -- Maximum Speedrealdeveloperglobal1.6m/sMaximum commanded speed - -Drop -- Servo Idintegerdeveloperglobal2Servo Id. - -Drop -- Servo Valuerealdeveloperglobal3.14159Servo Value in radians. - -Sample -- Syringe 0 Idintegerdeveloperglobal0Port to use for syringe 0 servo - -Sample -- Syringe 1 Idintegerdeveloperglobal1Port to use for syringe 1 servo - -Sample -- Syringe 2 Idintegerdeveloperglobal2Port to use for syringe 2 servo - -Sample -- Servo Open Valuerealdeveloperglobal3.14159Value to open servo - -Sample -- Servo Close Valuerealdeveloperglobal1.57079Value to close servo - -Sample -- Execution Tolerancerealdeveloperglobal30Default time tolerance to execute maneuver - -StationKeepingExtended -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for StationKeepingExtended to prevent incompatibility with path controller -
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- -Entity LabelstringdeveloperglobalTeleoperation ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalCPU UsageMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalClockMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Minimum GPS Fixesintegerdeveloperglobal30Minimum number of GPS fixes required to compute the clock offset0 - -Maximum Clock Offsetrealdeveloperglobal2sMaximum Clock Offset. If the clock offset is above this value the clock will be syncronized0 - -Boot Synchronization Timeoutrealdeveloperglobal60sAt boot the system tries to synchronize clocks. It continues unsynched after timeout0 - -Hardware Clock Synchronization Commandstringdeveloperglobalhwclock -wSystem command to execute everytime the clock is synchronized - -Change LogbooleandeveloperglobalfalseChange log file after synchronization -
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- -Entity LabelstringdeveloperglobalEntity MonitorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Report Timeoutrealdeveloperglobal5sTimeout threshold to report Entity error2 - -Default Monitoringlist:stringdeveloperglobalDaemon, GPS, Navigation, Operational Limits, Path ControlDefault entities to monitor - -Default Monitoring -- Hardwarelist:stringdeveloperglobalClock, CollisionsAdditional default entities to monitor in Hardware profile - -Transition Time Gaprealdeveloperglobal4.0sMinimum gap for state transitioning - -Maximum Consecutive Transitionsintegerdeveloperglobal3Maximum number of consecutive transitions before starting to ignore0 -
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- -Entity LabelstringdeveloperglobalLog MonitorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Log Timeoutstringdeveloperglobal1dLog time in format %ud:%uh:%um -
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- -Entity LabelstringdeveloperglobalOperational LimitsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalTraceNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal4HzFrequency at which task is executed - -Initial Setting - Maximum Depthrealdeveloperglobal-1mInitial setting for maximum depth - -Initial Setting - Minimum Altituderealdeveloperglobal-1mInitial setting for minimum altitude - -Initial Setting - Maximum Altituderealdeveloperglobal-1mInitial setting for maximum altitude - -Initial Setting - Minimum Speedrealdeveloperglobal-1m/sInitial setting for minimum speed - -Initial Setting - Maximum Speedrealdeveloperglobal-1m/sInitial setting for maximum speed - -Initial Setting - Maximum Vertical Raterealdeveloperglobal-1m/sInitial setting for maximum vertical rate - -Hysteresis Threshold - Maximum Depthrealdeveloperglobal0.3Hysteresis value for maximum depth - -Hysteresis Threshold - Minimum Altituderealdeveloperglobal0.3Hysteresis value for minimum altitude - -Minimum Depth to Check Altituderealdeveloperglobal0.3Minimum depth required to check altitude operational limits0.0 -
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- -Entity LabelstringdeveloperglobalWave Frequency EstimatorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -ActivebooleandeveloperglobalfalseActivates and deactivates the estimator - -Amplitude LPF cutoff frequencyrealdeveloperglobal10.0HzLow-pass filter cutoff frequency - -Omega_f LPF cutoff frequencyrealdeveloperglobal20.0HzLow-pass filter cutoff frequency - -LPF tapsintegerdeveloperglobal10.0Low-pass filter(s) number of taps1.0 - -Data sampling frequencyrealdeveloperglobal2.0HzHeave sampling frequency - -Estimation periodrealdeveloperglobal60.0sEstimation period - -Estimation durationrealdeveloperglobal120.0sEstimation duration - -Minimum gainrealdeveloperglobal5.0Estimator Minimum Gain1.0 - -Maximum gainrealdeveloperglobal20.0Estimator Maximum Gain100.0 - -Switching amplituderealdeveloperglobal0.2mAmplitude for Gain Switching - -WEF initial guessrealdeveloperglobal1.0rad/sInitial guess for estimation of the wave encounter frequency - -Entity Label - HeavestringdeveloperglobalGPSEntity label of 'Heave' message - -Entity Label - EulerAnglesstringdeveloperglobalGPSEntity label of 'EulerAngles' message -
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- -Entity LabelstringdeveloperglobalNavigation ManagerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Entity Label - Euler AnglesstringdeveloperglobalGPSEntity label of 'GpsFix' and 'GroundVelocity' messages - -Entity Label - Angular VelocitystringdeveloperglobalAHRSEntity label of 'EulerAngles' and 'AngularVelocity' messages - -Main unitstringdeveloperglobalGPSName of preferred navigation unit. - -Secondary unitstringdeveloperglobalCPCName of secondary preferred navigation unit. - -Third unitstringdeveloperglobalAISName of third preferred navigation unit. - -Convert Height to Geoid HeightbooleandeveloperglobalfalseConvert WGS84 height to geoid height (mean sea level) height - -Input timeoutrealdeveloperglobal30sInput timeout before error is thrown.0.0 - -Reference Change Distancerealdeveloperglobal20000.0mDistance needed for reference change. -
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- -Entity LabelstringdeveloperglobalPlan DatabaseMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -DB PathstringdeveloperglobalPath to DB file -
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- -Entity LabelstringdeveloperglobalPlan EngineMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Compute ProgressbooleandeveloperglobaltrueTrue if plan progress should be computed - -Fuel PredictionbooleandeveloperglobaltrueTrue if plan's fuel prediction should be computed - -State Report Frequencyrealdeveloperglobal3.0HzFrequency of plan control state - -Minimum Calibration Timeintegerdeveloperglobal3sDuration of vehicle calibration commands - -Perform CalibrationbooleandeveloperglobaltrueTrue if calibration should be performed at all - -Abort On Failed ActivationbooleandeveloperglobaltrueAbort when a payload fails to activate - -StationKeeping While CalibratingbooleandeveloperglobalfalsePerform station keeping while calibrating - -StationKeeping Speed in RPMrealdeveloperglobal1600r/minSpeed in RPM for the station keeping - -StationKeeping Radiusrealdeveloperglobal20mRadius for the station keeping - -IMU Entity LabelstringdeveloperglobalIMUEntity label of the IMU for fuel prediction - -Plan Generator Entity LabelstringdeveloperglobalPlan GeneratorEntity label of the Plan Generator -
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- -Entity LabelstringdeveloperglobalPlan GeneratorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Dive depthrealdeveloperglobal0.0Depth to dive in response to 'dive' command - -Traveling depthrealdeveloperglobal1.0Depth to use when traveling (Goto maneuvers) - -Dive secondsintegerdeveloperglobal0Time to be under water in response to 'dive' command (seconds) - -Loiter radiusrealdeveloperglobal10.0Radius of generated loiter and station keeping maneuvers - -RPM Speedintegerdeveloperglobal1000Speed in RPMs to be used in the generated maneuvers - -Generate At Bootlist:stringdeveloperglobalSet of commands for plans to generate at boot -
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- -Entity LabelstringdeveloperglobalCPCMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal5 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyCPC:115200IO device URI in the form "uart://DEVICE:BAUD" - -Voltage Offsetrealdeveloperglobal1.0Offset for the Voltage readings. - -Use LIDB for IridiumbooleandeveloperglobalfalseUse LIDB for Iridium communication. - -Operation ModestringdeveloperglobalTestOperation Mode of the CPC. - -LED Periodintegerdeveloperglobal2-1 turn off the led, 0 turn on the led, > 0 blink the led at the period defined - -Set PWM1 ModestringdeveloperglobalServoPWM Modes: Servo, Motor, Off. - -Set PWM1 Minimumintegerdeveloperglobal40Set Minimum value of pwm. - -Set PWM1 Centerintegerdeveloperglobal90Set Center value of pwm. - -Set PWM1 Maximumintegerdeveloperglobal140Set Maximum value of pwm. - -Set PWM2 ModestringdeveloperglobalMotorPWM Modes: Servo, Motor, Off. - -Set PWM2 Minimumintegerdeveloperglobal1100Set Minimum value of pwm. - -Set PWM2 Centerintegerdeveloperglobal1560Set Center value of pwm. - -Set PWM2 Maximumintegerdeveloperglobal1900Set Maximum value of pwm. - -Set PWM3 ModestringdeveloperglobalOffPWM Modes: Servo, Motor, Off. - -Set PWM3 Minimumintegerdeveloperglobal1100Set Minimum value of pwm. - -Set PWM3 Centerintegerdeveloperglobal1500Set Center value of pwm. - -Set PWM3 Maximumintegerdeveloperglobal1900Set Maximum value of pwm. - -Power Channel 1 Entity LabelstringdeveloperglobalPrivate (CPU1)Power Channel Entity Label - -Power Channel 2 Entity LabelstringdeveloperglobalPrivate (CPU2)Power Channel Entity Label - -Power Channel 3 Entity LabelstringdeveloperglobalBPUMPSPower Channel Entity Label - -Power Channel 3 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 4 Entity LabelstringdeveloperglobalWIFIPower Channel Entity Label - -Power Channel 4 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 5 Entity LabelstringdeveloperglobalPrivate (ETH)Power Channel Entity Label - -Power Channel 5 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 6 Entity LabelstringdeveloperglobalAIS_PPower Channel Entity Label - -Power Channel 6 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 7 Entity LabelstringdeveloperglobalIRIDIUMPower Channel Entity Label - -Power Channel 7 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 8 Entity LabelstringdeveloperglobalIMUPower Channel Entity Label - -Power Channel 8 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 9 Entity LabelstringdeveloperglobalGNSSPower Channel Entity Label - -Power Channel 9 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 10 Entity LabelstringdeveloperglobalPrivate (ECHOTRIP)Power Channel Entity Label - -Power Channel 10 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 11 Entity LabelstringdeveloperglobalPrivate (OXYGEN)Power Channel Entity Label - -Power Channel 11 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 12 Entity LabelstringdeveloperglobalPrivate (AIRMAR)Power Channel Entity Label - -Power Channel 12 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 13 Entity LabelstringdeveloperglobalPrivate (CTD_P)Power Channel Entity Label - -Power Channel 13 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 14 Entity LabelstringdeveloperglobalLEDPower Channel Entity Label - -Power Channel 14 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 15 Entity LabelstringdeveloperglobalPrivate (DCP_P)Power Channel Entity Label - -Power Channel 15 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 16 Entity LabelstringdeveloperglobalPrivate (SPOT)Power Channel Entity Label - -Power Channel 16 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 17 Entity LabelstringdeveloperglobalECHOMAX_PPower Channel Entity Label - -Power Channel 17 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 18 Entity LabelstringdeveloperglobalPrivate (MOBILE)Power Channel Entity Label - -Power Channel 18 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Data 1 Entity LabelstringdeveloperglobalADCP_PPower Data Label - -Power Data 2 Entity LabelstringdeveloperglobalFLEDPower Data Label - -Power Data 3 Entity LabelstringdeveloperglobalCTD_PPower Data Label - -Power Data 4 Entity LabelstringdeveloperglobalAIRMARPower Data Label - -Power Data 5 Entity LabelstringdeveloperglobalOXYGENPower Data Label - -Power Data 6 Entity LabelstringdeveloperglobalPBUSPower Data Label - -Power Data 7 Entity LabelstringdeveloperglobalECHOTRIPPower Data Label - -Power Data 8 Entity LabelstringdeveloperglobalECHOMAXPower Data Label - -Power Data 9 Entity LabelstringdeveloperglobalETHPower Data Label - -Power Data 10 Entity LabelstringdeveloperglobalWIFIPower Data Label - -Power Data 11 Entity LabelstringdeveloperglobalBPUMPSPower Data Label - -Power Data 12 Entity LabelstringdeveloperglobalVBAT1Power Data Label - -Power Data 13 Entity LabelstringdeveloperglobalGNSSPower Data Label - -Power Data 14 Entity LabelstringdeveloperglobalAHRS_PPower Data Label - -Power Data 15 Entity LabelstringdeveloperglobalIRIDIUMPower Data Label - -Power Data 16 Entity LabelstringdeveloperglobalAIS_PPower Data Label - -Power Data 17 Entity LabelstringdeveloperglobalCPU2Power Data Label - -Power Data 18 Entity LabelstringdeveloperglobalCPU1Power Data Label - -Timeout Connection to CPCrealdeveloperglobal5Timeout Connection to CPC - -Is Main CPUbooleandeveloperglobalfalseIs Main CPU -
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- -Entity LabelstringdeveloperglobalGPSMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal30.0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyS10:19200IO device URI in the form "uart://DEVICE:BAUD" - -Input Timeoutrealdeveloperglobal10.0sInput timeout0.0 - -Sentence Orderlist:stringdeveloperglobalGPGGA, GPROTSentence order - -Acquisition Frequencyintegerdeveloperglobal1Acquisition Frequency05 - -Initialization String 0 - Commandstringdeveloperglobal - -Initialization String 0 - Replystringdeveloperglobal - -Initialization String 1 - Commandstringdeveloperglobal - -Initialization String 1 - Replystringdeveloperglobal - -Initialization String 2 - Commandstringdeveloperglobal - -Initialization String 2 - Replystringdeveloperglobal - -Initialization String 3 - Commandstringdeveloperglobal - -Initialization String 3 - Replystringdeveloperglobal - -Initialization String 4 - Commandstringdeveloperglobal - -Initialization String 4 - Replystringdeveloperglobal - -Initialization String 5 - Commandstringdeveloperglobal - -Initialization String 5 - Replystringdeveloperglobal - -Initialization String 6 - Commandstringdeveloperglobal - -Initialization String 6 - Replystringdeveloperglobal - -Initialization String 7 - Commandstringdeveloperglobal - -Initialization String 7 - Replystringdeveloperglobal - -Initialization String 8 - Commandstringdeveloperglobal - -Initialization String 8 - Replystringdeveloperglobal - -Initialization String 9 - Commandstringdeveloperglobal - -Initialization String 9 - Replystringdeveloperglobal -
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- -Entity LabelstringdeveloperglobalAHRSMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal20.0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyS9IO device URI in the form "uart://DEVICE".This device has only one baud rate. - -Power Channel - NamestringdeveloperglobalName of the power channel - -Hard-Iron Calibrationlist:realdeveloperglobal0.0, 0.0, 0.0GHard-Iron calibration parameters3 - -Output Frequencyintegerdeveloperglobal20HzOutput frequency1127 - -Raw DatabooleandeveloperglobalfalseSet to true to enable raw data output - -Rotation Matrixlist:realdeveloperglobal1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0Rotation matrix which is dependent of the mounting position9 - -Timeout - Errorrealdeveloperglobal3.0sNumber of seconds without data before reporting an error1.0 - -Timeout - Failurerealdeveloperglobal6.0sNumber of seconds without data before restarting task1.0 - -Last Calibration TimestringuserglobalN/ADate of last successful calibration -
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- -Entity LabelstringdeveloperglobalThermal ZoneMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal1HzFrequency at which task is executed - -Pathstringdeveloperglobal/sys/class/thermal/thermal_zone0/tempPath to the sysfs file - -Entity Label - TemperaturestringdeveloperglobalMainboard (Core)Entity label of temperature sensor -
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- -Entity LabelstringdeveloperglobalPower SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Main Power ChannelstringdeveloperglobalSystemName of the main power channel - -Command - On Power Downstringdeveloperglobalservices syslog stop && mount -o remount,ro /optCommand to execute before powering down the system - -Command - On Power Down Abortstringdeveloperglobalmount -o remount,rw /opt && services syslog restartCommand to execute when the power down sequence is aborted - -Slave System Nameslist:stringdeveloperglobalName of the slave systems -
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- -Entity LabelstringdeveloperglobalReport SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Acoustic ReportsbooleanuserglobalfalseEnable acoustic system state reporting - -Acoustic Reports Periodicityrealuserglobal180.0sReports periodicity30600 - -Radio ReportsbooleanuserglobalfalseEnable Radio system state reporting - -Radio Reports Periodicityrealuserglobal3sReports periodicity1600 -
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- -Entity LabelstringdeveloperglobalVehicle SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal2HzFrequency at which task is executed - -Vital Entitieslist:stringdeveloperglobalRelevant entities that are always considered regardless of ignoring errors during plan execution - -Allows External ControlbooleandeveloperglobalfalseAllow for the vehicle to be externally controlled - -Maneuver Handling Timeoutrealdeveloperglobal1.0Timeout for starting or stopping a maneuver -
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- -Entity LabelstringdeveloperglobalService AnnouncerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Announcement Periodicityrealdeveloperglobal10sPeriodicity of announcements - -Enable Loopbackbooleandeveloperglobal1Enable announcing on loopback interfaces - -Enable Multicastbooleandeveloperglobal1Enable multicast announcing - -Enable Broadcastbooleandeveloperglobal1Enable broadcast announcing - -Portslist:integerdeveloperglobal30100, 30101, 30102, 30103, 30104List of destination ports - -Multicast Addressipv4-addressdeveloperglobal224.0.75.69Multicast address - -Additional Services - Locallist:stringdeveloperglobalAdditional local services - -Additional Services - Externallist:stringdeveloperglobalAdditional external services - -System TypestringdeveloperglobalSystem type - -Ignored Interfaceslist:stringdeveloperglobaleth0:prv, eth1:prvList of interfaces whose services will not be announced -
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- -Entity LabelstringdeveloperglobalCacheMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Loading Orderlist:stringdeveloperglobalGpsFix, LblConfigList of messages ordered by loading order -
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- -Entity LabelstringdeveloperglobalCommunications ManagerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Iridium - Entity LabelstringdeveloperglobalIridium ModemEntity label of Iridium modem - -GSM - Entity LabelstringdeveloperglobalGSMEntity label of GSM modem - -GSM Address SectionstringdeveloperglobalGSM AddressesName of the configuration section with gsm modem addresses - -Acoustic Address SectionstringdeveloperglobalEvologics AddressesName of the configuration section with acoustic modem addresses - -Iridium Reports Periodintegerdeveloperglobal20000Period, in seconds, between transmission of states via Iridium. Value of 0 disables transmission. - -Process AcousticOperation MessagesbooleandeveloperglobaltrueEnable CommManager to process and convert legacy message -> AcousticOperation - -Send Iridium plain textsbooleandeveloperglobaltrueSend Iridium text messages as plain text (and not IMC) -
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- -Entity LabelstringdeveloperglobalService DiscoveryMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Portslist:integerdeveloperglobal30100, 30101, 30102, 30103, 30104List of destination ports - -Multicast Addressipv4-addressdeveloperglobal224.0.75.69Multicast address - -Print Incoming MessagesbooleandeveloperglobalfalsePrint incoming messages (Debug) -
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- -Entity LabelstringdeveloperglobalFTP ServerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Data Portintegerdeveloperglobal30020Data Port - -Control Portintegerdeveloperglobal30021Control Port - -Session Timeoutrealdeveloperglobal120sTimeout period of a session -
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- -Entity LabelstringdeveloperglobalMessage FragmentsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Reception timeoutrealdeveloperglobal1800Maximum amount of seconds to wait for missing fragments in incoming messages -
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- -Entity LabelstringdeveloperglobalHTTP ServerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Portintegerdeveloperglobal8080TCP port to listen on - -Threadsintegerdeveloperglobal5Number of worker threads - -Transportslist:stringdeveloperglobalCpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeedList of messages to transport -
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- -Entity LabelstringdeveloperglobalIridium TransportMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaluserVisibility of the 'Active' parameter - -ActivebooleanuserglobaltrueTrue to activate task, false otherwise - -Device updates - Periodicityintegerdeveloperglobal600sDelay between announce update messages. 0 for no updates being sent. - -Announce Periodicityintegerdeveloperglobal600sDelay between announce messages being sent. 0 for no updates being sent. - -Maximum ageintegerdeveloperglobal1200sAge, in seconds, after which received IMC messages are discarded. - -Iridium Text OriginstringdeveloperglobaliridiumText messages received via Iridium will be tagged with this origin -
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- -Entity LabelstringdeveloperglobalIridium ModemMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaluserVisibility of the 'Active' parameter - -ActivebooleanuserglobaltrueTrue to activate task, false otherwise - -Serial Port - Devicestringdeveloperglobal/dev/ttyS8Serial port device used to communicate with the modem - -Serial Port - Baud Rateintegerdeveloperglobal19200Serial port baud rate - -Mailbox Check - Periodicityrealuserglobal300sAmount of time without alert rings or MT SBDs before doing a mailbox check - -Maximum Transmission Rateintegerdeveloperglobal0s - -Flush Iridium Queuebooleandeveloperglobalfalse - -Use 9523N Modulebooleandeveloperglobaltrue - -Serial Port 9523 - Baud Rateintegerdeveloperglobal115200Serial port baud rate for 9523N Module - -Address SectionstringdeveloperglobalIridium AddressesName of the configuration section with modem addresses - -Transmission Windowrealuserglobal100Window to prioritize Transmission over Reception5 - -Reception Windowrealuserglobal100Window to prioritize Reception over Transmission5 -
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- -Entity LabelstringdeveloperglobalLog BookMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalLoggerMain entity label - -Execution Priorityintegerdeveloperglobal2Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Flush Intervalrealdeveloperglobal0.5sNumber of second to wait before forcing data to be written to disk - -LSF Compression MethodstringdeveloperglobalgzipCompression method - -LSF Volume Sizeintegerdeveloperglobal0MiB - -LSF Volume Directorieslist:stringdeveloperglobal - -Transportslist:stringdeveloperglobalAbort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed -
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- -Entity LabelstringdeveloperglobalUDPMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Local Portintegerdeveloperglobal6002Local UDP port to listen on - -Contact Timeoutrealdeveloperglobal30s - -Contact Refresh Periodicityrealdeveloperglobal5.0s - -Print Outgoing Messagesbooleandeveloperglobal0Print outgoing messages (Debug) - -Print Incoming Messagesbooleandeveloperglobal0Print incoming messages (Debug) - -Static Destinationslist:stringdeveloperglobalList of <IPv4>:<Port> destinations that will always receive outgoing messages - -Rate Limiterslist:stringdeveloperglobalCpuUsage:0.2, Distance:0.2, EntityState:1, EstimatedState:2, FuelLevel:0.1, Rpm:1, SimulatedState:0.5, StorageUsage:0.05, Temperature:0.1, Voltage:0.1, AlignmentState:0.5, Rpm:1, SetServoPosition:1List of <Message>:<Frequency> - -Filtered Entitieslist:stringdeveloperglobalDistance:Altimeter+DVL Filtered+Echo SounderList of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. - -Announce ServicebooleandeveloperglobaltrueAnnounce this transport to services or not - -Communication Rangerealdeveloperglobal0mCommunication range (0 for infinite) - -Underwater CommunicationsbooleandeveloperglobaltrueAllow underwater communication when limited comms are being simulated - -Transportslist:stringdeveloperglobalAcceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuationList of messages to transport - -Always Transmitted Messageslist:stringdeveloperglobalAbort, SimulatedStateList of messages that will always be transmitted disregarding communication limitations - -Dynamic NodesbooleandeveloperglobaltrueAllow use of dynamic nodes. - -Local Messages OnlybooleandeveloperglobalfalseOnly transmit messsages from local system. - -Custom Service TypestringdeveloperglobalOptional custom service type (imc+udp+<Custom Service Type>), empty entry gives default service (imc+udp) -
+ +
+ + Entity Label + string + developer + global + Text Actions + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + Debug + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Reply timeout + integer + developer + global + 60 + + + 30 + + + Documentation URL + string + developer + global + https://bit.ly/2LZ0EOc + + + + + Valid Commands + list:string + developer + global + abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + + + +
+
+ + Entity Label + string + developer + global + Heading Controller + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Enable Gain Scheduling + boolean + developer + global + false + + Enable gain scheduling during turn + + + Preferred scheduling + string + developer + global + adcp + + Preferred information for computing gamma. + + + Gain Scheduling Interval + real + developer + global + 60 + + Interval for recomputing PID gains. + 30 + + + Use new gains + boolean + developer + global + false + + Enable gain scheduling based on gamma + + + Enable Thrust Assistance + boolean + developer + global + true + + Assist navigation with thruster + + + Enable Thrust During Turn + boolean + developer + global + true + + Assist the turn using the thruster + + + Thrust Assistance + real + developer + global + 0.25 + + Percentage of thrust assistance + + + Maximum Thrust Actuation + real + developer + global + 1.0 + + Maximum Motor Command + + + Minimum Speed for Thrust + real + developer + global + 0.1 + + Speed [m/s] below which thruster is used + + + Maximum Rudder Actuation + real + developer + global + 1.0 + + Maximum Rudder Command + + + Course PID Gains Transect + list:real + developer + global + 0.75, 0.001, 0.0 + + PID gains for Course controller during straight line + 3 + + + Course PID Gains Turning + list:real + developer + global + 0.5, 0.0, 0.0 + + PID gains for Course controller during turn + 3 + + + Ramp Actuation Limit + real + developer + global + 0.0 + + Ramp actuation limit when the value is rising in actuation per second + + + Log PID Parcels + boolean + developer + global + true + + Log the size of each PID parcel + + + Entity Label - Navigation + string + developer + global + Navigation Manager + + Entity label of 'GpsFix' message + + + Activate LP Filtering + boolean + developer + global + false + + Activate Low-pass filtering of computed rudder angle + + + Activate N Filtering + boolean + developer + global + false + + Activate Notch filtering of computed rudder angle + + + Activate BS Filtering + boolean + developer + global + false + + Activate Band-stop filtering of computed rudder angle + + + Activate External Filtering + boolean + developer + global + false + + Activate external user-defined filtering of computed rudder angle + + + External Filter Type + string + developer + global + LPF + + External user-defined filter type + + + Activate Desired Course Filtering + boolean + developer + global + false + + Activate desired user-defined course filtering + + + LP taps + real + developer + global + 20 + + Low-pass filter number of taps + 1.0 + + + LPF scaling + real + developer + global + 1.2 + + Low-pass filter gain to remove HF components + 1.0 + + + NF taps + real + developer + global + 10 + + Notch filter number of taps + 1.0 + + + BSF taps + real + developer + global + 10 + + Band-stop filter(s) number of taps + 1.0 + + + BSF scaling + real + developer + global + 20 + + BSF scaling percentage around cut-off estimated frequency + 1 + + + External Filter Frequency + real + developer + global + 1.0 + Hz + Frequency for external user-defined filter. + + + Desired Course Percentage Increase + integer + developer + global + 30 + + Incremental portioning during desired course change. + + + Heading Control + boolean + developer + global + false + + Switch to heading control. + + + SOG threshold - Heading Control + real + developer + global + 0.2 + + SOG threshold above which switch to heading control. + 0.001 + + + Correlation Limit + real + developer + global + 0 + + Correlation above which measurement is discarded. + 0 + 100 + + + Amplitude Limit + real + developer + global + 0 + dB + Amplitude above which measurement is discarded. + + + Vehicle Pitch Rate Limit + real + developer + global + 18 + + Pitching rate above which measurement is discarded. + + + Vehicle Roll Rate Limit + real + developer + global + 20 + + Roll rate above which measurement is discarded. + + + Enable speed controller + boolean + developer + global + false + + + + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). + +
+
+ + Entity Label + string + developer + global + Remote Control + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 10 + Hz + Frequency at which task is executed + + + Active - Scope + string + developer + global + maneuver + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + maneuver + true + + True to activate task, false otherwise + + + Connection Timeout + real + developer + global + 2.0 + s + + + + Thrust Scale + real + developer + global + 1 + + + +
+
+ + Entity Label + string + developer + global + Path Control + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Control Frequency + real + developer + global + 10 + Hz + Control frequency (< 0 for event-driven EstimatedState processing) + + + State Report Frequency + real + developer + global + 1 + Hz + State report frequency + + + Course Control + boolean + developer + global + true + + Enable course control + + + Along-track -- Monitor + boolean + developer + global + false + + Enable along-track error monitoring + + + Along-track -- Check Period + real + developer + global + 15 + s + Period for along-track error check + + + Along-track -- Minimum Speed + real + developer + global + 0.25 + m/s + Minimum speed for along-track progress + + + Along-track -- Minimum Yaw + real + developer + global + 10 + °/s + Minimum yaw speed for track bearing convergence + + + Cross-track -- Monitor + boolean + developer + global + false + + Enable cross-track error monitoring + + + Cross-track -- Distance Limit + real + developer + global + 15 + m + Distance threshold value for cross-track error + + + Cross-track -- Time Limit + real + developer + global + 10 + s + Time threshold value for cross-track error + + + Cross-track -- Nav. Unc. Factor + real + developer + global + -1 + + + + + Position Jump Threshold + real + developer + global + 7.0 + m + Threshold for a jump in EstimatedState to turn monitors off + + + Position Jump Time Factor + real + developer + global + 0.3 + m/s + Relation between monitor disabling time and position jump + 0.1 + + + ETA Minimum Speed + real + developer + global + 1.0 + m/s + ETA minimum admissible speed + 0.1 + + + New Reference Timeout + real + developer + global + 5 + s + Timeout for new incoming path reference + 3 + 10 + + + Bottom Track -- Enabled + boolean + developer + global + false + + Enable or disable bottom track control + + + Bottom Track -- Forward Samples + integer + developer + global + 5 + + Number of samples for forward range moving average + + + Bottom Track -- Safe Pitch + real + developer + global + 15.0 + ° + Safe pitch angle to perform bottom tracking. Reboot BottomTracker to update. + + + Bottom Track -- Slope Hysteresis + real + developer + global + 1.5 + ° + Slope hysteresis when recovering from avoidance. Reboot BottomTracker to update. + + + Bottom Track -- Minimum Range + real + developer + global + 4.0 + m + Minimum admissible forward range for bottom tracking + + + Bottom Track -- Check Trend + boolean + developer + global + true + + Check slope angle trend in unsafe state + + + Bottom Track -- Execution Frequency + real + developer + global + 5 + Hz + Bottom tracker's execution frequency. Reboot BottomTracker to update. + + + Bottom Track -- Depth Avoidance + boolean + developer + global + true + + Enable or disable obstacle avoidance during depth control + + + Bottom Track -- Admissible Altitude + real + developer + global + 3.0 + m + Admissible altitude when doing depth control + + + Bottom Track -- Minimum Depth + real + user + maneuver + 0.0 + m + Minimum depth to maintain during bottom tracking + + + Maximum Track Length + real + developer + global + 25000 + m + Maximum admissible track length + + + Entity Label - Navigation simulation + string + developer + global + GPS Navigation + + Entity label of 'GpsFix' message + + + Entity Label - Navigation hardware + string + developer + global + Navigation Manager + + Entity label of 'GpsFix' message + + + Entity Label - Wind + string + developer + global + + + Entity label of 'AbsoluteWind' message + + + Entity Label - Heave + string + developer + global + GPS + + Entity label of 'Displacement' message + + + Entity Label - Wave Frequency + string + developer + global + Wave Frequency Estimator + + Entity label of 'Frequency' message + + + Enable Collision Avoidance + boolean + developer + global + true + + Enable collision avoidance algorithm + + + Enable Anti Grounding + boolean + developer + global + true + + Enable anti-grounding algorithm + + + Maximum Obstacle Surveillance Range + real + developer + global + 5000 + m + Limit for absolute value of obstacle surveillance range + 0.0 + 100000.0 + + + Remove Disappeared Obstacles + real + developer + global + 240 + s + Amount of time after which a disappeared obstacle is removed from the list. [sec]. + 1.0 + 600.0 + + + Prediction Horizon - Simulation Time + real + developer + global + 600 + s + Simulation time - Prediction Horizon [sec]. + 0.0 + 6000.0 + + + Horizon Time Step + real + developer + global + 5 + s + Simulation Time Step [sec]. + 0 + 20 + + + Prediction Horizon Geog Constraints + real + developer + global + 600 + s + Simulation time (prediction horizon) for static obstacles [sec]. + 0.0 + 6000.0 + + + Weight on Time to Evaluation Instant + real + developer + global + 0.5 + + Weight on Time to Evaluation Instant. + 0.5 + 10.0 + + + Weight on Time to Evaluation Instant for Grounding + real + developer + global + 0.05 + + Weight on Time to Evaluation Instant for Grounding. + 0.0 + 10.0 + + + Weight on Distance at Evaluation Instant + real + developer + global + 4.0 + + Weight on Distance at Evaluation Instant. + 1.0 + 10.0 + + + COLREGS Distance + real + developer + global + 1000.0 + m + Distance where COLREGS are applied [m]. + 300.0 + 2000.0 + + + SB_MPC Surveillance Range + real + developer + global + 2000.0 + m + Maximum SB_MPC Surveillance Range. + 300.0 + 2000.0 + + + Minimum safe distance to vessels + real + developer + global + 300.0 + m + Minimum distance to moving obstacle which is considered as safe [m]. + 50.0 + + + Minimum safe distance to land + real + developer + global + 800.0 + m + Minimum distance to static obstacle which is considered as safe [m]. + 10.0 + + + Cost of collisions + real + developer + global + 1.0 + + Cost of Collision. + 0.0 + 1.0 + + + Cost of grounding + real + developer + global + 100.0 + + Cost of Grounding. + 0.0 + + + Weights environmental factors + list:real + developer + global + 10.0,50.0,50.0,50.0,100.0 + + Weights on environmental factors. + 0.0, 0.0, 0.0, 0.0, 0.0 + + + Cost of not complying COLREGS + real + developer + global + 3.0 + + Cost of not Complying with the COLREGS. + 0.0 + 10.0 + + + Cost of changing COLREGS + real + developer + global + 100.0 + + Cost of changing a COLREGS behavior. + 0.0 + 100.0 + + + PHI AH + real + developer + global + 68.5 + ° + Angle within which an obstacle is said to be ahead [deg]. + 0.0 + 180.0 + + + PHI OT + real + developer + global + 68.5 + ° + Angle outside of which an obstacle will be said to be overtaking, if the speed of the obstacle is larger than the ship's own speed [deg]. + 0.0 + 180.0 + + + PHI HO + real + developer + global + 22.5 + ° + Angle within which an obstacle is said to be head on [deg]. + 0.0 + 180.0 + + + PHI CR + real + developer + global + 68.5 + + Angle outside of which an obstacle is said to be crossing, if it is on the starboard side, heading towards the ship and not overtaking the ship [deg]. + 0.0 + 180.0 + + + Cost of Deviating from Nominal Speed + real + developer + global + 10.5 + + Cost of deviating from the nominal speed. + 0.0 + 11.0 + + + Cost of Changing Speed Offset + real + developer + global + 0.5 + + Cost of Changing the Speed Offset + 0.0 + 10.0 + + + Cost of Deviating from Nominal Course + real + developer + global + 1.5 + + Cost of deviating from the nominal Course. + 0.0 + 10.0 + + + Cost of Course change to SB + real + developer + global + 0.5 + + Cost of Changing the Course Offset to Starboard. + 0.0 + 10.0 + + + Cost of Course change to Port + real + developer + global + 0.9 + + Cost of Changing the Course Offset to Port. + 0.0 + 11.0 + + + Cost of Selecting Turn to SB + real + developer + global + 1.5 + m + Cost of Selecting Turn to SB. + 0.0 + 20.0 + + + Cost of Selecting Turn to Port + real + developer + global + 10.5 + + Cost of Selecting Turn to Port. + 0.0 + 11.0 + + + Guidance Strategy + integer + developer + global + 0 + + 0=Line-of-sight (LOS), 1= WP-pursiut (WPP), >1= Course-Hold (CH) or Heading-Hold (HH). + 0 + 3 + + + WP Acceptance Radius + real + developer + global + 20.0 + + WP Acceptance Radius. + 5.0 + 100.0 + + + LOS lookahead distance + real + developer + global + 300.0 + + LOS lookahead distance. + 50.0 + 1000.0 + + + LOS integral gain + real + developer + global + 0.0 + + LOS integral gain. + 0.0 + 2.0 + + + Course offset range + real + developer + global + 90.0 + ° + Course angle range in degrees + 0.0 + 180.0 + + + Positive granularity + real + developer + global + 15.0 + ° + Portions of positive angle range in degrees + 10.0 + 45.0 + + + Radius around threat + real + developer + global + 50.0 + m + Safety radius around a static threat at sea. + + + Course offsets + list:real + developer + global + 90.0,75.0,60.0,45.0,30.0,15.0,0.0,-15.0,-30.0,-45.0,-60.0,-75.0,-90.0 + ° + Course offsets for contours surroundings + + + Correlation Limit + real + developer + global + 50 + + Correlation above which measurement is discarded. + 0 + 100 + + + Amplitude Limit + real + developer + global + 0 + dB + Amplitude above which measurement is discarded. + + + Vehicle Pitch Rate Limit + real + developer + global + 0 + + Pitching rate above which measurement is discarded. + + + Vehicle Roll Rate Limit + real + developer + global + 0 + + Roll rate above which measurement is discarded. + + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 + +
+
+ + Entity Label + string + developer + global + Communications Relay Maneuver + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Loitering Radius + real + developer + global + 10.0 + m + Radius of loitering circle after arriving at destination + + + Z Value + real + developer + global + 0.0 + m + Z value to maintain while executing this maneuver. + + + Z Mode + string + developer + global + None + + Z Mode to use. One of Depth, Altitude or Height. + +
+
+ + Entity Label + string + developer + global + Compass Calibration Maneuver + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Maximum Pitch Variation + real + developer + global + 20.0 + ° + Maximum pitch variation step when changing z direction + + + Entity Label - Compass + string + developer + global + AHRS + + Entity label of 'AHRS' messages + + + Cross Track Tolerance + real + developer + global + 1.0 + m + Tolerance in cross-track error to consider loiter has started + + + Number Of Turns + real + developer + global + 50 + + Number of 360 degree turns until calibration + + + Calibrate Compass + boolean + developer + global + true + + Perform compass calibration if true + +
+
+ + Entity Label + string + developer + global + Multiplexer Maneuver + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Entity Label -- IdleManeuver + string + developer + global + Idle Maneuver + + IdleManeuver maneuver's entity label + + + Entity Label -- Goto + string + developer + global + Goto Maneuver + + Goto maneuver's entity label + + + Entity Label -- Launch + string + developer + global + Launch Maneuver + + Launch maneuver's entity label + + + Entity Label -- Loiter + string + developer + global + Loiter Maneuver + + Loiter maneuver's entity label + + + Entity Label -- StationKeeping + string + developer + global + Station Keeping Maneuver + + StationKeeping maneuver's entity label + + + Entity Label -- YoYo + string + developer + global + YoYo Maneuver + + YoYo maneuver's entity label + + + Entity Label -- Rows + string + developer + global + Rows Maneuver + + Rows maneuver's entity label + + + Entity Label -- FollowPath + string + developer + global + Follow Path Maneuver + + FollowPath maneuver's entity label + + + Entity Label -- Elevator + string + developer + global + Elevator Maneuver + + Elevator maneuver's entity label + + + Entity Label -- PopUp + string + developer + global + Pop Up Maneuver + + PopUp maneuver's entity label + + + Entity Label -- Dislodge + string + developer + global + Dislodge Maneuver + + Dislodge maneuver's entity label + + + Entity Label -- ScheduledGoto + string + developer + global + ScheduledGoto Maneuver + + ScheduledGoto maneuver's entity label + + + Entity Label -- Takeoff + string + developer + global + Takeoff Maneuver + + Takeoff maneuver's entity label + + + Entity Label -- Land + string + developer + global + Land Maneuver + + Land maneuver's entity label + + + Entity Label -- Drop + string + developer + global + Drop Maneuver + + Drop maneuver's entity label + + + Entity Label -- Sample + string + developer + global + Sample Maneuver + + Sample maneuver's entity label + + + Entity Label -- StationKeepingExtended + string + developer + global + StationKeepingExtended Maneuver + + StationKeepingExtended maneuver's entity label + + + Unsupported + list:string + developer + global + + + List of unsupported maneuvers + + + Loiter -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for Loiter to prevent incompatibility with path controller + + + StationKeeping -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for StationKeeping to prevent incompatibility with path controller + + + YoYo -- Maximum Pitch Variation + real + developer + global + 2 + ° + Maximum pitch variation step when changing z direction + + + YoYo -- Check Path Errors + boolean + developer + global + false + + True if we should check path errors and stabilize pitch + + + YoYo -- Maximum Cross Track Error + real + developer + global + 6 + m + Maximum cross track error admissible + + + YoYo -- Maximum Course Error + real + developer + global + 15 + ° + Maximum course error admissible + + + YoYo -- Minimum Altitude Reference + real + developer + global + 5.0 + m + Minimum admissible altitude reference + 1.0 + + + Elevator -- Radius Tolerance + real + developer + global + 2.0 + m + Distance tolerance to start loitering near elevator's location + + + Elevator -- VMonitor -- Minimum Speed + real + developer + global + -1.0 + m/s + Negative values will disable vertical progress monitor + + + Elevator -- VMonitor -- Timeout + real + developer + global + 15.0 + s + Timeout when progress is below the specified value + + + Elevator -- Minimum Radius + real + developer + global + 10.0 + m + Minimum radius to prevent incompatibility with path controller + + + PopUp -- Minimum Satellites + integer + developer + global + 7 + + Least number of satellites to accept fixes + + + PopUp -- Minimum Distance + real + developer + global + 3.0 + m + Minimum distance between gps_fix position and the estimated state + + + PopUp -- Elevator Radius + real + developer + global + 15.0 + m + Radius for the elevator behavior + + + PopUp -- Maximum Distance From Station + real + developer + global + 15.0 + m + Maximum distance from station keeping radial circle + + + PopUp -- Report at PopUps + boolean + developer + global + false + + Request reports when popping at surface + + + Dislodge -- Bursts + integer + developer + global + 5 + + Number of bursts with the motor + + + Dislodge -- Attempts + integer + developer + global + 5 + + Number of total attempts + + + Dislodge -- Burst Time + real + developer + global + 10.0 + s + Burst duration + + + Dislodge -- Interval Time + real + developer + global + 5.0 + s + Time interval between bursts + + + Dislodge -- Minimum Distance + real + developer + global + 3.0 + m + Minimum distance to ground or object to stop burst + + + Dislodge -- Safe Depth Gap + real + developer + global + 3.0 + m + Safe depth change to consider the maneuver was successful + + + Dislodge -- Safe Depth Gap + real + developer + global + 3.0 + m + Safe depth change to consider the maneuver was successful + + + ScheduledGoto -- Minimum Speed + real + developer + global + 0.7 + m/s + Move only at speeds higher than the minimum speed + + + ScheduledGoto -- Maximum Speed + real + developer + global + 1.6 + m/s + Maximum commanded speed + + + Drop -- Servo Id + integer + developer + global + 2 + + Servo Id. + + + Drop -- Servo Value + real + developer + global + 3.14159 + + Servo Value in radians. + + + Sample -- Syringe 0 Id + integer + developer + global + 0 + + Port to use for syringe 0 servo + + + Sample -- Syringe 1 Id + integer + developer + global + 1 + + Port to use for syringe 1 servo + + + Sample -- Syringe 2 Id + integer + developer + global + 2 + + Port to use for syringe 2 servo + + + Sample -- Servo Open Value + real + developer + global + 3.14159 + + Value to open servo + + + Sample -- Servo Close Value + real + developer + global + 1.57079 + + Value to close servo + + + Sample -- Execution Tolerance + real + developer + global + 30 + + Default time tolerance to execute maneuver + + + StationKeepingExtended -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for StationKeepingExtended to prevent incompatibility with path controller + +
+
+ + Entity Label + string + developer + global + Teleoperation Maneuver + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Entity Label + string + developer + global + CPU Usage + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Entity Label + string + developer + global + Clock + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Minimum GPS Fixes + integer + developer + global + 30 + + Minimum number of GPS fixes required to compute the clock offset + 0 + + + Maximum Clock Offset + real + developer + global + 2 + s + Maximum Clock Offset. If the clock offset is above this value the clock will be syncronized + 0 + + + Boot Synchronization Timeout + real + developer + global + 60 + s + At boot the system tries to synchronize clocks. It continues unsynched after timeout + 0 + + + Hardware Clock Synchronization Command + string + developer + global + hwclock -w + + System command to execute everytime the clock is synchronized + + + Change Log + boolean + developer + global + false + + Change log file after synchronization + +
+
+ + Entity Label + string + developer + global + Entity Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Report Timeout + real + developer + global + 5 + s + Timeout threshold to report Entity error + 2 + + + Default Monitoring + list:string + developer + global + Daemon, GPS, Navigation, Operational Limits, Path Control + + Default entities to monitor + + + Default Monitoring -- Hardware + list:string + developer + global + Clock, Collisions + + Additional default entities to monitor in Hardware profile + + + Transition Time Gap + real + developer + global + 4.0 + s + Minimum gap for state transitioning + + + Maximum Consecutive Transitions + integer + developer + global + 3 + + Maximum number of consecutive transitions before starting to ignore + 0 + +
+
+ + Entity Label + string + developer + global + Log Monitor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Log Timeout + string + developer + global + 1d + + Log time in format %ud:%uh:%um + +
+
+ + Entity Label + string + developer + global + Operational Limits + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + Trace + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 4 + Hz + Frequency at which task is executed + + + Initial Setting - Maximum Depth + real + developer + global + -1 + m + Initial setting for maximum depth + + + Initial Setting - Minimum Altitude + real + developer + global + -1 + m + Initial setting for minimum altitude + + + Initial Setting - Maximum Altitude + real + developer + global + -1 + m + Initial setting for maximum altitude + + + Initial Setting - Minimum Speed + real + developer + global + -1 + m/s + Initial setting for minimum speed + + + Initial Setting - Maximum Speed + real + developer + global + -1 + m/s + Initial setting for maximum speed + + + Initial Setting - Maximum Vertical Rate + real + developer + global + -1 + m/s + Initial setting for maximum vertical rate + + + Hysteresis Threshold - Maximum Depth + real + developer + global + 0.3 + + Hysteresis value for maximum depth + + + Hysteresis Threshold - Minimum Altitude + real + developer + global + 0.3 + + Hysteresis value for minimum altitude + + + Minimum Depth to Check Altitude + real + developer + global + 0.3 + + Minimum depth required to check altitude operational limits + 0.0 + +
+
+ + Entity Label + string + developer + global + Wave Frequency Estimator + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active + boolean + developer + global + false + + Activates and deactivates the estimator + + + Amplitude LPF cutoff frequency + real + developer + global + 10.0 + Hz + Low-pass filter cutoff frequency + + + Omega_f LPF cutoff frequency + real + developer + global + 20.0 + Hz + Low-pass filter cutoff frequency + + + LPF taps + integer + developer + global + 10.0 + + Low-pass filter(s) number of taps + 1.0 + + + Data sampling frequency + real + developer + global + 2.0 + Hz + Heave sampling frequency + + + Estimation period + real + developer + global + 60.0 + s + Estimation period + + + Estimation duration + real + developer + global + 120.0 + s + Estimation duration + + + Minimum gain + real + developer + global + 5.0 + + Estimator Minimum Gain + 1.0 + + + Maximum gain + real + developer + global + 20.0 + + Estimator Maximum Gain + 100.0 + + + Switching amplitude + real + developer + global + 0.2 + m + Amplitude for Gain Switching + + + WEF initial guess + real + developer + global + 1.0 + rad/s + Initial guess for estimation of the wave encounter frequency + + + Entity Label - Heave + string + developer + global + GPS + + Entity label of 'Heave' message + + + Entity Label - EulerAngles + string + developer + global + GPS + + Entity label of 'EulerAngles' message + +
+
+ + Entity Label + string + developer + global + Navigation Manager + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Entity Label - Euler Angles + string + developer + global + GPS + + Entity label of 'GpsFix' and 'GroundVelocity' messages + + + Entity Label - Angular Velocity + string + developer + global + AHRS + + Entity label of 'EulerAngles' and 'AngularVelocity' messages + + + Main unit + string + developer + global + GPS + + Name of preferred navigation unit. + + + Secondary unit + string + developer + global + CPC + + Name of secondary preferred navigation unit. + + + Third unit + string + developer + global + AIS + + Name of third preferred navigation unit. + + + Convert Height to Geoid Height + boolean + developer + global + false + + Convert WGS84 height to geoid height (mean sea level) height + + + Input timeout + real + developer + global + 30 + s + Input timeout before error is thrown. + 0.0 + + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. + +
+
+ + Entity Label + string + developer + global + Plan Database + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + DB Path + string + developer + global + + + Path to DB file + +
+
+ + Entity Label + string + developer + global + Plan Engine + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Compute Progress + boolean + developer + global + true + + True if plan progress should be computed + + + Fuel Prediction + boolean + developer + global + true + + True if plan's fuel prediction should be computed + + + State Report Frequency + real + developer + global + 3.0 + Hz + Frequency of plan control state + + + Minimum Calibration Time + integer + developer + global + 3 + s + Duration of vehicle calibration commands + + + Perform Calibration + boolean + developer + global + true + + True if calibration should be performed at all + + + Abort On Failed Activation + boolean + developer + global + true + + Abort when a payload fails to activate + + + StationKeeping While Calibrating + boolean + developer + global + false + + Perform station keeping while calibrating + + + StationKeeping Speed in RPM + real + developer + global + 1600 + r/min + Speed in RPM for the station keeping + + + StationKeeping Radius + real + developer + global + 20 + m + Radius for the station keeping + + + IMU Entity Label + string + developer + global + IMU + + Entity label of the IMU for fuel prediction + + + Plan Generator Entity Label + string + developer + global + Plan Generator + + Entity label of the Plan Generator + +
+
+ + Entity Label + string + developer + global + Plan Generator + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Dive depth + real + developer + global + 0.0 + + Depth to dive in response to 'dive' command + + + Traveling depth + real + developer + global + 1.0 + + Depth to use when traveling (Goto maneuvers) + + + Dive seconds + integer + developer + global + 0 + + Time to be under water in response to 'dive' command (seconds) + + + Loiter radius + real + developer + global + 10.0 + + Radius of generated loiter and station keeping maneuvers + + + RPM Speed + integer + developer + global + 1000 + + Speed in RPMs to be used in the generated maneuvers + + + Generate At Boot + list:string + developer + global + + + Set of commands for plans to generate at boot + +
+
+ + Entity Label + string + developer + global + CPC + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 5 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyCPC:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Voltage Offset + real + developer + global + 1.0 + + Offset for the Voltage readings. + + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + + + Operation Mode + string + developer + global + Test + + Operation Mode of the CPC. + + + LED Period + integer + developer + global + 2 + + -1 turn off the led, 0 turn on the led, > 0 blink the led at the period defined + + + Set PWM1 Mode + string + developer + global + Servo + + PWM Modes: Servo, Motor, Off. + + + Set PWM1 Minimum + integer + developer + global + 40 + + Set Minimum value of pwm. + + + Set PWM1 Center + integer + developer + global + 90 + + Set Center value of pwm. + + + Set PWM1 Maximum + integer + developer + global + 140 + + Set Maximum value of pwm. + + + Set PWM2 Mode + string + developer + global + Motor + + PWM Modes: Servo, Motor, Off. + + + Set PWM2 Minimum + integer + developer + global + 1100 + + Set Minimum value of pwm. + + + Set PWM2 Center + integer + developer + global + 1560 + + Set Center value of pwm. + + + Set PWM2 Maximum + integer + developer + global + 1900 + + Set Maximum value of pwm. + + + Set PWM3 Mode + string + developer + global + Off + + PWM Modes: Servo, Motor, Off. + + + Set PWM3 Minimum + integer + developer + global + 1100 + + Set Minimum value of pwm. + + + Set PWM3 Center + integer + developer + global + 1500 + + Set Center value of pwm. + + + Set PWM3 Maximum + integer + developer + global + 1900 + + Set Maximum value of pwm. + + + Power Channel 1 Entity Label + string + developer + global + Private (CPU-MAIN) + + Power Channel Entity Label + + + Power Channel 2 Entity Label + string + developer + global + Private (CPU-AUX) + + Power Channel Entity Label + + + Power Channel 3 Entity Label + string + developer + global + BPUMPS + + Power Channel Entity Label + + + Power Channel 3 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 4 Entity Label + string + developer + global + WIFI + + Power Channel Entity Label + + + Power Channel 4 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 5 Entity Label + string + developer + global + Private (ETH) + + Power Channel Entity Label + + + Power Channel 5 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 6 Entity Label + string + developer + global + AIS_P + + Power Channel Entity Label + + + Power Channel 6 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 7 Entity Label + string + developer + global + IRIDIUM + + Power Channel Entity Label + + + Power Channel 7 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 8 Entity Label + string + developer + global + IMU + + Power Channel Entity Label + + + Power Channel 8 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 9 Entity Label + string + developer + global + GNSS + + Power Channel Entity Label + + + Power Channel 9 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 10 Entity Label + string + developer + global + Private (ECHOTRIP) + + Power Channel Entity Label + + + Power Channel 10 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 11 Entity Label + string + developer + global + Private (OXYGEN) + + Power Channel Entity Label + + + Power Channel 11 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 12 Entity Label + string + developer + global + Private (AIRMAR) + + Power Channel Entity Label + + + Power Channel 12 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 13 Entity Label + string + developer + global + Private (CTD_P) + + Power Channel Entity Label + + + Power Channel 13 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 14 Entity Label + string + developer + global + LED + + Power Channel Entity Label + + + Power Channel 14 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 15 Entity Label + string + developer + global + Private (DCP_P) + + Power Channel Entity Label + + + Power Channel 15 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 16 Entity Label + string + developer + global + Private (SPOT) + + Power Channel Entity Label + + + Power Channel 16 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Data 1 Entity Label + string + developer + global + ADCP_P + + Power Data Label + + + Power Data 2 Entity Label + string + developer + global + FLED + + Power Data Label + + + Power Data 3 Entity Label + string + developer + global + CTD_P + + Power Data Label + + + Power Data 4 Entity Label + string + developer + global + AIRMAR + + Power Data Label + + + Power Data 5 Entity Label + string + developer + global + OXYGEN + + Power Data Label + + + Power Data 6 Entity Label + string + developer + global + PBUS + + Power Data Label + + + Power Data 7 Entity Label + string + developer + global + ECHOTRIP + + Power Data Label + + + Power Data 8 Entity Label + string + developer + global + ECHOMAX + + Power Data Label + + + Power Data 9 Entity Label + string + developer + global + ETH + + Power Data Label + + + Power Data 10 Entity Label + string + developer + global + WIFI + + Power Data Label + + + Power Data 11 Entity Label + string + developer + global + BPUMPS + + Power Data Label + + + Power Data 12 Entity Label + string + developer + global + VBAT1 + + Power Data Label + + + Power Data 13 Entity Label + string + developer + global + GNSS + + Power Data Label + + + Power Data 14 Entity Label + string + developer + global + AHRS_P + + Power Data Label + + + Power Data 15 Entity Label + string + developer + global + IRIDIUM + + Power Data Label + + + Power Data 16 Entity Label + string + developer + global + AIS_P + + Power Data Label + + + Power Data 17 Entity Label + string + developer + global + CPU-AUX + + Power Data Label + + + Power Data 18 Entity Label + string + developer + global + CPU-MAIN + + Power Data Label + + + Timeout Connection to CPC + real + developer + global + 5 + + Timeout Connection to CPC + + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. + +
+
+ + Entity Label + string + developer + global + GPS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 30.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 8 - Reply + string + developer + global + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Entity Label + string + developer + global + AHRS + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 20.0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + developer + + Visibility of the 'Active' parameter + + + Active + boolean + developer + global + 1 + + True to activate task, false otherwise + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + N/A + + Date of last successful calibration + +
+
+ + Entity Label + string + developer + global + Thermal Zone + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 1 + Hz + Frequency at which task is executed + + + Path + string + developer + global + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file + + + Entity Label - Temperature + string + developer + global + Mainboard (Core) + + Entity label of temperature sensor + +
+
+ + Entity Label + string + developer + global + Power Supervisor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Main Power Channel + string + developer + global + System + + Name of the main power channel + + + Command - On Power Down + string + developer + global + services syslog stop && mount -o remount,ro /opt + + Command to execute before powering down the system + + + Command - On Power Down Abort + string + developer + global + mount -o remount,rw /opt && services syslog restart + + Command to execute when the power down sequence is aborted + + + Slave System Names + list:string + developer + global + + + Name of the slave systems + +
+
+ + Entity Label + string + developer + global + Report Supervisor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Acoustic Reports + boolean + user + global + false + + Enable acoustic system state reporting + + + Acoustic Reports Periodicity + real + user + global + 180.0 + s + Reports periodicity + 30 + 600 + + + Radio Reports + boolean + user + global + false + + Enable Radio system state reporting + + + Radio Reports Periodicity + real + user + global + 3 + s + Reports periodicity + 1 + 600 + +
+
+ + Entity Label + string + developer + global + Vehicle Supervisor + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Execution Frequency + real + developer + global + 2 + Hz + Frequency at which task is executed + + + Vital Entities + list:string + developer + global + + + Relevant entities that are always considered regardless of ignoring errors during plan execution + + + Allows External Control + boolean + developer + global + false + + Allow for the vehicle to be externally controlled + + + Maneuver Handling Timeout + real + developer + global + 1.0 + + Timeout for starting or stopping a maneuver + +
+
+ + Entity Label + string + developer + global + Service Announcer + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Announcement Periodicity + real + developer + global + 10 + s + Periodicity of announcements + + + Enable Loopback + boolean + developer + global + 1 + + Enable announcing on loopback interfaces + + + Enable Multicast + boolean + developer + global + 1 + + Enable multicast announcing + + + Enable Broadcast + boolean + developer + global + 1 + + Enable broadcast announcing + + + Ports + list:integer + developer + global + 30100, 30101, 30102, 30103, 30104 + + List of destination ports + + + Multicast Address + ipv4-address + developer + global + 224.0.75.69 + + Multicast address + + + Additional Services - Local + list:string + developer + global + + + Additional local services + + + Additional Services - External + list:string + developer + global + + + Additional external services + + + System Type + string + developer + global + + + System type + + + Ignored Interfaces + list:string + developer + global + eth0:prv, eth1:prv + + List of interfaces whose services will not be announced + +
+
+ + Entity Label + string + developer + global + Cache + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Loading Order + list:string + developer + global + GpsFix, LblConfig + + List of messages ordered by loading order + +
+
+ + Entity Label + string + developer + global + Communications Manager + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Iridium - Entity Label + string + developer + global + Iridium Modem + + Entity label of Iridium modem + + + GSM - Entity Label + string + developer + global + GSM + + Entity label of GSM modem + + + GSM Address Section + string + developer + global + GSM Addresses + + Name of the configuration section with gsm modem addresses + + + Acoustic Address Section + string + developer + global + Evologics Addresses + + Name of the configuration section with acoustic modem addresses + + + Iridium Reports Period + integer + developer + global + 20000 + + Period, in seconds, between transmission of states via Iridium. Value of 0 disables transmission. + + + Process AcousticOperation Messages + boolean + developer + global + true + + Enable CommManager to process and convert legacy message -> AcousticOperation + + + Send Iridium plain texts + boolean + developer + global + true + + Send Iridium text messages as plain text (and not IMC) + +
+
+ + Entity Label + string + developer + global + Service Discovery + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ports + list:integer + developer + global + 30100, 30101, 30102, 30103, 30104 + + List of destination ports + + + Multicast Address + ipv4-address + developer + global + 224.0.75.69 + + Multicast address + + + Print Incoming Messages + boolean + developer + global + false + + Print incoming messages (Debug) + +
+
+ + Entity Label + string + developer + global + FTP Server + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Data Port + integer + developer + global + 30020 + + Data Port + + + Control Port + integer + developer + global + 30021 + + Control Port + + + Session Timeout + real + developer + global + 120 + s + Timeout period of a session + +
+
+ + Entity Label + string + developer + global + Message Fragments + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Reception timeout + real + developer + global + 1800 + + Maximum amount of seconds to wait for missing fragments in incoming messages + +
+
+ + Entity Label + string + developer + global + HTTP Server + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Port + integer + developer + global + 8080 + + TCP port to listen on + + + Threads + integer + developer + global + 5 + + Number of worker threads + + + Transports + list:string + developer + global + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + + List of messages to transport + +
+
+ + Entity Label + string + developer + global + Iridium Transport + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + global + true + + True to activate task, false otherwise + + + Device updates - Periodicity + integer + developer + global + 600 + s + Delay between announce update messages. 0 for no updates being sent. + + + Announce Periodicity + integer + developer + global + 600 + s + Delay between announce messages being sent. 0 for no updates being sent. + + + Maximum age + integer + developer + global + 1200 + s + Age, in seconds, after which received IMC messages are discarded. + + + Iridium Text Origin + string + developer + global + iridium + + Text messages received via Iridium will be tagged with this origin + +
+
+ + Entity Label + string + developer + global + Iridium Modem + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Active - Scope + string + developer + global + global + + Scoped of the 'Active' parameter + + + Active - Visibility + string + developer + global + user + + Visibility of the 'Active' parameter + + + Active + boolean + user + global + true + + True to activate task, false otherwise + + + Serial Port - Device + string + developer + global + /dev/ttyS8 + + Serial port device used to communicate with the modem + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port baud rate + + + Mailbox Check - Periodicity + real + user + global + 300 + s + Amount of time without alert rings or MT SBDs before doing a mailbox check + + + Maximum Transmission Rate + integer + developer + global + 0 + s + + + + Flush Iridium Queue + boolean + developer + global + false + + + + + Use 9523N Module + boolean + developer + global + true + + + + + Serial Port 9523 - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate for 9523N Module + + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 + +
+
+ + Entity Label + string + developer + global + Log Book + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Entity Label + string + developer + global + Logger + + Main entity label + + + Execution Priority + integer + developer + global + 2 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Flush Interval + real + developer + global + 0.5 + s + Number of second to wait before forcing data to be written to disk + + + LSF Compression Method + string + developer + global + gzip + + Compression method + + + LSF Volume Size + integer + developer + global + 0 + MiB + + + + LSF Volume Directories + list:string + developer + global + + + + + + Transports + list:string + developer + global + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed + + + +
+
+ + Entity Label + string + developer + global + UDP + + Main entity label + + + Execution Priority + integer + developer + global + 10 + + Execution priority + + + Activation Time + integer + developer + global + 0 + + + + + Deactivation Time + integer + developer + global + 0 + + + + + Debug Level + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Local Port + integer + developer + global + 6002 + + Local UDP port to listen on + + + Contact Timeout + real + developer + global + 30 + s + + + + Contact Refresh Periodicity + real + developer + global + 5.0 + s + + + + Print Outgoing Messages + boolean + developer + global + 0 + + Print outgoing messages (Debug) + + + Print Incoming Messages + boolean + developer + global + 0 + + Print incoming messages (Debug) + + + Static Destinations + list:string + developer + global + + + List of <IPv4>:<Port> destinations that will always receive outgoing messages + + + Rate Limiters + list:string + developer + global + CpuUsage:0.2, Distance:0.2, EntityState:1, EstimatedState:2, FuelLevel:0.1, Rpm:1, SimulatedState:0.5, StorageUsage:0.05, Temperature:0.1, Voltage:0.1, AlignmentState:0.5, Rpm:1, SetServoPosition:1 + + List of <Message>:<Frequency> + + + Filtered Entities + list:string + developer + global + Distance:Altimeter+DVL Filtered+Echo Sounder + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Announce Service + boolean + developer + global + true + + Announce this transport to services or not + + + Communication Range + real + developer + global + 0 + m + Communication range (0 for infinite) + + + Underwater Communications + boolean + developer + global + true + + Allow underwater communication when limited comms are being simulated + + + Transports + list:string + developer + global + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + + List of messages to transport + + + Always Transmitted Messages + list:string + developer + global + Abort, SimulatedState + + List of messages that will always be transmitted disregarding communication limitations + + + Dynamic Nodes + boolean + developer + global + true + + Allow use of dynamic nodes. + + + Local Messages Only + boolean + developer + global + false + + Only transmit messsages from local system. + + + Custom Service Type + string + developer + global + + + Optional custom service type (imc+udp+<Custom Service Type>), empty entry gives default service (imc+udp) + +
diff --git a/conf/params/caravel.pt_PT.xml b/conf/params/caravel.pt_PT.xml index 9ab061882d..bfda4923ca 100644 --- a/conf/params/caravel.pt_PT.xml +++ b/conf/params/caravel.pt_PT.xml @@ -1,1322 +1,5870 @@ - - -
- -Entity LabelstringdeveloperglobalText ActionsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalDebugNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Reply timeoutintegerdeveloperglobal6030 - -Documentation URLstringdeveloperglobalhttps://bit.ly/2LZ0EOc - -Valid Commandslist:stringdeveloperglobalabort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode -
-
- -Entity LabelstringdeveloperglobalHeading ControllerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Enable Gain SchedulingbooleandeveloperglobalfalseEnable gain scheduling during turn - -Preferred schedulingstringdeveloperglobaladcpPreferred information for computing gamma. - -Gain Scheduling Intervalrealdeveloperglobal60Interval for recomputing PID gains.30 - -Use new gainsbooleandeveloperglobalfalseEnable gain scheduling based on gamma - -Enable Thrust AssistancebooleandeveloperglobaltrueAssist navigation with thruster - -Enable Thrust During TurnbooleandeveloperglobaltrueAssist the turn using the thruster - -Thrust Assistancerealdeveloperglobal0.25Percentage of thrust assistance - -Maximum Thrust Actuationrealdeveloperglobal1.0Maximum Motor Command - -Minimum Speed for Thrustrealdeveloperglobal0.1Speed [m/s] below which thruster is used - -Maximum Rudder Actuationrealdeveloperglobal1.0Maximum Rudder Command - -Course PID Gains Transectlist:realdeveloperglobal0.75, 0.001, 0.0PID gains for Course controller during straight line3 - -Course PID Gains Turninglist:realdeveloperglobal0.5, 0.0, 0.0PID gains for Course controller during turn3 - -Ramp Actuation Limitrealdeveloperglobal0.0Ramp actuation limit when the value is rising in actuation per second - -Log PID ParcelsbooleandeveloperglobaltrueLog the size of each PID parcel - -Entity Label - NavigationstringdeveloperglobalNavigation ManagerEntity label of 'GpsFix' message - -Activate LP FilteringbooleandeveloperglobalfalseActivate Low-pass filtering of computed rudder angle - -Activate N FilteringbooleandeveloperglobalfalseActivate Notch filtering of computed rudder angle - -Activate BS FilteringbooleandeveloperglobalfalseActivate Band-stop filtering of computed rudder angle - -Activate External FilteringbooleandeveloperglobalfalseActivate external user-defined filtering of computed rudder angle - -External Filter TypestringdeveloperglobalLPFExternal user-defined filter type - -Activate Desired Course FilteringbooleandeveloperglobalfalseActivate desired user-defined course filtering - -LP tapsrealdeveloperglobal20Low-pass filter number of taps1.0 - -LPF scalingrealdeveloperglobal1.2Low-pass filter gain to remove HF components1.0 - -NF tapsrealdeveloperglobal10Notch filter number of taps1.0 - -BSF tapsrealdeveloperglobal10Band-stop filter(s) number of taps1.0 - -BSF scalingrealdeveloperglobal20BSF scaling percentage around cut-off estimated frequency1 - -External Filter Frequencyrealdeveloperglobal1.0HzFrequency for external user-defined filter. - -Desired Course Percentage Increaseintegerdeveloperglobal30Incremental portioning during desired course change. - -Heading ControlbooleandeveloperglobalfalseSwitch to heading control. - -SOG threshold - Heading Controlrealdeveloperglobal0.2SOG threshold above which switch to heading control.0.001 - -Correlation Limitrealdeveloperglobal0Correlation above which measurement is discarded.0100 - -Amplitude Limitrealdeveloperglobal0dBAmplitude above which measurement is discarded. - -Vehicle Pitch Rate Limitrealdeveloperglobal18Pitching rate above which measurement is discarded. - -Vehicle Roll Rate Limitrealdeveloperglobal20Roll rate above which measurement is discarded. - -Enable speed controllerbooleandeveloperglobalfalse - -Minimum Turning Errorrealdeveloperglobal25°Minimum heading error to consider vessel is turning (in degrees). -
-
- -Entity LabelstringdeveloperglobalRemote ControlMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal10HzFrequency at which task is executed - -Active - ScopestringdeveloperglobalmaneuverScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -ActivebooleandevelopermaneuvertrueTrue to activate task, false otherwise - -Connection Timeoutrealdeveloperglobal2.0s - -Thrust Scalerealdeveloperglobal1 -
-
- -Entity LabelstringdeveloperglobalPath ControlMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Control Frequencyrealdeveloperglobal10HzControl frequency (< 0 for event-driven EstimatedState processing) - -State Report Frequencyrealdeveloperglobal1HzState report frequency - -Course ControlbooleandeveloperglobaltrueEnable course control - -Along-track -- MonitorbooleandeveloperglobalfalseEnable along-track error monitoring - -Along-track -- Check Periodrealdeveloperglobal15sPeriod for along-track error check - -Along-track -- Minimum Speedrealdeveloperglobal0.25m/sMinimum speed for along-track progress - -Along-track -- Minimum Yawrealdeveloperglobal10°/sMinimum yaw speed for track bearing convergence - -Cross-track -- MonitorbooleandeveloperglobalfalseEnable cross-track error monitoring - -Cross-track -- Distance Limitrealdeveloperglobal15mDistance threshold value for cross-track error - -Cross-track -- Time Limitrealdeveloperglobal10sTime threshold value for cross-track error - -Cross-track -- Nav. Unc. Factorrealdeveloperglobal-1 - -Position Jump Thresholdrealdeveloperglobal7.0mThreshold for a jump in EstimatedState to turn monitors off - -Position Jump Time Factorrealdeveloperglobal0.3m/sRelation between monitor disabling time and position jump0.1 - -ETA Minimum Speedrealdeveloperglobal1.0m/sETA minimum admissible speed0.1 - -New Reference Timeoutrealdeveloperglobal5sTimeout for new incoming path reference310 - -Bottom Track -- EnabledbooleandeveloperglobalfalseEnable or disable bottom track control - -Bottom Track -- Forward Samplesintegerdeveloperglobal5Number of samples for forward range moving average - -Bottom Track -- Safe Pitchrealdeveloperglobal15.0°Safe pitch angle to perform bottom tracking. Reboot BottomTracker to update. - -Bottom Track -- Slope Hysteresisrealdeveloperglobal1.5°Slope hysteresis when recovering from avoidance. Reboot BottomTracker to update. - -Bottom Track -- Minimum Rangerealdeveloperglobal4.0mMinimum admissible forward range for bottom tracking - -Bottom Track -- Check TrendbooleandeveloperglobaltrueCheck slope angle trend in unsafe state - -Bottom Track -- Execution Frequencyrealdeveloperglobal5HzBottom tracker's execution frequency. Reboot BottomTracker to update. - -Bottom Track -- Depth AvoidancebooleandeveloperglobaltrueEnable or disable obstacle avoidance during depth control - -Bottom Track -- Admissible Altituderealdeveloperglobal3.0mAdmissible altitude when doing depth control - -Bottom Track -- Minimum Depthrealusermaneuver0.0mMinimum depth to maintain during bottom tracking - -Maximum Track Lengthrealdeveloperglobal25000mMaximum admissible track length - -Entity Label - Navigation simulationstringdeveloperglobalGPS NavigationEntity label of 'GpsFix' message - -Entity Label - Navigation hardwarestringdeveloperglobalNavigation ManagerEntity label of 'GpsFix' message - -Entity Label - WindstringdeveloperglobalEntity label of 'AbsoluteWind' message - -Entity Label - HeavestringdeveloperglobalGPSEntity label of 'Displacement' message - -Entity Label - Wave FrequencystringdeveloperglobalWave Frequency EstimatorEntity label of 'Frequency' message - -Enable Collision AvoidancebooleandeveloperglobaltrueEnable collision avoidance algorithm - -Enable Anti GroundingbooleandeveloperglobaltrueEnable anti-grounding algorithm - -Maximum Obstacle Surveillance Rangerealdeveloperglobal5000mLimit for absolute value of obstacle surveillance range0.0100000.0 - -Remove Disappeared Obstaclesrealdeveloperglobal240sAmount of time after which a disappeared obstacle is removed from the list. [sec].1.0600.0 - -Prediction Horizon - Simulation Timerealdeveloperglobal600sSimulation time - Prediction Horizon [sec].0.06000.0 - -Horizon Time Steprealdeveloperglobal5sSimulation Time Step [sec].020 - -Prediction Horizon Geog Constraintsrealdeveloperglobal600sSimulation time (prediction horizon) for static obstacles [sec].0.06000.0 - -Weight on Time to Evaluation Instantrealdeveloperglobal0.5Weight on Time to Evaluation Instant.0.510.0 - -Weight on Time to Evaluation Instant for Groundingrealdeveloperglobal0.05Weight on Time to Evaluation Instant for Grounding.0.010.0 - -Weight on Distance at Evaluation Instantrealdeveloperglobal4.0Weight on Distance at Evaluation Instant.1.010.0 - -COLREGS Distancerealdeveloperglobal1000.0mDistance where COLREGS are applied [m].300.02000.0 - -SB_MPC Surveillance Rangerealdeveloperglobal2000.0mMaximum SB_MPC Surveillance Range.300.02000.0 - -Minimum safe distance to vesselsrealdeveloperglobal300.0mMinimum distance to moving obstacle which is considered as safe [m].50.0 - -Minimum safe distance to landrealdeveloperglobal800.0mMinimum distance to static obstacle which is considered as safe [m].10.0 - -Cost of collisionsrealdeveloperglobal1.0Cost of Collision.0.01.0 - -Cost of groundingrealdeveloperglobal100.0Cost of Grounding.0.0 - -Weights environmental factorslist:realdeveloperglobal10.0,50.0,50.0,50.0,100.0Weights on environmental factors.0.0, 0.0, 0.0, 0.0, 0.0 - -Cost of not complying COLREGSrealdeveloperglobal3.0Cost of not Complying with the COLREGS.0.010.0 - -Cost of changing COLREGSrealdeveloperglobal100.0Cost of changing a COLREGS behavior.0.0100.0 - -PHI AHrealdeveloperglobal68.5°Angle within which an obstacle is said to be ahead [deg].0.0180.0 - -PHI OTrealdeveloperglobal68.5°Angle outside of which an obstacle will be said to be overtaking, if the speed of the obstacle is larger than the ship's own speed [deg].0.0180.0 - -PHI HOrealdeveloperglobal22.5°Angle within which an obstacle is said to be head on [deg].0.0180.0 - -PHI CRrealdeveloperglobal68.5Angle outside of which an obstacle is said to be crossing, if it is on the starboard side, heading towards the ship and not overtaking the ship [deg].0.0180.0 - -Cost of Deviating from Nominal Speedrealdeveloperglobal10.5Cost of deviating from the nominal speed.0.011.0 - -Cost of Changing Speed Offsetrealdeveloperglobal0.5Cost of Changing the Speed Offset0.010.0 - -Cost of Deviating from Nominal Courserealdeveloperglobal1.5Cost of deviating from the nominal Course.0.010.0 - -Cost of Course change to SBrealdeveloperglobal0.5Cost of Changing the Course Offset to Starboard.0.010.0 - -Cost of Course change to Portrealdeveloperglobal0.9Cost of Changing the Course Offset to Port.0.011.0 - -Cost of Selecting Turn to SBrealdeveloperglobal1.5mCost of Selecting Turn to SB.0.020.0 - -Cost of Selecting Turn to Portrealdeveloperglobal10.5Cost of Selecting Turn to Port.0.011.0 - -Guidance Strategyintegerdeveloperglobal00=Line-of-sight (LOS), 1= WP-pursiut (WPP), >1= Course-Hold (CH) or Heading-Hold (HH).03 - -WP Acceptance Radiusrealdeveloperglobal20.0WP Acceptance Radius.5.0100.0 - -LOS lookahead distancerealdeveloperglobal300.0LOS lookahead distance.50.01000.0 - -LOS integral gainrealdeveloperglobal0.0LOS integral gain.0.02.0 - -Course offset rangerealdeveloperglobal90.0°Course angle range in degrees0.0180.0 - -Positive granularityrealdeveloperglobal15.0°Portions of positive angle range in degrees10.045.0 - -Radius around threatrealdeveloperglobal50.0mSafety radius around a static threat at sea. - -Course offsetslist:realdeveloperglobal90.0,75.0,60.0,45.0,30.0,15.0,0.0,-15.0,-30.0,-45.0,-60.0,-75.0,-90.0°Course offsets for contours surroundings - -Correlation Limitrealdeveloperglobal50Correlation above which measurement is discarded.0100 - -Amplitude Limitrealdeveloperglobal0dBAmplitude above which measurement is discarded. - -Vehicle Pitch Rate Limitrealdeveloperglobal0Pitching rate above which measurement is discarded. - -Vehicle Roll Rate Limitrealdeveloperglobal0Roll rate above which measurement is discarded. - -Corridor -- Widthrealdeveloperglobal5.0mWidth of corridor for attack entry angle1.050.0 - -Corridor -- Entry Anglerealdeveloperglobal15°Attack angle when lateral track error equals corridor width245 -
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- -Entity LabelstringdeveloperglobalCommunications Relay ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Loitering Radiusrealdeveloperglobal10.0mRadius of loitering circle after arriving at destination - -Z Valuerealdeveloperglobal0.0mZ value to maintain while executing this maneuver. - -Z ModestringdeveloperglobalNoneZ Mode to use. One of Depth, Altitude or Height. -
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- -Entity LabelstringdeveloperglobalCompass Calibration ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Maximum Pitch Variationrealdeveloperglobal20.0°Maximum pitch variation step when changing z direction - -Entity Label - CompassstringdeveloperglobalAHRSEntity label of 'AHRS' messages - -Cross Track Tolerancerealdeveloperglobal1.0mTolerance in cross-track error to consider loiter has started - -Number Of Turnsrealdeveloperglobal50Number of 360 degree turns until calibration - -Calibrate CompassbooleandeveloperglobaltruePerform compass calibration if true -
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- -Entity LabelstringdeveloperglobalMultiplexer ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Entity Label -- IdleManeuverstringdeveloperglobalIdle ManeuverIdleManeuver maneuver's entity label - -Entity Label -- GotostringdeveloperglobalGoto ManeuverGoto maneuver's entity label - -Entity Label -- LaunchstringdeveloperglobalLaunch ManeuverLaunch maneuver's entity label - -Entity Label -- LoiterstringdeveloperglobalLoiter ManeuverLoiter maneuver's entity label - -Entity Label -- StationKeepingstringdeveloperglobalStation Keeping ManeuverStationKeeping maneuver's entity label - -Entity Label -- YoYostringdeveloperglobalYoYo ManeuverYoYo maneuver's entity label - -Entity Label -- RowsstringdeveloperglobalRows ManeuverRows maneuver's entity label - -Entity Label -- FollowPathstringdeveloperglobalFollow Path ManeuverFollowPath maneuver's entity label - -Entity Label -- ElevatorstringdeveloperglobalElevator ManeuverElevator maneuver's entity label - -Entity Label -- PopUpstringdeveloperglobalPop Up ManeuverPopUp maneuver's entity label - -Entity Label -- DislodgestringdeveloperglobalDislodge ManeuverDislodge maneuver's entity label - -Entity Label -- ScheduledGotostringdeveloperglobalScheduledGoto ManeuverScheduledGoto maneuver's entity label - -Entity Label -- TakeoffstringdeveloperglobalTakeoff ManeuverTakeoff maneuver's entity label - -Entity Label -- LandstringdeveloperglobalLand ManeuverLand maneuver's entity label - -Entity Label -- DropstringdeveloperglobalDrop ManeuverDrop maneuver's entity label - -Entity Label -- SamplestringdeveloperglobalSample ManeuverSample maneuver's entity label - -Entity Label -- StationKeepingExtendedstringdeveloperglobalStationKeepingExtended ManeuverStationKeepingExtended maneuver's entity label - -Unsupportedlist:stringdeveloperglobalList of unsupported maneuvers - -Loiter -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for Loiter to prevent incompatibility with path controller - -StationKeeping -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for StationKeeping to prevent incompatibility with path controller - -YoYo -- Maximum Pitch Variationrealdeveloperglobal2°Maximum pitch variation step when changing z direction - -YoYo -- Check Path ErrorsbooleandeveloperglobalfalseTrue if we should check path errors and stabilize pitch - -YoYo -- Maximum Cross Track Errorrealdeveloperglobal6mMaximum cross track error admissible - -YoYo -- Maximum Course Errorrealdeveloperglobal15°Maximum course error admissible - -YoYo -- Minimum Altitude Referencerealdeveloperglobal5.0mMinimum admissible altitude reference1.0 - -Elevator -- Radius Tolerancerealdeveloperglobal2.0mDistance tolerance to start loitering near elevator's location - -Elevator -- VMonitor -- Minimum Speedrealdeveloperglobal-1.0m/sNegative values will disable vertical progress monitor - -Elevator -- VMonitor -- Timeoutrealdeveloperglobal15.0sTimeout when progress is below the specified value - -Elevator -- Minimum Radiusrealdeveloperglobal10.0mMinimum radius to prevent incompatibility with path controller - -PopUp -- Minimum Satellitesintegerdeveloperglobal7Least number of satellites to accept fixes - -PopUp -- Minimum Distancerealdeveloperglobal3.0mMinimum distance between gps_fix position and the estimated state - -PopUp -- Elevator Radiusrealdeveloperglobal15.0mRadius for the elevator behavior - -PopUp -- Maximum Distance From Stationrealdeveloperglobal15.0mMaximum distance from station keeping radial circle - -PopUp -- Report at PopUpsbooleandeveloperglobalfalseRequest reports when popping at surface - -Dislodge -- Burstsintegerdeveloperglobal5Number of bursts with the motor - -Dislodge -- Attemptsintegerdeveloperglobal5Number of total attempts - -Dislodge -- Burst Timerealdeveloperglobal10.0sBurst duration - -Dislodge -- Interval Timerealdeveloperglobal5.0sTime interval between bursts - -Dislodge -- Minimum Distancerealdeveloperglobal3.0mMinimum distance to ground or object to stop burst - -Dislodge -- Safe Depth Gaprealdeveloperglobal3.0mSafe depth change to consider the maneuver was successful - -Dislodge -- Safe Depth Gaprealdeveloperglobal3.0mSafe depth change to consider the maneuver was successful - -ScheduledGoto -- Minimum Speedrealdeveloperglobal0.7m/sMove only at speeds higher than the minimum speed - -ScheduledGoto -- Maximum Speedrealdeveloperglobal1.6m/sMaximum commanded speed - -Drop -- Servo Idintegerdeveloperglobal2Servo Id. - -Drop -- Servo Valuerealdeveloperglobal3.14159Servo Value in radians. - -Sample -- Syringe 0 Idintegerdeveloperglobal0Port to use for syringe 0 servo - -Sample -- Syringe 1 Idintegerdeveloperglobal1Port to use for syringe 1 servo - -Sample -- Syringe 2 Idintegerdeveloperglobal2Port to use for syringe 2 servo - -Sample -- Servo Open Valuerealdeveloperglobal3.14159Value to open servo - -Sample -- Servo Close Valuerealdeveloperglobal1.57079Value to close servo - -Sample -- Execution Tolerancerealdeveloperglobal30Default time tolerance to execute maneuver - -StationKeepingExtended -- Minimum Radiusrealdeveloperglobal10.0Minimum radius for StationKeepingExtended to prevent incompatibility with path controller -
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- -Entity LabelstringdeveloperglobalTeleoperation ManeuverMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalCPU UsageMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalClockMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Minimum GPS Fixesintegerdeveloperglobal30Minimum number of GPS fixes required to compute the clock offset0 - -Maximum Clock Offsetrealdeveloperglobal2sMaximum Clock Offset. If the clock offset is above this value the clock will be syncronized0 - -Boot Synchronization Timeoutrealdeveloperglobal60sAt boot the system tries to synchronize clocks. It continues unsynched after timeout0 - -Hardware Clock Synchronization Commandstringdeveloperglobalhwclock -wSystem command to execute everytime the clock is synchronized - -Change LogbooleandeveloperglobalfalseChange log file after synchronization -
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- -Entity LabelstringdeveloperglobalEntity MonitorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Report Timeoutrealdeveloperglobal5sTimeout threshold to report Entity error2 - -Default Monitoringlist:stringdeveloperglobalDaemon, GPS, Navigation, Operational Limits, Path ControlDefault entities to monitor - -Default Monitoring -- Hardwarelist:stringdeveloperglobalClock, CollisionsAdditional default entities to monitor in Hardware profile - -Transition Time Gaprealdeveloperglobal4.0sMinimum gap for state transitioning - -Maximum Consecutive Transitionsintegerdeveloperglobal3Maximum number of consecutive transitions before starting to ignore0 -
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- -Entity LabelstringdeveloperglobalLog MonitorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Log Timeoutstringdeveloperglobal1dLog time in format %ud:%uh:%um -
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- -Entity LabelstringdeveloperglobalOperational LimitsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalTraceNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal4HzFrequency at which task is executed - -Initial Setting - Maximum Depthrealdeveloperglobal-1mInitial setting for maximum depth - -Initial Setting - Minimum Altituderealdeveloperglobal-1mInitial setting for minimum altitude - -Initial Setting - Maximum Altituderealdeveloperglobal-1mInitial setting for maximum altitude - -Initial Setting - Minimum Speedrealdeveloperglobal-1m/sInitial setting for minimum speed - -Initial Setting - Maximum Speedrealdeveloperglobal-1m/sInitial setting for maximum speed - -Initial Setting - Maximum Vertical Raterealdeveloperglobal-1m/sInitial setting for maximum vertical rate - -Hysteresis Threshold - Maximum Depthrealdeveloperglobal0.3Hysteresis value for maximum depth - -Hysteresis Threshold - Minimum Altituderealdeveloperglobal0.3Hysteresis value for minimum altitude - -Minimum Depth to Check Altituderealdeveloperglobal0.3Minimum depth required to check altitude operational limits0.0 -
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- -Entity LabelstringdeveloperglobalWave Frequency EstimatorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -ActivebooleandeveloperglobalfalseActivates and deactivates the estimator - -Amplitude LPF cutoff frequencyrealdeveloperglobal10.0HzLow-pass filter cutoff frequency - -Omega_f LPF cutoff frequencyrealdeveloperglobal20.0HzLow-pass filter cutoff frequency - -LPF tapsintegerdeveloperglobal10.0Low-pass filter(s) number of taps1.0 - -Data sampling frequencyrealdeveloperglobal2.0HzHeave sampling frequency - -Estimation periodrealdeveloperglobal60.0sEstimation period - -Estimation durationrealdeveloperglobal120.0sEstimation duration - -Minimum gainrealdeveloperglobal5.0Estimator Minimum Gain1.0 - -Maximum gainrealdeveloperglobal20.0Estimator Maximum Gain100.0 - -Switching amplituderealdeveloperglobal0.2mAmplitude for Gain Switching - -WEF initial guessrealdeveloperglobal1.0rad/sInitial guess for estimation of the wave encounter frequency - -Entity Label - HeavestringdeveloperglobalGPSEntity label of 'Heave' message - -Entity Label - EulerAnglesstringdeveloperglobalGPSEntity label of 'EulerAngles' message -
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- -Entity LabelstringdeveloperglobalNavigation ManagerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Entity Label - Euler AnglesstringdeveloperglobalGPSEntity label of 'GpsFix' and 'GroundVelocity' messages - -Entity Label - Angular VelocitystringdeveloperglobalAHRSEntity label of 'EulerAngles' and 'AngularVelocity' messages - -Main unitstringdeveloperglobalGPSName of preferred navigation unit. - -Secondary unitstringdeveloperglobalCPCName of secondary preferred navigation unit. - -Third unitstringdeveloperglobalAISName of third preferred navigation unit. - -Convert Height to Geoid HeightbooleandeveloperglobalfalseConvert WGS84 height to geoid height (mean sea level) height - -Input timeoutrealdeveloperglobal30sInput timeout before error is thrown.0.0 - -Reference Change Distancerealdeveloperglobal20000.0mDistance needed for reference change. -
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- -Entity LabelstringdeveloperglobalPlan DatabaseMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -DB PathstringdeveloperglobalPath to DB file -
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- -Entity LabelstringdeveloperglobalPlan EngineMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Compute ProgressbooleandeveloperglobaltrueTrue if plan progress should be computed - -Fuel PredictionbooleandeveloperglobaltrueTrue if plan's fuel prediction should be computed - -State Report Frequencyrealdeveloperglobal3.0HzFrequency of plan control state - -Minimum Calibration Timeintegerdeveloperglobal3sDuration of vehicle calibration commands - -Perform CalibrationbooleandeveloperglobaltrueTrue if calibration should be performed at all - -Abort On Failed ActivationbooleandeveloperglobaltrueAbort when a payload fails to activate - -StationKeeping While CalibratingbooleandeveloperglobalfalsePerform station keeping while calibrating - -StationKeeping Speed in RPMrealdeveloperglobal1600r/minSpeed in RPM for the station keeping - -StationKeeping Radiusrealdeveloperglobal20mRadius for the station keeping - -IMU Entity LabelstringdeveloperglobalIMUEntity label of the IMU for fuel prediction - -Plan Generator Entity LabelstringdeveloperglobalPlan GeneratorEntity label of the Plan Generator -
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- -Entity LabelstringdeveloperglobalPlan GeneratorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Dive depthrealdeveloperglobal0.0Depth to dive in response to 'dive' command - -Traveling depthrealdeveloperglobal1.0Depth to use when traveling (Goto maneuvers) - -Dive secondsintegerdeveloperglobal0Time to be under water in response to 'dive' command (seconds) - -Loiter radiusrealdeveloperglobal10.0Radius of generated loiter and station keeping maneuvers - -RPM Speedintegerdeveloperglobal1000Speed in RPMs to be used in the generated maneuvers - -Generate At Bootlist:stringdeveloperglobalSet of commands for plans to generate at boot -
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- -Entity LabelstringdeveloperglobalCPCMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal5 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyCPC:115200IO device URI in the form "uart://DEVICE:BAUD" - -Voltage Offsetrealdeveloperglobal1.0Offset for the Voltage readings. - -Use LIDB for IridiumbooleandeveloperglobalfalseUse LIDB for Iridium communication. - -Operation ModestringdeveloperglobalTestOperation Mode of the CPC. - -LED Periodintegerdeveloperglobal2-1 turn off the led, 0 turn on the led, > 0 blink the led at the period defined - -Set PWM1 ModestringdeveloperglobalServoPWM Modes: Servo, Motor, Off. - -Set PWM1 Minimumintegerdeveloperglobal40Set Minimum value of pwm. - -Set PWM1 Centerintegerdeveloperglobal90Set Center value of pwm. - -Set PWM1 Maximumintegerdeveloperglobal140Set Maximum value of pwm. - -Set PWM2 ModestringdeveloperglobalMotorPWM Modes: Servo, Motor, Off. - -Set PWM2 Minimumintegerdeveloperglobal1100Set Minimum value of pwm. - -Set PWM2 Centerintegerdeveloperglobal1560Set Center value of pwm. - -Set PWM2 Maximumintegerdeveloperglobal1900Set Maximum value of pwm. - -Set PWM3 ModestringdeveloperglobalOffPWM Modes: Servo, Motor, Off. - -Set PWM3 Minimumintegerdeveloperglobal1100Set Minimum value of pwm. - -Set PWM3 Centerintegerdeveloperglobal1500Set Center value of pwm. - -Set PWM3 Maximumintegerdeveloperglobal1900Set Maximum value of pwm. - -Power Channel 1 Entity LabelstringdeveloperglobalPrivate (CPU1)Power Channel Entity Label - -Power Channel 2 Entity LabelstringdeveloperglobalPrivate (CPU2)Power Channel Entity Label - -Power Channel 3 Entity LabelstringdeveloperglobalBPUMPSPower Channel Entity Label - -Power Channel 3 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 4 Entity LabelstringdeveloperglobalWIFIPower Channel Entity Label - -Power Channel 4 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 5 Entity LabelstringdeveloperglobalPrivate (ETH)Power Channel Entity Label - -Power Channel 5 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 6 Entity LabelstringdeveloperglobalAIS_PPower Channel Entity Label - -Power Channel 6 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 7 Entity LabelstringdeveloperglobalIRIDIUMPower Channel Entity Label - -Power Channel 7 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 8 Entity LabelstringdeveloperglobalIMUPower Channel Entity Label - -Power Channel 8 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 9 Entity LabelstringdeveloperglobalGNSSPower Channel Entity Label - -Power Channel 9 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 10 Entity LabelstringdeveloperglobalPrivate (ECHOTRIP)Power Channel Entity Label - -Power Channel 10 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 11 Entity LabelstringdeveloperglobalPrivate (OXYGEN)Power Channel Entity Label - -Power Channel 11 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 12 Entity LabelstringdeveloperglobalPrivate (AIRMAR)Power Channel Entity Label - -Power Channel 12 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 13 Entity LabelstringdeveloperglobalPrivate (CTD_P)Power Channel Entity Label - -Power Channel 13 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 14 Entity LabelstringdeveloperglobalLEDPower Channel Entity Label - -Power Channel 14 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 15 Entity LabelstringdeveloperglobalPrivate (DCP_P)Power Channel Entity Label - -Power Channel 15 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 16 Entity LabelstringdeveloperglobalPrivate (SPOT)Power Channel Entity Label - -Power Channel 16 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Channel 17 Entity LabelstringdeveloperglobalECHOMAX_PPower Channel Entity Label - -Power Channel 17 Turn OnbooleandeveloperglobaltruePower Channel State - -Power Channel 18 Entity LabelstringdeveloperglobalPrivate (MOBILE)Power Channel Entity Label - -Power Channel 18 Turn OnbooleandeveloperglobalfalsePower Channel State - -Power Data 1 Entity LabelstringdeveloperglobalADCP_PPower Data Label - -Power Data 2 Entity LabelstringdeveloperglobalFLEDPower Data Label - -Power Data 3 Entity LabelstringdeveloperglobalCTD_PPower Data Label - -Power Data 4 Entity LabelstringdeveloperglobalAIRMARPower Data Label - -Power Data 5 Entity LabelstringdeveloperglobalOXYGENPower Data Label - -Power Data 6 Entity LabelstringdeveloperglobalPBUSPower Data Label - -Power Data 7 Entity LabelstringdeveloperglobalECHOTRIPPower Data Label - -Power Data 8 Entity LabelstringdeveloperglobalECHOMAXPower Data Label - -Power Data 9 Entity LabelstringdeveloperglobalETHPower Data Label - -Power Data 10 Entity LabelstringdeveloperglobalWIFIPower Data Label - -Power Data 11 Entity LabelstringdeveloperglobalBPUMPSPower Data Label - -Power Data 12 Entity LabelstringdeveloperglobalVBAT1Power Data Label - -Power Data 13 Entity LabelstringdeveloperglobalGNSSPower Data Label - -Power Data 14 Entity LabelstringdeveloperglobalAHRS_PPower Data Label - -Power Data 15 Entity LabelstringdeveloperglobalIRIDIUMPower Data Label - -Power Data 16 Entity LabelstringdeveloperglobalAIS_PPower Data Label - -Power Data 17 Entity LabelstringdeveloperglobalCPU2Power Data Label - -Power Data 18 Entity LabelstringdeveloperglobalCPU1Power Data Label - -Timeout Connection to CPCrealdeveloperglobal5Timeout Connection to CPC - -Is Main CPUbooleandeveloperglobalfalseIs Main CPU -
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- -Entity LabelstringdeveloperglobalGPSMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal30.0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyS10:19200IO device URI in the form "uart://DEVICE:BAUD" - -Input Timeoutrealdeveloperglobal10.0sInput timeout0.0 - -Sentence Orderlist:stringdeveloperglobalGPGGA, GPROTSentence order - -Acquisition Frequencyintegerdeveloperglobal1Acquisition Frequency05 - -Initialization String 0 - Commandstringdeveloperglobal - -Initialization String 0 - Replystringdeveloperglobal - -Initialization String 1 - Commandstringdeveloperglobal - -Initialization String 1 - Replystringdeveloperglobal - -Initialization String 2 - Commandstringdeveloperglobal - -Initialization String 2 - Replystringdeveloperglobal - -Initialization String 3 - Commandstringdeveloperglobal - -Initialization String 3 - Replystringdeveloperglobal - -Initialization String 4 - Commandstringdeveloperglobal - -Initialization String 4 - Replystringdeveloperglobal - -Initialization String 5 - Commandstringdeveloperglobal - -Initialization String 5 - Replystringdeveloperglobal - -Initialization String 6 - Commandstringdeveloperglobal - -Initialization String 6 - Replystringdeveloperglobal - -Initialization String 7 - Commandstringdeveloperglobal - -Initialization String 7 - Replystringdeveloperglobal - -Initialization String 8 - Commandstringdeveloperglobal - -Initialization String 8 - Replystringdeveloperglobal - -Initialization String 9 - Commandstringdeveloperglobal - -Initialization String 9 - Replystringdeveloperglobal -
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- -Entity LabelstringdeveloperglobalAHRSMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal20.0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaldeveloperVisibility of the 'Active' parameter - -Activebooleandeveloperglobal1True to activate task, false otherwise - -IO Port - Devicestringdeveloperglobaluart:///dev/ttyS9IO device URI in the form "uart://DEVICE".This device has only one baud rate. - -Power Channel - NamestringdeveloperglobalName of the power channel - -Hard-Iron Calibrationlist:realdeveloperglobal0.0, 0.0, 0.0GHard-Iron calibration parameters3 - -Output Frequencyintegerdeveloperglobal20HzOutput frequency1127 - -Raw DatabooleandeveloperglobalfalseSet to true to enable raw data output - -Rotation Matrixlist:realdeveloperglobal1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0Rotation matrix which is dependent of the mounting position9 - -Timeout - Errorrealdeveloperglobal3.0sNumber of seconds without data before reporting an error1.0 - -Timeout - Failurerealdeveloperglobal6.0sNumber of seconds without data before restarting task1.0 - -Last Calibration TimestringuserglobalN/ADate of last successful calibration -
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- -Entity LabelstringdeveloperglobalThermal ZoneMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal1HzFrequency at which task is executed - -Pathstringdeveloperglobal/sys/class/thermal/thermal_zone0/tempPath to the sysfs file - -Entity Label - TemperaturestringdeveloperglobalMainboard (Core)Entity label of temperature sensor -
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- -Entity LabelstringdeveloperglobalPower SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Main Power ChannelstringdeveloperglobalSystemName of the main power channel - -Command - On Power Downstringdeveloperglobalservices syslog stop && mount -o remount,ro /optCommand to execute before powering down the system - -Command - On Power Down Abortstringdeveloperglobalmount -o remount,rw /opt && services syslog restartCommand to execute when the power down sequence is aborted - -Slave System Nameslist:stringdeveloperglobalName of the slave systems -
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- -Entity LabelstringdeveloperglobalReport SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Acoustic ReportsbooleanuserglobalfalseEnable acoustic system state reporting - -Acoustic Reports Periodicityrealuserglobal180.0sReports periodicity30600 - -Radio ReportsbooleanuserglobalfalseEnable Radio system state reporting - -Radio Reports Periodicityrealuserglobal3sReports periodicity1600 -
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- -Entity LabelstringdeveloperglobalVehicle SupervisorMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Execution Frequencyrealdeveloperglobal2HzFrequency at which task is executed - -Vital Entitieslist:stringdeveloperglobalRelevant entities that are always considered regardless of ignoring errors during plan execution - -Allows External ControlbooleandeveloperglobalfalseAllow for the vehicle to be externally controlled - -Maneuver Handling Timeoutrealdeveloperglobal1.0Timeout for starting or stopping a maneuver -
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- -Entity LabelstringdeveloperglobalService AnnouncerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Announcement Periodicityrealdeveloperglobal10sPeriodicity of announcements - -Enable Loopbackbooleandeveloperglobal1Enable announcing on loopback interfaces - -Enable Multicastbooleandeveloperglobal1Enable multicast announcing - -Enable Broadcastbooleandeveloperglobal1Enable broadcast announcing - -Portslist:integerdeveloperglobal30100, 30101, 30102, 30103, 30104List of destination ports - -Multicast Addressipv4-addressdeveloperglobal224.0.75.69Multicast address - -Additional Services - Locallist:stringdeveloperglobalAdditional local services - -Additional Services - Externallist:stringdeveloperglobalAdditional external services - -System TypestringdeveloperglobalSystem type - -Ignored Interfaceslist:stringdeveloperglobaleth0:prv, eth1:prvList of interfaces whose services will not be announced -
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- -Entity LabelstringdeveloperglobalCacheMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Loading Orderlist:stringdeveloperglobalGpsFix, LblConfigList of messages ordered by loading order -
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- -Entity LabelstringdeveloperglobalCommunications ManagerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Iridium - Entity LabelstringdeveloperglobalIridium ModemEntity label of Iridium modem - -GSM - Entity LabelstringdeveloperglobalGSMEntity label of GSM modem - -GSM Address SectionstringdeveloperglobalGSM AddressesName of the configuration section with gsm modem addresses - -Acoustic Address SectionstringdeveloperglobalEvologics AddressesName of the configuration section with acoustic modem addresses - -Iridium Reports Periodintegerdeveloperglobal20000Period, in seconds, between transmission of states via Iridium. Value of 0 disables transmission. - -Process AcousticOperation MessagesbooleandeveloperglobaltrueEnable CommManager to process and convert legacy message -> AcousticOperation - -Send Iridium plain textsbooleandeveloperglobaltrueSend Iridium text messages as plain text (and not IMC) -
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- -Entity LabelstringdeveloperglobalService DiscoveryMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Portslist:integerdeveloperglobal30100, 30101, 30102, 30103, 30104List of destination ports - -Multicast Addressipv4-addressdeveloperglobal224.0.75.69Multicast address - -Print Incoming MessagesbooleandeveloperglobalfalsePrint incoming messages (Debug) -
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- -Entity LabelstringdeveloperglobalFTP ServerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Data Portintegerdeveloperglobal30020Data Port - -Control Portintegerdeveloperglobal30021Control Port - -Session Timeoutrealdeveloperglobal120sTimeout period of a session -
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- -Entity LabelstringdeveloperglobalMessage FragmentsMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Reception timeoutrealdeveloperglobal1800Maximum amount of seconds to wait for missing fragments in incoming messages -
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- -Entity LabelstringdeveloperglobalHTTP ServerMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Portintegerdeveloperglobal8080TCP port to listen on - -Threadsintegerdeveloperglobal5Number of worker threads - -Transportslist:stringdeveloperglobalCpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeedList of messages to transport -
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- -Entity LabelstringdeveloperglobalIridium TransportMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaluserVisibility of the 'Active' parameter - -ActivebooleanuserglobaltrueTrue to activate task, false otherwise - -Device updates - Periodicityintegerdeveloperglobal600sDelay between announce update messages. 0 for no updates being sent. - -Announce Periodicityintegerdeveloperglobal600sDelay between announce messages being sent. 0 for no updates being sent. - -Maximum ageintegerdeveloperglobal1200sAge, in seconds, after which received IMC messages are discarded. - -Iridium Text OriginstringdeveloperglobaliridiumText messages received via Iridium will be tagged with this origin -
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- -Entity LabelstringdeveloperglobalIridium ModemMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Active - ScopestringdeveloperglobalglobalScoped of the 'Active' parameter - -Active - VisibilitystringdeveloperglobaluserVisibility of the 'Active' parameter - -ActivebooleanuserglobaltrueTrue to activate task, false otherwise - -Serial Port - Devicestringdeveloperglobal/dev/ttyS8Serial port device used to communicate with the modem - -Serial Port - Baud Rateintegerdeveloperglobal19200Serial port baud rate - -Mailbox Check - Periodicityrealuserglobal300sAmount of time without alert rings or MT SBDs before doing a mailbox check - -Maximum Transmission Rateintegerdeveloperglobal0s - -Flush Iridium Queuebooleandeveloperglobalfalse - -Use 9523N Modulebooleandeveloperglobaltrue - -Serial Port 9523 - Baud Rateintegerdeveloperglobal115200Serial port baud rate for 9523N Module - -Address SectionstringdeveloperglobalIridium AddressesName of the configuration section with modem addresses - -Transmission Windowrealuserglobal100Window to prioritize Transmission over Reception5 - -Reception Windowrealuserglobal100Window to prioritize Reception over Transmission5 -
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- -Entity LabelstringdeveloperglobalLog BookMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew -
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- -Entity LabelstringdeveloperglobalLoggerMain entity label - -Execution Priorityintegerdeveloperglobal2Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Flush Intervalrealdeveloperglobal0.5sNumber of second to wait before forcing data to be written to disk - -LSF Compression MethodstringdeveloperglobalgzipCompression method - -LSF Volume Sizeintegerdeveloperglobal0MiB - -LSF Volume Directorieslist:stringdeveloperglobal - -Transportslist:stringdeveloperglobalAbort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed -
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- -Entity LabelstringdeveloperglobalUDPMain entity label - -Execution Priorityintegerdeveloperglobal10Execution priority - -Activation Timeintegerdeveloperglobal0 - -Deactivation Timeintegerdeveloperglobal0 - -Debug LevelstringdeveloperglobalNoneNone, Debug, Trace, SpewNone, Debug, Trace, Spew - -Local Portintegerdeveloperglobal6002Local UDP port to listen on - -Contact Timeoutrealdeveloperglobal30s - -Contact Refresh Periodicityrealdeveloperglobal5.0s - -Print Outgoing Messagesbooleandeveloperglobal0Print outgoing messages (Debug) - -Print Incoming Messagesbooleandeveloperglobal0Print incoming messages (Debug) - -Static Destinationslist:stringdeveloperglobalList of <IPv4>:<Port> destinations that will always receive outgoing messages - -Rate Limiterslist:stringdeveloperglobalCpuUsage:0.2, Distance:0.2, EntityState:1, EstimatedState:2, FuelLevel:0.1, Rpm:1, SimulatedState:0.5, StorageUsage:0.05, Temperature:0.1, Voltage:0.1, AlignmentState:0.5, Rpm:1, SetServoPosition:1List of <Message>:<Frequency> - -Filtered Entitieslist:stringdeveloperglobalDistance:Altimeter+DVL Filtered+Echo SounderList of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. - -Announce ServicebooleandeveloperglobaltrueAnnounce this transport to services or not - -Communication Rangerealdeveloperglobal0mCommunication range (0 for infinite) - -Underwater CommunicationsbooleandeveloperglobaltrueAllow underwater communication when limited comms are being simulated - -Transportslist:stringdeveloperglobalAcceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuationList of messages to transport - -Always Transmitted Messageslist:stringdeveloperglobalAbort, SimulatedStateList of messages that will always be transmitted disregarding communication limitations - -Dynamic NodesbooleandeveloperglobaltrueAllow use of dynamic nodes. - -Local Messages OnlybooleandeveloperglobalfalseOnly transmit messsages from local system. - -Custom Service TypestringdeveloperglobalOptional custom service type (imc+udp+<Custom Service Type>), empty entry gives default service (imc+udp) -
+ +
+ + Nome da Entidade + string + developer + global + Text Actions + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + Debug + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Reply timeout + integer + developer + global + 60 + + + 30 + + + Documentation URL + string + developer + global + https://bit.ly/2LZ0EOc + + + + + Valid Commands + list:string + developer + global + abort, dislodge, dive, errors, info, force, cr6, restart, go, help, phone, reboot, sk, start, surface, on, off, sensor, sensors, reports, navstat, adcp, ctd, ecopuck, tblive, optode + + + +
+
+ + Nome da Entidade + string + developer + global + Heading Controller + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Enable Gain Scheduling + boolean + developer + global + false + + Enable gain scheduling during turn + + + Preferred scheduling + string + developer + global + adcp + + Preferred information for computing gamma. + + + Gain Scheduling Interval + real + developer + global + 60 + + Interval for recomputing PID gains. + 30 + + + Use new gains + boolean + developer + global + false + + Enable gain scheduling based on gamma + + + Enable Thrust Assistance + boolean + developer + global + true + + Assist navigation with thruster + + + Enable Thrust During Turn + boolean + developer + global + true + + Assist the turn using the thruster + + + Thrust Assistance + real + developer + global + 0.25 + + Percentage of thrust assistance + + + Maximum Thrust Actuation + real + developer + global + 1.0 + + Maximum Motor Command + + + Minimum Speed for Thrust + real + developer + global + 0.1 + + Speed [m/s] below which thruster is used + + + Maximum Rudder Actuation + real + developer + global + 1.0 + + Maximum Rudder Command + + + Course PID Gains Transect + list:real + developer + global + 0.75, 0.001, 0.0 + + PID gains for Course controller during straight line + 3 + + + Course PID Gains Turning + list:real + developer + global + 0.5, 0.0, 0.0 + + PID gains for Course controller during turn + 3 + + + Ramp Actuation Limit + real + developer + global + 0.0 + + Ramp actuation limit when the value is rising in actuation per second + + + Log PID Parcels + boolean + developer + global + true + + Log the size of each PID parcel + + + Entity Label - Navigation + string + developer + global + Navigation Manager + + Entity label of 'GpsFix' message + + + Activate LP Filtering + boolean + developer + global + false + + Activate Low-pass filtering of computed rudder angle + + + Activate N Filtering + boolean + developer + global + false + + Activate Notch filtering of computed rudder angle + + + Activate BS Filtering + boolean + developer + global + false + + Activate Band-stop filtering of computed rudder angle + + + Activate External Filtering + boolean + developer + global + false + + Activate external user-defined filtering of computed rudder angle + + + External Filter Type + string + developer + global + LPF + + External user-defined filter type + + + Activate Desired Course Filtering + boolean + developer + global + false + + Activate desired user-defined course filtering + + + LP taps + real + developer + global + 20 + + Low-pass filter number of taps + 1.0 + + + LPF scaling + real + developer + global + 1.2 + + Low-pass filter gain to remove HF components + 1.0 + + + NF taps + real + developer + global + 10 + + Notch filter number of taps + 1.0 + + + BSF taps + real + developer + global + 10 + + Band-stop filter(s) number of taps + 1.0 + + + BSF scaling + real + developer + global + 20 + + BSF scaling percentage around cut-off estimated frequency + 1 + + + External Filter Frequency + real + developer + global + 1.0 + Hz + Frequency for external user-defined filter. + + + Desired Course Percentage Increase + integer + developer + global + 30 + + Incremental portioning during desired course change. + + + Heading Control + boolean + developer + global + false + + Switch to heading control. + + + SOG threshold - Heading Control + real + developer + global + 0.2 + + SOG threshold above which switch to heading control. + 0.001 + + + Correlation Limit + real + developer + global + 0 + + Correlation above which measurement is discarded. + 0 + 100 + + + Amplitude Limit + real + developer + global + 0 + dB + Amplitude above which measurement is discarded. + + + Vehicle Pitch Rate Limit + real + developer + global + 18 + + Pitching rate above which measurement is discarded. + + + Vehicle Roll Rate Limit + real + developer + global + 20 + + Roll rate above which measurement is discarded. + + + Enable speed controller + boolean + developer + global + false + + + + + Minimum Turning Error + real + developer + global + 25 + ° + Minimum heading error to consider vessel is turning (in degrees). + +
+
+ + Nome da Entidade + string + developer + global + Remote Control + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 10 + Hz + Frequência com que a tarefa é executada + + + Ativa - Escopo + string + developer + global + maneuver + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + maneuver + true + + Verdadeiro para ativar tarefa, falso caso contrário + + + Connection Timeout + real + developer + global + 2.0 + s + + + + Thrust Scale + real + developer + global + 1 + + + +
+
+ + Nome da Entidade + string + developer + global + Path Control + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Control Frequency + real + developer + global + 10 + Hz + Control frequency (< 0 for event-driven EstimatedState processing) + + + State Report Frequency + real + developer + global + 1 + Hz + State report frequency + + + Course Control + boolean + developer + global + true + + Enable course control + + + Along-track -- Monitor + boolean + developer + global + false + + Enable along-track error monitoring + + + Along-track -- Check Period + real + developer + global + 15 + s + Period for along-track error check + + + Along-track -- Minimum Speed + real + developer + global + 0.25 + m/s + Minimum speed for along-track progress + + + Along-track -- Minimum Yaw + real + developer + global + 10 + °/s + Minimum yaw speed for track bearing convergence + + + Cross-track -- Monitor + boolean + developer + global + false + + Enable cross-track error monitoring + + + Cross-track -- Distance Limit + real + developer + global + 15 + m + Distance threshold value for cross-track error + + + Cross-track -- Time Limit + real + developer + global + 10 + s + Time threshold value for cross-track error + + + Cross-track -- Nav. Unc. Factor + real + developer + global + -1 + + + + + Position Jump Threshold + real + developer + global + 7.0 + m + Threshold for a jump in EstimatedState to turn monitors off + + + Position Jump Time Factor + real + developer + global + 0.3 + m/s + Relation between monitor disabling time and position jump + 0.1 + + + ETA Minimum Speed + real + developer + global + 1.0 + m/s + ETA minimum admissible speed + 0.1 + + + New Reference Timeout + real + developer + global + 5 + s + Timeout for new incoming path reference + 3 + 10 + + + Bottom Track -- Enabled + boolean + developer + global + false + + Enable or disable bottom track control + + + Bottom Track -- Forward Samples + integer + developer + global + 5 + + Number of samples for forward range moving average + + + Bottom Track -- Safe Pitch + real + developer + global + 15.0 + ° + Safe pitch angle to perform bottom tracking. Reboot BottomTracker to update. + + + Bottom Track -- Slope Hysteresis + real + developer + global + 1.5 + ° + Slope hysteresis when recovering from avoidance. Reboot BottomTracker to update. + + + Bottom Track -- Minimum Range + real + developer + global + 4.0 + m + Minimum admissible forward range for bottom tracking + + + Bottom Track -- Check Trend + boolean + developer + global + true + + Check slope angle trend in unsafe state + + + Bottom Track -- Execution Frequency + real + developer + global + 5 + Hz + Bottom tracker's execution frequency. Reboot BottomTracker to update. + + + Bottom Track -- Depth Avoidance + boolean + developer + global + true + + Enable or disable obstacle avoidance during depth control + + + Bottom Track -- Admissible Altitude + real + developer + global + 3.0 + m + Admissible altitude when doing depth control + + + Bottom Track -- Minimum Depth + real + user + maneuver + 0.0 + m + Minimum depth to maintain during bottom tracking + + + Maximum Track Length + real + developer + global + 25000 + m + Maximum admissible track length + + + Entity Label - Navigation simulation + string + developer + global + GPS Navigation + + Entity label of 'GpsFix' message + + + Entity Label - Navigation hardware + string + developer + global + Navigation Manager + + Entity label of 'GpsFix' message + + + Entity Label - Wind + string + developer + global + + + Entity label of 'AbsoluteWind' message + + + Entity Label - Heave + string + developer + global + GPS + + Entity label of 'Displacement' message + + + Entity Label - Wave Frequency + string + developer + global + Wave Frequency Estimator + + Entity label of 'Frequency' message + + + Enable Collision Avoidance + boolean + developer + global + true + + Enable collision avoidance algorithm + + + Enable Anti Grounding + boolean + developer + global + true + + Enable anti-grounding algorithm + + + Maximum Obstacle Surveillance Range + real + developer + global + 5000 + m + Limit for absolute value of obstacle surveillance range + 0.0 + 100000.0 + + + Remove Disappeared Obstacles + real + developer + global + 240 + s + Amount of time after which a disappeared obstacle is removed from the list. [sec]. + 1.0 + 600.0 + + + Prediction Horizon - Simulation Time + real + developer + global + 600 + s + Simulation time - Prediction Horizon [sec]. + 0.0 + 6000.0 + + + Horizon Time Step + real + developer + global + 5 + s + Simulation Time Step [sec]. + 0 + 20 + + + Prediction Horizon Geog Constraints + real + developer + global + 600 + s + Simulation time (prediction horizon) for static obstacles [sec]. + 0.0 + 6000.0 + + + Weight on Time to Evaluation Instant + real + developer + global + 0.5 + + Weight on Time to Evaluation Instant. + 0.5 + 10.0 + + + Weight on Time to Evaluation Instant for Grounding + real + developer + global + 0.05 + + Weight on Time to Evaluation Instant for Grounding. + 0.0 + 10.0 + + + Weight on Distance at Evaluation Instant + real + developer + global + 4.0 + + Weight on Distance at Evaluation Instant. + 1.0 + 10.0 + + + COLREGS Distance + real + developer + global + 1000.0 + m + Distance where COLREGS are applied [m]. + 300.0 + 2000.0 + + + SB_MPC Surveillance Range + real + developer + global + 2000.0 + m + Maximum SB_MPC Surveillance Range. + 300.0 + 2000.0 + + + Minimum safe distance to vessels + real + developer + global + 300.0 + m + Minimum distance to moving obstacle which is considered as safe [m]. + 50.0 + + + Minimum safe distance to land + real + developer + global + 800.0 + m + Minimum distance to static obstacle which is considered as safe [m]. + 10.0 + + + Cost of collisions + real + developer + global + 1.0 + + Cost of Collision. + 0.0 + 1.0 + + + Cost of grounding + real + developer + global + 100.0 + + Cost of Grounding. + 0.0 + + + Weights environmental factors + list:real + developer + global + 10.0,50.0,50.0,50.0,100.0 + + Weights on environmental factors. + 0.0, 0.0, 0.0, 0.0, 0.0 + + + Cost of not complying COLREGS + real + developer + global + 3.0 + + Cost of not Complying with the COLREGS. + 0.0 + 10.0 + + + Cost of changing COLREGS + real + developer + global + 100.0 + + Cost of changing a COLREGS behavior. + 0.0 + 100.0 + + + PHI AH + real + developer + global + 68.5 + ° + Angle within which an obstacle is said to be ahead [deg]. + 0.0 + 180.0 + + + PHI OT + real + developer + global + 68.5 + ° + Angle outside of which an obstacle will be said to be overtaking, if the speed of the obstacle is larger than the ship's own speed [deg]. + 0.0 + 180.0 + + + PHI HO + real + developer + global + 22.5 + ° + Angle within which an obstacle is said to be head on [deg]. + 0.0 + 180.0 + + + PHI CR + real + developer + global + 68.5 + + Angle outside of which an obstacle is said to be crossing, if it is on the starboard side, heading towards the ship and not overtaking the ship [deg]. + 0.0 + 180.0 + + + Cost of Deviating from Nominal Speed + real + developer + global + 10.5 + + Cost of deviating from the nominal speed. + 0.0 + 11.0 + + + Cost of Changing Speed Offset + real + developer + global + 0.5 + + Cost of Changing the Speed Offset + 0.0 + 10.0 + + + Cost of Deviating from Nominal Course + real + developer + global + 1.5 + + Cost of deviating from the nominal Course. + 0.0 + 10.0 + + + Cost of Course change to SB + real + developer + global + 0.5 + + Cost of Changing the Course Offset to Starboard. + 0.0 + 10.0 + + + Cost of Course change to Port + real + developer + global + 0.9 + + Cost of Changing the Course Offset to Port. + 0.0 + 11.0 + + + Cost of Selecting Turn to SB + real + developer + global + 1.5 + m + Cost of Selecting Turn to SB. + 0.0 + 20.0 + + + Cost of Selecting Turn to Port + real + developer + global + 10.5 + + Cost of Selecting Turn to Port. + 0.0 + 11.0 + + + Guidance Strategy + integer + developer + global + 0 + + 0=Line-of-sight (LOS), 1= WP-pursiut (WPP), >1= Course-Hold (CH) or Heading-Hold (HH). + 0 + 3 + + + WP Acceptance Radius + real + developer + global + 20.0 + + WP Acceptance Radius. + 5.0 + 100.0 + + + LOS lookahead distance + real + developer + global + 300.0 + + LOS lookahead distance. + 50.0 + 1000.0 + + + LOS integral gain + real + developer + global + 0.0 + + LOS integral gain. + 0.0 + 2.0 + + + Course offset range + real + developer + global + 90.0 + ° + Course angle range in degrees + 0.0 + 180.0 + + + Positive granularity + real + developer + global + 15.0 + ° + Portions of positive angle range in degrees + 10.0 + 45.0 + + + Radius around threat + real + developer + global + 50.0 + m + Safety radius around a static threat at sea. + + + Course offsets + list:real + developer + global + 90.0,75.0,60.0,45.0,30.0,15.0,0.0,-15.0,-30.0,-45.0,-60.0,-75.0,-90.0 + ° + Course offsets for contours surroundings + + + Correlation Limit + real + developer + global + 50 + + Correlation above which measurement is discarded. + 0 + 100 + + + Amplitude Limit + real + developer + global + 0 + dB + Amplitude above which measurement is discarded. + + + Vehicle Pitch Rate Limit + real + developer + global + 0 + + Pitching rate above which measurement is discarded. + + + Vehicle Roll Rate Limit + real + developer + global + 0 + + Roll rate above which measurement is discarded. + + + Corridor -- Width + real + developer + global + 5.0 + m + Width of corridor for attack entry angle + 1.0 + 50.0 + + + Corridor -- Entry Angle + real + developer + global + 15 + ° + Attack angle when lateral track error equals corridor width + 2 + 45 + +
+
+ + Nome da Entidade + string + developer + global + Communications Relay Maneuver + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Loitering Radius + real + developer + global + 10.0 + m + Radius of loitering circle after arriving at destination + + + Z Value + real + developer + global + 0.0 + m + Z value to maintain while executing this maneuver. + + + Z Mode + string + developer + global + None + + Z Mode to use. One of Depth, Altitude or Height. + +
+
+ + Nome da Entidade + string + developer + global + Compass Calibration Maneuver + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Maximum Pitch Variation + real + developer + global + 20.0 + ° + Maximum pitch variation step when changing z direction + + + Entity Label - Compass + string + developer + global + AHRS + + Entity label of 'AHRS' messages + + + Cross Track Tolerance + real + developer + global + 1.0 + m + Tolerance in cross-track error to consider loiter has started + + + Number Of Turns + real + developer + global + 50 + + Number of 360 degree turns until calibration + + + Calibrate Compass + boolean + developer + global + true + + Perform compass calibration if true + +
+
+ + Nome da Entidade + string + developer + global + Multiplexer Maneuver + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Entity Label -- IdleManeuver + string + developer + global + Idle Maneuver + + IdleManeuver maneuver's entity label + + + Entity Label -- Goto + string + developer + global + Goto Maneuver + + Goto maneuver's entity label + + + Entity Label -- Launch + string + developer + global + Launch Maneuver + + Launch maneuver's entity label + + + Entity Label -- Loiter + string + developer + global + Loiter Maneuver + + Loiter maneuver's entity label + + + Entity Label -- StationKeeping + string + developer + global + Station Keeping Maneuver + + StationKeeping maneuver's entity label + + + Entity Label -- YoYo + string + developer + global + YoYo Maneuver + + YoYo maneuver's entity label + + + Entity Label -- Rows + string + developer + global + Rows Maneuver + + Rows maneuver's entity label + + + Entity Label -- FollowPath + string + developer + global + Follow Path Maneuver + + FollowPath maneuver's entity label + + + Entity Label -- Elevator + string + developer + global + Elevator Maneuver + + Elevator maneuver's entity label + + + Entity Label -- PopUp + string + developer + global + Pop Up Maneuver + + PopUp maneuver's entity label + + + Entity Label -- Dislodge + string + developer + global + Dislodge Maneuver + + Dislodge maneuver's entity label + + + Entity Label -- ScheduledGoto + string + developer + global + ScheduledGoto Maneuver + + ScheduledGoto maneuver's entity label + + + Entity Label -- Takeoff + string + developer + global + Takeoff Maneuver + + Takeoff maneuver's entity label + + + Entity Label -- Land + string + developer + global + Land Maneuver + + Land maneuver's entity label + + + Entity Label -- Drop + string + developer + global + Drop Maneuver + + Drop maneuver's entity label + + + Entity Label -- Sample + string + developer + global + Sample Maneuver + + Sample maneuver's entity label + + + Entity Label -- StationKeepingExtended + string + developer + global + StationKeepingExtended Maneuver + + StationKeepingExtended maneuver's entity label + + + Unsupported + list:string + developer + global + + + List of unsupported maneuvers + + + Loiter -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for Loiter to prevent incompatibility with path controller + + + StationKeeping -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for StationKeeping to prevent incompatibility with path controller + + + YoYo -- Maximum Pitch Variation + real + developer + global + 2 + ° + Maximum pitch variation step when changing z direction + + + YoYo -- Check Path Errors + boolean + developer + global + false + + True if we should check path errors and stabilize pitch + + + YoYo -- Maximum Cross Track Error + real + developer + global + 6 + m + Maximum cross track error admissible + + + YoYo -- Maximum Course Error + real + developer + global + 15 + ° + Maximum course error admissible + + + YoYo -- Minimum Altitude Reference + real + developer + global + 5.0 + m + Minimum admissible altitude reference + 1.0 + + + Elevator -- Radius Tolerance + real + developer + global + 2.0 + m + Distance tolerance to start loitering near elevator's location + + + Elevator -- VMonitor -- Minimum Speed + real + developer + global + -1.0 + m/s + Negative values will disable vertical progress monitor + + + Elevator -- VMonitor -- Timeout + real + developer + global + 15.0 + s + Timeout when progress is below the specified value + + + Elevator -- Minimum Radius + real + developer + global + 10.0 + m + Minimum radius to prevent incompatibility with path controller + + + PopUp -- Minimum Satellites + integer + developer + global + 7 + + Least number of satellites to accept fixes + + + PopUp -- Minimum Distance + real + developer + global + 3.0 + m + Minimum distance between gps_fix position and the estimated state + + + PopUp -- Elevator Radius + real + developer + global + 15.0 + m + Radius for the elevator behavior + + + PopUp -- Maximum Distance From Station + real + developer + global + 15.0 + m + Maximum distance from station keeping radial circle + + + PopUp -- Report at PopUps + boolean + developer + global + false + + Request reports when popping at surface + + + Dislodge -- Bursts + integer + developer + global + 5 + + Number of bursts with the motor + + + Dislodge -- Attempts + integer + developer + global + 5 + + Number of total attempts + + + Dislodge -- Burst Time + real + developer + global + 10.0 + s + Burst duration + + + Dislodge -- Interval Time + real + developer + global + 5.0 + s + Time interval between bursts + + + Dislodge -- Minimum Distance + real + developer + global + 3.0 + m + Minimum distance to ground or object to stop burst + + + Dislodge -- Safe Depth Gap + real + developer + global + 3.0 + m + Safe depth change to consider the maneuver was successful + + + Dislodge -- Safe Depth Gap + real + developer + global + 3.0 + m + Safe depth change to consider the maneuver was successful + + + ScheduledGoto -- Minimum Speed + real + developer + global + 0.7 + m/s + Move only at speeds higher than the minimum speed + + + ScheduledGoto -- Maximum Speed + real + developer + global + 1.6 + m/s + Maximum commanded speed + + + Drop -- Servo Id + integer + developer + global + 2 + + Servo Id. + + + Drop -- Servo Value + real + developer + global + 3.14159 + + Servo Value in radians. + + + Sample -- Syringe 0 Id + integer + developer + global + 0 + + Port to use for syringe 0 servo + + + Sample -- Syringe 1 Id + integer + developer + global + 1 + + Port to use for syringe 1 servo + + + Sample -- Syringe 2 Id + integer + developer + global + 2 + + Port to use for syringe 2 servo + + + Sample -- Servo Open Value + real + developer + global + 3.14159 + + Value to open servo + + + Sample -- Servo Close Value + real + developer + global + 1.57079 + + Value to close servo + + + Sample -- Execution Tolerance + real + developer + global + 30 + + Default time tolerance to execute maneuver + + + StationKeepingExtended -- Minimum Radius + real + developer + global + 10.0 + + Minimum radius for StationKeepingExtended to prevent incompatibility with path controller + +
+
+ + Nome da Entidade + string + developer + global + Teleoperation Maneuver + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Nome da Entidade + string + developer + global + CPU Usage + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Nome da Entidade + string + developer + global + Clock + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Minimum GPS Fixes + integer + developer + global + 30 + + Minimum number of GPS fixes required to compute the clock offset + 0 + + + Maximum Clock Offset + real + developer + global + 2 + s + Maximum Clock Offset. If the clock offset is above this value the clock will be syncronized + 0 + + + Boot Synchronization Timeout + real + developer + global + 60 + s + At boot the system tries to synchronize clocks. It continues unsynched after timeout + 0 + + + Hardware Clock Synchronization Command + string + developer + global + hwclock -w + + System command to execute everytime the clock is synchronized + + + Change Log + boolean + developer + global + false + + Change log file after synchronization + +
+
+ + Nome da Entidade + string + developer + global + Entity Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Report Timeout + real + developer + global + 5 + s + Timeout threshold to report Entity error + 2 + + + Default Monitoring + list:string + developer + global + Daemon, GPS, Navigation, Operational Limits, Path Control + + Default entities to monitor + + + Default Monitoring -- Hardware + list:string + developer + global + Clock, Collisions + + Additional default entities to monitor in Hardware profile + + + Transition Time Gap + real + developer + global + 4.0 + s + Minimum gap for state transitioning + + + Maximum Consecutive Transitions + integer + developer + global + 3 + + Maximum number of consecutive transitions before starting to ignore + 0 + +
+
+ + Nome da Entidade + string + developer + global + Log Monitor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Log Timeout + string + developer + global + 1d + + Log time in format %ud:%uh:%um + +
+
+ + Nome da Entidade + string + developer + global + Operational Limits + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + Trace + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 4 + Hz + Frequência com que a tarefa é executada + + + Initial Setting - Maximum Depth + real + developer + global + -1 + m + Initial setting for maximum depth + + + Initial Setting - Minimum Altitude + real + developer + global + -1 + m + Initial setting for minimum altitude + + + Initial Setting - Maximum Altitude + real + developer + global + -1 + m + Initial setting for maximum altitude + + + Initial Setting - Minimum Speed + real + developer + global + -1 + m/s + Initial setting for minimum speed + + + Initial Setting - Maximum Speed + real + developer + global + -1 + m/s + Initial setting for maximum speed + + + Initial Setting - Maximum Vertical Rate + real + developer + global + -1 + m/s + Initial setting for maximum vertical rate + + + Hysteresis Threshold - Maximum Depth + real + developer + global + 0.3 + + Hysteresis value for maximum depth + + + Hysteresis Threshold - Minimum Altitude + real + developer + global + 0.3 + + Hysteresis value for minimum altitude + + + Minimum Depth to Check Altitude + real + developer + global + 0.3 + + Minimum depth required to check altitude operational limits + 0.0 + +
+
+ + Nome da Entidade + string + developer + global + Wave Frequency Estimator + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa + boolean + developer + global + false + + Activates and deactivates the estimator + + + Amplitude LPF cutoff frequency + real + developer + global + 10.0 + Hz + Low-pass filter cutoff frequency + + + Omega_f LPF cutoff frequency + real + developer + global + 20.0 + Hz + Low-pass filter cutoff frequency + + + LPF taps + integer + developer + global + 10.0 + + Low-pass filter(s) number of taps + 1.0 + + + Data sampling frequency + real + developer + global + 2.0 + Hz + Heave sampling frequency + + + Estimation period + real + developer + global + 60.0 + s + Estimation period + + + Estimation duration + real + developer + global + 120.0 + s + Estimation duration + + + Minimum gain + real + developer + global + 5.0 + + Estimator Minimum Gain + 1.0 + + + Maximum gain + real + developer + global + 20.0 + + Estimator Maximum Gain + 100.0 + + + Switching amplitude + real + developer + global + 0.2 + m + Amplitude for Gain Switching + + + WEF initial guess + real + developer + global + 1.0 + rad/s + Initial guess for estimation of the wave encounter frequency + + + Entity Label - Heave + string + developer + global + GPS + + Entity label of 'Heave' message + + + Entity Label - EulerAngles + string + developer + global + GPS + + Entity label of 'EulerAngles' message + +
+
+ + Nome da Entidade + string + developer + global + Navigation Manager + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Entity Label - Euler Angles + string + developer + global + GPS + + Entity label of 'GpsFix' and 'GroundVelocity' messages + + + Entity Label - Angular Velocity + string + developer + global + AHRS + + Entity label of 'EulerAngles' and 'AngularVelocity' messages + + + Main unit + string + developer + global + GPS + + Name of preferred navigation unit. + + + Secondary unit + string + developer + global + CPC + + Name of secondary preferred navigation unit. + + + Third unit + string + developer + global + AIS + + Name of third preferred navigation unit. + + + Convert Height to Geoid Height + boolean + developer + global + false + + Convert WGS84 height to geoid height (mean sea level) height + + + Input timeout + real + developer + global + 30 + s + Input timeout before error is thrown. + 0.0 + + + Reference Change Distance + real + developer + global + 20000.0 + m + Distance needed for reference change. + +
+
+ + Nome da Entidade + string + developer + global + Plan Database + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + DB Path + string + developer + global + + + Path to DB file + +
+
+ + Nome da Entidade + string + developer + global + Plan Engine + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Compute Progress + boolean + developer + global + true + + True if plan progress should be computed + + + Fuel Prediction + boolean + developer + global + true + + True if plan's fuel prediction should be computed + + + State Report Frequency + real + developer + global + 3.0 + Hz + Frequency of plan control state + + + Minimum Calibration Time + integer + developer + global + 3 + s + Duration of vehicle calibration commands + + + Perform Calibration + boolean + developer + global + true + + True if calibration should be performed at all + + + Abort On Failed Activation + boolean + developer + global + true + + Abort when a payload fails to activate + + + StationKeeping While Calibrating + boolean + developer + global + false + + Perform station keeping while calibrating + + + StationKeeping Speed in RPM + real + developer + global + 1600 + r/min + Speed in RPM for the station keeping + + + StationKeeping Radius + real + developer + global + 20 + m + Radius for the station keeping + + + IMU Entity Label + string + developer + global + IMU + + Entity label of the IMU for fuel prediction + + + Plan Generator Entity Label + string + developer + global + Plan Generator + + Entity label of the Plan Generator + +
+
+ + Nome da Entidade + string + developer + global + Plan Generator + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Dive depth + real + developer + global + 0.0 + + Depth to dive in response to 'dive' command + + + Traveling depth + real + developer + global + 1.0 + + Depth to use when traveling (Goto maneuvers) + + + Dive seconds + integer + developer + global + 0 + + Time to be under water in response to 'dive' command (seconds) + + + Loiter radius + real + developer + global + 10.0 + + Radius of generated loiter and station keeping maneuvers + + + RPM Speed + integer + developer + global + 1000 + + Speed in RPMs to be used in the generated maneuvers + + + Generate At Boot + list:string + developer + global + + + Set of commands for plans to generate at boot + +
+
+ + Nome da Entidade + string + developer + global + CPC + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 5 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyCPC:115200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Voltage Offset + real + developer + global + 1.0 + + Offset for the Voltage readings. + + + Use LIDB for Iridium + boolean + developer + global + false + + Use LIDB for Iridium communication. + + + Operation Mode + string + developer + global + Test + + Operation Mode of the CPC. + + + LED Period + integer + developer + global + 2 + + -1 turn off the led, 0 turn on the led, > 0 blink the led at the period defined + + + Set PWM1 Mode + string + developer + global + Servo + + PWM Modes: Servo, Motor, Off. + + + Set PWM1 Minimum + integer + developer + global + 40 + + Set Minimum value of pwm. + + + Set PWM1 Center + integer + developer + global + 90 + + Set Center value of pwm. + + + Set PWM1 Maximum + integer + developer + global + 140 + + Set Maximum value of pwm. + + + Set PWM2 Mode + string + developer + global + Motor + + PWM Modes: Servo, Motor, Off. + + + Set PWM2 Minimum + integer + developer + global + 1100 + + Set Minimum value of pwm. + + + Set PWM2 Center + integer + developer + global + 1560 + + Set Center value of pwm. + + + Set PWM2 Maximum + integer + developer + global + 1900 + + Set Maximum value of pwm. + + + Set PWM3 Mode + string + developer + global + Off + + PWM Modes: Servo, Motor, Off. + + + Set PWM3 Minimum + integer + developer + global + 1100 + + Set Minimum value of pwm. + + + Set PWM3 Center + integer + developer + global + 1500 + + Set Center value of pwm. + + + Set PWM3 Maximum + integer + developer + global + 1900 + + Set Maximum value of pwm. + + + Power Channel 1 Entity Label + string + developer + global + Private (CPU-MAIN) + + Power Channel Entity Label + + + Power Channel 2 Entity Label + string + developer + global + Private (CPU-AUX) + + Power Channel Entity Label + + + Power Channel 3 Entity Label + string + developer + global + BPUMPS + + Power Channel Entity Label + + + Power Channel 3 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 4 Entity Label + string + developer + global + WIFI + + Power Channel Entity Label + + + Power Channel 4 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 5 Entity Label + string + developer + global + Private (ETH) + + Power Channel Entity Label + + + Power Channel 5 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 6 Entity Label + string + developer + global + AIS_P + + Power Channel Entity Label + + + Power Channel 6 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 7 Entity Label + string + developer + global + IRIDIUM + + Power Channel Entity Label + + + Power Channel 7 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 8 Entity Label + string + developer + global + IMU + + Power Channel Entity Label + + + Power Channel 8 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 9 Entity Label + string + developer + global + GNSS + + Power Channel Entity Label + + + Power Channel 9 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 10 Entity Label + string + developer + global + Private (ECHOTRIP) + + Power Channel Entity Label + + + Power Channel 10 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 11 Entity Label + string + developer + global + Private (OXYGEN) + + Power Channel Entity Label + + + Power Channel 11 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 12 Entity Label + string + developer + global + Private (AIRMAR) + + Power Channel Entity Label + + + Power Channel 12 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 13 Entity Label + string + developer + global + Private (CTD_P) + + Power Channel Entity Label + + + Power Channel 13 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 14 Entity Label + string + developer + global + LED + + Power Channel Entity Label + + + Power Channel 14 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 15 Entity Label + string + developer + global + Private (DCP_P) + + Power Channel Entity Label + + + Power Channel 15 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 16 Entity Label + string + developer + global + Private (SPOT) + + Power Channel Entity Label + + + Power Channel 16 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Channel 17 Entity Label + string + developer + global + ECHOMAX_P + + Power Channel Entity Label + + + Power Channel 17 Turn On + boolean + developer + global + true + + Power Channel State + + + Power Channel 18 Entity Label + string + developer + global + Private (MOBILE) + + Power Channel Entity Label + + + Power Channel 18 Turn On + boolean + developer + global + false + + Power Channel State + + + Power Data 1 Entity Label + string + developer + global + ADCP_P + + Power Data Label + + + Power Data 2 Entity Label + string + developer + global + FLED + + Power Data Label + + + Power Data 3 Entity Label + string + developer + global + CTD_P + + Power Data Label + + + Power Data 4 Entity Label + string + developer + global + AIRMAR + + Power Data Label + + + Power Data 5 Entity Label + string + developer + global + OXYGEN + + Power Data Label + + + Power Data 6 Entity Label + string + developer + global + PBUS + + Power Data Label + + + Power Data 7 Entity Label + string + developer + global + ECHOTRIP + + Power Data Label + + + Power Data 8 Entity Label + string + developer + global + ECHOMAX + + Power Data Label + + + Power Data 9 Entity Label + string + developer + global + ETH + + Power Data Label + + + Power Data 10 Entity Label + string + developer + global + WIFI + + Power Data Label + + + Power Data 11 Entity Label + string + developer + global + BPUMPS + + Power Data Label + + + Power Data 12 Entity Label + string + developer + global + VBAT1 + + Power Data Label + + + Power Data 13 Entity Label + string + developer + global + GNSS + + Power Data Label + + + Power Data 14 Entity Label + string + developer + global + AHRS_P + + Power Data Label + + + Power Data 15 Entity Label + string + developer + global + IRIDIUM + + Power Data Label + + + Power Data 16 Entity Label + string + developer + global + AIS_P + + Power Data Label + + + Power Data 17 Entity Label + string + developer + global + CPU-AUX + + Power Data Label + + + Power Data 18 Entity Label + string + developer + global + CPU-MAIN + + Power Data Label + + + Timeout Connection to CPC + real + developer + global + 5 + + Timeout Connection to CPC + + + Is Main CPU + boolean + developer + global + false + + Is Main CPU + + + Set CPC to use NAV and Iridium at Boot + boolean + developer + global + false + + Set CPC to use NAV and Iridium at Boot. + +
+
+ + Nome da Entidade + string + developer + global + GPS + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 30.0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS10:19200 + + IO device URI in the form "uart://DEVICE:BAUD" + + + Input Timeout + real + developer + global + 10.0 + s + Input timeout + 0.0 + + + Sentence Order + list:string + developer + global + GPGGA, GPROT + + Sentence order + + + Acquisition Frequency + integer + developer + global + 1 + + Acquisition Frequency + 0 + 5 + + + Initialization String 0 - Command + string + developer + global + + + + + + Initialization String 0 - Reply + string + developer + global + + + + + + Initialization String 1 - Command + string + developer + global + + + + + + Initialization String 1 - Reply + string + developer + global + + + + + + Initialization String 2 - Command + string + developer + global + + + + + + Initialization String 2 - Reply + string + developer + global + + + + + + Initialization String 3 - Command + string + developer + global + + + + + + Initialization String 3 - Reply + string + developer + global + + + + + + Initialization String 4 - Command + string + developer + global + + + + + + Initialization String 4 - Reply + string + developer + global + + + + + + Initialization String 5 - Command + string + developer + global + + + + + + Initialization String 5 - Reply + string + developer + global + + + + + + Initialization String 6 - Command + string + developer + global + + + + + + Initialization String 6 - Reply + string + developer + global + + + + + + Initialization String 7 - Command + string + developer + global + + + + + + Initialization String 7 - Reply + string + developer + global + + + + + + Initialization String 8 - Command + string + developer + global + + + + + + Initialization String 8 - Reply + string + developer + global + + + + + + Initialization String 9 - Command + string + developer + global + + + + + + Initialization String 9 - Reply + string + developer + global + + + + +
+
+ + Nome da Entidade + string + developer + global + AHRS + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 20.0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + developer + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + developer + global + 1 + + Verdadeiro para ativar tarefa, falso caso contrário + + + IO Port - Device + string + developer + global + uart:///dev/ttyS9 + + IO device URI in the form "uart://DEVICE".This device has only one baud rate. + + + Power Channel - Name + string + developer + global + + + Name of the power channel + + + Hard-Iron Calibration + list:real + developer + global + 0.0, 0.0, 0.0 + G + Hard-Iron calibration parameters + 3 + + + Output Frequency + integer + developer + global + 20 + Hz + Output frequency + 1 + 127 + + + Raw Data + boolean + developer + global + false + + Set to true to enable raw data output + + + Rotation Matrix + list:real + developer + global + 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0 + + Rotation matrix which is dependent of the mounting position + 9 + + + Timeout - Error + real + developer + global + 3.0 + s + Number of seconds without data before reporting an error + 1.0 + + + Timeout - Failure + real + developer + global + 6.0 + s + Number of seconds without data before restarting task + 1.0 + + + Last Calibration Time + string + user + global + N/A + + Date of last successful calibration + +
+
+ + Nome da Entidade + string + developer + global + Thermal Zone + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 1 + Hz + Frequência com que a tarefa é executada + + + Path + string + developer + global + /sys/class/thermal/thermal_zone0/temp + + Path to the sysfs file + + + Entity Label - Temperature + string + developer + global + Mainboard (Core) + + Entity label of temperature sensor + +
+
+ + Nome da Entidade + string + developer + global + Power Supervisor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Main Power Channel + string + developer + global + System + + Name of the main power channel + + + Command - On Power Down + string + developer + global + services syslog stop && mount -o remount,ro /opt + + Command to execute before powering down the system + + + Command - On Power Down Abort + string + developer + global + mount -o remount,rw /opt && services syslog restart + + Command to execute when the power down sequence is aborted + + + Slave System Names + list:string + developer + global + + + Name of the slave systems + +
+
+ + Nome da Entidade + string + developer + global + Report Supervisor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Relatórios Acústicos + boolean + user + global + false + + Enable acoustic system state reporting + + + Periodicidade de Relatórios Acústicos + real + user + global + 180.0 + s + Reports periodicity + 30 + 600 + + + Relatórios de Rádio + boolean + user + global + false + + Enable Radio system state reporting + + + Periodicidade de relatórios de rádio + real + user + global + 3 + s + Reports periodicity + 1 + 600 + +
+
+ + Nome da Entidade + string + developer + global + Vehicle Supervisor + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Frequência de Execução + real + developer + global + 2 + Hz + Frequência com que a tarefa é executada + + + Vital Entities + list:string + developer + global + + + Relevant entities that are always considered regardless of ignoring errors during plan execution + + + Allows External Control + boolean + developer + global + false + + Allow for the vehicle to be externally controlled + + + Maneuver Handling Timeout + real + developer + global + 1.0 + + Timeout for starting or stopping a maneuver + +
+
+ + Nome da Entidade + string + developer + global + Service Announcer + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Announcement Periodicity + real + developer + global + 10 + s + Periodicity of announcements + + + Enable Loopback + boolean + developer + global + 1 + + Enable announcing on loopback interfaces + + + Enable Multicast + boolean + developer + global + 1 + + Enable multicast announcing + + + Enable Broadcast + boolean + developer + global + 1 + + Enable broadcast announcing + + + Ports + list:integer + developer + global + 30100, 30101, 30102, 30103, 30104 + + List of destination ports + + + Multicast Address + ipv4-address + developer + global + 224.0.75.69 + + Multicast address + + + Additional Services - Local + list:string + developer + global + + + Additional local services + + + Additional Services - External + list:string + developer + global + + + Additional external services + + + System Type + string + developer + global + + + System type + + + Ignored Interfaces + list:string + developer + global + eth0:prv, eth1:prv + + List of interfaces whose services will not be announced + +
+
+ + Nome da Entidade + string + developer + global + Cache + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Loading Order + list:string + developer + global + GpsFix, LblConfig + + List of messages ordered by loading order + +
+
+ + Nome da Entidade + string + developer + global + Communications Manager + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Iridium - Entity Label + string + developer + global + Iridium Modem + + Entity label of Iridium modem + + + GSM - Entity Label + string + developer + global + GSM + + Entity label of GSM modem + + + GSM Address Section + string + developer + global + GSM Addresses + + Name of the configuration section with gsm modem addresses + + + Acoustic Address Section + string + developer + global + Evologics Addresses + + Name of the configuration section with acoustic modem addresses + + + Iridium Reports Period + integer + developer + global + 20000 + + Period, in seconds, between transmission of states via Iridium. Value of 0 disables transmission. + + + Process AcousticOperation Messages + boolean + developer + global + true + + Enable CommManager to process and convert legacy message -> AcousticOperation + + + Send Iridium plain texts + boolean + developer + global + true + + Send Iridium text messages as plain text (and not IMC) + +
+
+ + Nome da Entidade + string + developer + global + Service Discovery + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ports + list:integer + developer + global + 30100, 30101, 30102, 30103, 30104 + + List of destination ports + + + Multicast Address + ipv4-address + developer + global + 224.0.75.69 + + Multicast address + + + Print Incoming Messages + boolean + developer + global + false + + Print incoming messages (Debug) + +
+
+ + Nome da Entidade + string + developer + global + FTP Server + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Data Port + integer + developer + global + 30020 + + Data Port + + + Control Port + integer + developer + global + 30021 + + Control Port + + + Session Timeout + real + developer + global + 120 + s + Timeout period of a session + +
+
+ + Nome da Entidade + string + developer + global + Message Fragments + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Reception timeout + real + developer + global + 1800 + + Maximum amount of seconds to wait for missing fragments in incoming messages + +
+
+ + Nome da Entidade + string + developer + global + HTTP Server + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Port + integer + developer + global + 8080 + + TCP port to listen on + + + Threads + integer + developer + global + 5 + + Number of worker threads + + + Transports + list:string + developer + global + CpuUsage, Current, Distance, EntityState, FuelLevel, GpsFix, Heartbeat, PowerChannelState, RSSI, Rpm, StorageUsage, Temperature, Voltage, AirSaturation, Chlorophyll, Conductivity, Pressure, Salinity, Turbidity, WindSpeed + + List of messages to transport + +
+
+ + Nome da Entidade + string + developer + global + Iridium Transport + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + global + true + + Verdadeiro para ativar tarefa, falso caso contrário + + + Device updates - Periodicity + integer + developer + global + 600 + s + Delay between announce update messages. 0 for no updates being sent. + + + Announce Periodicity + integer + developer + global + 600 + s + Delay between announce messages being sent. 0 for no updates being sent. + + + Maximum age + integer + developer + global + 1200 + s + Age, in seconds, after which received IMC messages are discarded. + + + Iridium Text Origin + string + developer + global + iridium + + Text messages received via Iridium will be tagged with this origin + +
+
+ + Nome da Entidade + string + developer + global + Iridium Modem + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Ativa - Escopo + string + developer + global + global + + Escopo do parâmetro 'Ativa' + + + Ativa - Visibilidade + string + developer + global + user + + Visibilidade do parâmetro 'Ativa' + + + Ativa + boolean + user + global + true + + Verdadeiro para ativar tarefa, falso caso contrário + + + Serial Port - Device + string + developer + global + /dev/ttyS8 + + Serial port device used to communicate with the modem + + + Serial Port - Baud Rate + integer + developer + global + 19200 + + Serial port baud rate + + + Mailbox Check - Periodicity + real + user + global + 300 + s + Amount of time without alert rings or MT SBDs before doing a mailbox check + + + Maximum Transmission Rate + integer + developer + global + 0 + s + + + + Flush Iridium Queue + boolean + developer + global + false + + + + + Use 9523N Module + boolean + developer + global + true + + + + + Serial Port 9523 - Baud Rate + integer + developer + global + 115200 + + Serial port baud rate for 9523N Module + + + Address Section + string + developer + global + Iridium Addresses + + Name of the configuration section with modem addresses + + + Transmission Window + real + user + global + 100 + + Window to prioritize Transmission over Reception + 5 + + + Reception Window + real + user + global + 100 + + Window to prioritize Reception over Transmission + 5 + +
+
+ + Nome da Entidade + string + developer + global + Log Book + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + +
+
+ + Nome da Entidade + string + developer + global + Logger + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 2 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Flush Interval + real + developer + global + 0.5 + s + Number of second to wait before forcing data to be written to disk + + + LSF Compression Method + string + developer + global + gzip + + Compression method + + + LSF Volume Size + integer + developer + global + 0 + MiB + + + + LSF Volume Directories + list:string + developer + global + + + + + + Transports + list:string + developer + global + Abort, Acceleration, AngularVelocity, Announce, Brake, ClockControl, CompassCalibration, Collision, ControlLoops, ControlParcel, CpuUsage, Current, DataSanity, DesiredControl, DesiredZ, DesiredHeading, DesiredHeadingRate, DesiredPath, DesiredPitch, DesiredSpeed, DesiredVelocity, DevCalibrationControl, DevCalibrationState, DevDataBinary, DevDataText, Distance, EmergencyControl, EmergencyControlState, EntityActivationState, EntityInfo, EntityList, EntityMonitoringState, EntityParameters, EntityState, EstimatedState, EstimatedStreamVelocity, EulerAngles, EulerAnglesDelta, FollowPath, FollowRefState, FuelLevel, Goto, GpsFix, GpsFixRejection, GroundVelocity, Heartbeat, IdleManeuver, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, Loiter, ManeuverControlState, ManeuverDone, NavigationData, NavigationUncertainty, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PlanStatistics, PopEntityParameters, PowerChannelControl, PowerChannelState, Pulse, PulseDetectionControl, PushEntityParameters, Rows, QueryEntityParameters, Reference, RemoteActions, RemoteActionsRequest, RemoteState, ReportControl, RSSI, SimAcousticMessage, SaveEntityParameters, SetEntityParameters, SimulatedState, Sms, SmsRequest, SmsStatus, StateReport, StationKeeping, StopManeuver, TCPRequest, TCPStatus, Teleoperation, TeleoperationDone, Temperature, TextMessage, TransmissionRequest, TransmissionStatus, UamRxFrame, UamTxFrame, UamTxStatus, UamRxRange, VehicleCommand, VehicleMedium, VehicleState, VelocityDelta, Voltage, YoYo, AbsoluteWind, AirSaturation, AisInfo, Chlorophyll, Conductivity, CurrentProfile, CurrentProfileCell, Depth, Displacement, DissolvedOrganicMatter, DissolvedOxygen, ENCAwareness, Frequency, MagneticField, Pressure, Rpm, Salinity, ServoPosition, SetServoPosition, SetThrusterActuation, Turbidity, WindSpeed + + + +
+
+ + Nome da Entidade + string + developer + global + UDP + + Nome principal da entidade + + + Prioridade de Execução + integer + developer + global + 10 + + Prioridade de execução + + + Tempo de Ativação + integer + developer + global + 0 + + + + + Tempo de Desativação + integer + developer + global + 0 + + + + + Nível de Depuração + string + developer + global + None + + + None, Debug, Trace, Spew + None, Debug, Trace, Spew + + + Local Port + integer + developer + global + 6002 + + Local UDP port to listen on + + + Contact Timeout + real + developer + global + 30 + s + + + + Contact Refresh Periodicity + real + developer + global + 5.0 + s + + + + Print Outgoing Messages + boolean + developer + global + 0 + + Print outgoing messages (Debug) + + + Print Incoming Messages + boolean + developer + global + 0 + + Print incoming messages (Debug) + + + Static Destinations + list:string + developer + global + + + List of <IPv4>:<Port> destinations that will always receive outgoing messages + + + Rate Limiters + list:string + developer + global + CpuUsage:0.2, Distance:0.2, EntityState:1, EstimatedState:2, FuelLevel:0.1, Rpm:1, SimulatedState:0.5, StorageUsage:0.05, Temperature:0.1, Voltage:0.1, AlignmentState:0.5, Rpm:1, SetServoPosition:1 + + List of <Message>:<Frequency> + + + Filtered Entities + list:string + developer + global + Distance:Altimeter+DVL Filtered+Echo Sounder + + List of <Message>:<Entity>+<Entity> that define the source entities allowed to pass message of a specific message type. + + + Announce Service + boolean + developer + global + true + + Announce this transport to services or not + + + Communication Range + real + developer + global + 0 + m + Communication range (0 for infinite) + + + Underwater Communications + boolean + developer + global + true + + Allow underwater communication when limited comms are being simulated + + + Transports + list:string + developer + global + Acceleration, AngularVelocity, Current, CpuUsage, DevCalibrationControl, DevCalibrationState, DesiredHeading, DesiredHeadingRate, DesiredSpeed, Distance, EntityList, EntityParameters, EntityState, EstimatedState, EulerAngles, FollowRefState, FuelLevel, GpsFix, Heartbeat, IridiumMsgRx, IridiumMsgTx, IridiumTxStatus, LogBookEntry, LogBookControl, ManeuverDone, OperationalLimits, PathControlState, PlanControl, PlanControlState, PlanDB, PlanGeneration, PlanSpecification, PowerChannelState, ReportControl, RemoteActions, RemoteActionsRequest, RSSI, SimulatedState, SmsRequest, SmsStatus, StateReport, StorageUsage, TCPRequest, TCPStatus, Temperature, Teleoperation, TeleoperationDone, TextMessage, TransmissionRequest, TransmissionStatus, TrexObservation, TrexOperation, TrexToken, TrexPlan, UamTxFrame, UamRxFrame, UamTxStatus, UamRxRange, VehicleMedium, VehicleState, Voltage, AbsoluteWind, AisInfo, ArmingState, CurrentProfile, Displacement, ENCAwareness, Frequency, MagneticField, Rpm, ServoPosition, SetServoPosition, SetThrusterActuation + + List of messages to transport + + + Always Transmitted Messages + list:string + developer + global + Abort, SimulatedState + + List of messages that will always be transmitted disregarding communication limitations + + + Dynamic Nodes + boolean + developer + global + true + + Allow use of dynamic nodes. + + + Local Messages Only + boolean + developer + global + false + + Only transmit messsages from local system. + + + Custom Service Type + string + developer + global + + + Optional custom service type (imc+udp+<Custom Service Type>), empty entry gives default service (imc+udp) + +