// Default configuration file for an LcmTrn object.
// Basic information:
name = "DEFAULT-LCM-TRN";

// Operational:
ops =
{
  // Zone 10 => Monterey Bay
  utm_zone = 10;
};

// LCM stuff (timing, names, etc.)
lcm =
{
  timeout_sec = 1.0; // Must use a decimal point

  ahrs_channel = "AHRS_M2";
  ahrs_heading = "platform_orientation";
  ahrs_pitch = "platform_pitch_angle";
  ahrs_roll = "platform_roll_angle";

  dvl_channel = "DVL_micro";
  dvl_xvel  = "platform_x_velocity_wrt_ground"
  dvl_yvel  = "platform_y_velocity_wrt_ground"
  dvl_zvel  = "platform_z_velocity_wrt_ground"
  dvl_beam1 = "Beam1Range";
  dvl_beam2 = "Beam2Range";
  dvl_beam3 = "Beam3Range";
  dvl_beam4 = "Beam4Range";
  dvl_valid = "BottomVelocityFlag";

  nav_channel = "DeadReckonUsingMultipleVeolocitySources";
  nav_lat = "latitude";
  nav_lon = "longitude";

  depth_channel= "Depth_Keller";
  veh_depth = "depth";
  pressure = "sea_water_pressure";

  trn_channel = "TRN";
  trn_mle = "trn_mle";
  trn_mmse = "trn_mmse";
  trn_var = "trn_var";
  trn_reinits = "trn_reinits";
  trn_filter = "trn_filterstate";

  cmd_channel = "CMD_TRN";
  cmd_command = "cmd_command";
  cmd_params = "cmd_params";
};

// TRN stuff (file names, instrument type, etc.)
trn =
{
  // Instrument type
  // 1 => DVL
  // 2 => MB (e.g., mbtrnpp)
  inst_type = 1;
  num_beams = 4;

  // Timing settings
  period_sec = 2.0; // Must use a decimal point
  temporal_coherence_sec = 0.25 // Must use a decimal point

  // Map and TRN config file names
  // Maps are searched for in $TRN_MAPFILES if it exists, else locally
  // Configs are searched for in $TRN_DATAFILES if it exists, else locally
  // Logs are placed in $TRN_LOGFILES if it exists, else locally, basename log_name

  // Map type
  // 1 => GRD
  // 2 => Octree
  map_type = 2;
  map_name = "PortTiles";
  //map_name = "PortugueseLedgeOctree_SomewhatFilled_1m.bin";
  cfg_name = "mappingAUV_specs.cfg";
  part_name = "particles.cfg";
  log_name = "lrauv";

  // TRN options and settings
  // Filter type
  // 1 => Point Mass
  // 2 => Particle filter
  // 3 => Bank filter (multiple particle filters)
  filter_type = 3;

  // Weighting options
  // 0 => none (default)
  // 1 => Alpha
  // 2 => Crossbeam
  // 3 => SubCloud
  // 4 => SubCloud with NIS on
  modified_weighting = 0;

  // Filter grade
  // true  => angular rate integration
  // false => automatic based on Kearfott availablility
  force_lowgrade_filter = true;

  // Filter reinit
  // true  => allow automatic reinits due to data outages or filter variance change
  // false => do not reinit
  allow_filter_reinit = true;
};
