# -------------------------------------------------------------------
#  Config file for the "rawlog-grabber" application
# Read more online: 
# http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

#  Each section [XXXXX] (but [global]) setups a thread in the RawLogGrabber 
#   standalone application. Each thread collects data from some
#   sensor or device, then the main thread groups and orders them before
#   streaming everything to a rawlog file.
#
#  The name of the sections will become the sensor label. The driver for
#   each sensor is actually determined by the field "driver", which must
#   match the name of some class in HWDRIVERS implementing CGenericSensor.


# =======================================================
#  Section: Global settings to the application
#   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= ./pid_gps

# Milliseconds between thread launches
time_between_launches	= 1000

use_sensoryframes	= 0
	
GRABBER_PERIOD_MS	= 7000


# =======================================================
#  SENSOR: GPS_DELUO
#   
# =======================================================
[GPS_DELUO]
driver			= CGPSInterface
process_rate	= 5		// Hz

sensorLabel   	= GPS_DELUO
COM_port_WIN 	= COM7
COM_port_LIN 	= ttyUSB1
baudRate		= 4800
customInit		= 

pose_x			= 0		// Laser range scaner 3D position in the robot (meters)
pose_y			= 0
pose_z			= 0



# =======================================================
#  SENSOR: PID
#   
# =======================================================
[PID]
driver			= CRaePID
process_rate	= 2			// Hz

sensorLabel 	= RAE_PID
COM_port_PID	= COM4
baudRate 		= 9600

pose_x			= 0.05		//Pose in the robot (meters)
pose_y			= 0			//Pose in the robot (meters)
pose_z			= 0.29		//Pose in the robot (meters)
pose_yaw		= 0			//Degrees
pose_pitch		= 0			//Degrees
pose_roll		= 180		//Degrees


