# -------------------------------------------------------------------
#  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		= ./data_KVH

# Milliseconds between thread launches
time_between_launches	= 100

use_sensoryframes	= 0
	
GRABBER_PERIOD_MS	= 100

# =======================================================
#  SENSOR: GyroKVH DSP 3000
#   
# =======================================================
[KVH_DSP3000]
driver			= CGyroKVHDSP3000
process_rate 		= 100
COM_port_LIN		= /dev/ttyUSB0


sensorLabel  		= KVH_DSP3000
pose_x			= 0	// 3D position on the robot (meters)
pose_y			= 0
pose_z			= 0
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0
operatingMode = integral		// rate or incremental or integral


