| 1 | ;
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| 2 | ; AppBase.ini
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| 3 | ; Version Number 4.1.7
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| 4 | ; ##################################################################
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| 5 | ; ### Never change unknown or delete any entries in the ini-file ###
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| 6 | ; ##################################################################
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| 7 |
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| 8 | [Parameter]
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| 9 | ; ##### CAN parameter #####
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| 10 | ; Bitrate of the CAN connection. 1M or 1 or 20 = 1 MBit/s, 500K or 2 or 28 = 500 kBit/s
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| 11 | CANBaudrate = 500K
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| 12 | ; Base-ID of the CAN output (1..0x7fe). The following identifiers are used:
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| 13 | ; CANBaseID-1 = ANB messages
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| 14 | ; CANBaseID = Commands to the AppBase, e.g. Parameter setting
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| 15 | ; CANBaseID+1 = Object data
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| 16 | CANBaseID = 0x4F0
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| 17 | ; CANFormat: 0 = long format, 1 = short format
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| 18 | ; This entry is only valid (and needed) for CANspec AS
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| 19 | CANFormat = 0
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| 20 | ; ##### Settings for the object tracking #####
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| 21 | ; Stretch factor for the segmentation in x-direction (1.0 - ...).
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| 22 | XYFactor = 3.0
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| 23 | ; Maximum distance between two scanpoints of the same segment (0.1 - ...)
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| 24 | MinDist = 0.5
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| 25 | ; Number of points on the object outline. Allowed values are 3-16. 0 = Auto-Select
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| 26 | ObjectPoints = 0
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| 27 | ; Sorting criterion for the CAN output. 0=Radial distance, 1=Lookahead, 4=Highway
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| 28 | QualityCriterion = 0
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| 29 | ; Maximum number of objects that may be sent for each scan (0..31)
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| 30 | SendObjects = 20
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| 31 | ; ##### Output area #####
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| 32 | ; Output area in which the objects must be. If all points are 0, this filter
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| 33 | ; is disabled.
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| 34 | OutputAreaX1 = 0.0
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| 35 | OutputAreaY1 = 0.0
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| 36 | OutputAreaX2 = 0.0
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| 37 | OutputAreaY2 = 0.0
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| 38 | ; ##### System parameter #####
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| 39 | ; Sensor(s) is mounted upside down (TRUE or FALSE).
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| 40 | SensorUpsidedown =FLASE
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| 41 | ; Rotation frequency of all connected scanners, in [Hz] (6..40).
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| 42 | RotationFreq = 12.5
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| 43 | AppBaseID = 6
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| 44 | ApplyRoiToScandata = FALSE
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| 45 |
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| 46 | [Sensor_0]
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| 47 | StartAngle = 75.0
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| 48 | EndAngle = -75.0
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| 49 | OffsetX = 0.0
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| 50 | OffsetY = 0.0
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| 51 | OffsetZ = 0.0
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| 52 | HorizontalAngleOffset = 0.0
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| 53 | VerticalAngleOffset = 0.0
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| 54 | DIRTDIST = 1.3
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| 55 | SyncMaster = FALSE
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| 56 | ID = 73
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| 57 |
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| 58 | [RS232]
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| 59 | SENDSTATUS = FALSE
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| 60 | Baudrate = 38400
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| 61 |
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| 62 | [Ethernet_Out]
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| 63 | ScanDataPort = 12000
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| 64 | ; ##### Parameter for the Vehicle model #####
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| 65 | ; Ratio of the Steering wheel to the front wheels is given by the polynom:
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| 66 | ; SteerRatio = SteerRatio3 * x^3 + SteerRatio2 * X^2 + SteerRatio1 * X + SteerRatio0
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| 67 | ; with X = Steering wheel angle in deg
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| 68 |
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| 69 | [Vehicle]
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| 70 | SteerRatio0 = 1
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| 71 | SteerRatio1 = 1
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| 72 | SteerRatio2 = 1
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| 73 | SteerRatio3 = 1
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| 74 | CenterToFrontAxle = 1.3
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| 75 | CenterToRearAxle = 1.35
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| 76 | DistOriginFront = 0.5
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| 77 | TurningCircle = 11.0
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| 78 | VehicleWidth = 1.780
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| 79 | VehicleLength = 4.839
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| 80 | ; #################################################
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| 81 | ; ### vehicle CAN messages - decode instruction ###
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| 82 | ; [SteeringAngleRatio] not used
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| 83 | ; #################################################
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| 84 |
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| 85 | [Velocity]
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| 86 | Identifier = 0x44D
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| 87 | FirstBit = 16
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| 88 | LastBit = 31
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| 89 | ErrorValue = 0xff
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| 90 | Factor = 0.00277778
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| 91 | Offset = 0
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| 92 | SignBitAvailable = 0
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| 93 | SignBit = 0
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| 94 | UseLittleEndian = FALSE
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| 95 | TwosComplement = 0
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| 96 |
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| 97 | [SteeringAngle]
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| 98 | Identifier = 0x305
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| 99 | FirstBit = 0
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| 100 | LastBit = 15
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| 101 | ErrorValue = 0xFFFF
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| 102 | ; Factor = 0.1
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| 103 | Offset = 0
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| 104 | SignBitAvailable = 0
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| 105 | SignBit = 0
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| 106 | UseLittleEndian = FALSE
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| 107 | TwosComplement = 1
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| 108 |
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| 109 | [SteeringAngleRatio]
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| 110 | Identifier = 0x0C2
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| 111 | FirstBit = 16
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| 112 | LastBit = 24
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| 113 | ErrorValue = 0xFFFF
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| 114 | Factor = 0.00076358155
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| 115 | Offset = 0
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| 116 | SignBitAvailable = 1
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| 117 | SignBit = 15
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| 118 | UseLittleEndian = TRUE
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| 119 | TwosComplement = 0
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| 120 |
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| 121 | [YawRate]
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| 122 | Identifier = 0x3CD
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| 123 | FirstBit = 0
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| 124 | LastBit = 15
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| 125 | ErrorValue = 0xFFFF
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| 126 | Factor = 0.1
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| 127 | Offset = 0
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| 128 | SignBitAvailable = 1
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| 129 | SignBit = 33
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| 130 | UseLittleEndian = FALSE
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| 131 | TwosComplement = 0
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| 132 |
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| 133 | [CrossAcceleration]
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| 134 | Identifier = 0x3CD
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| 135 | FirstBit = 0
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| 136 | LastBit = 15
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| 137 | ErrorValue = 0xFFFF
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| 138 | Factor = 0.05
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| 139 | Offset = 0
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| 140 | SignBitAvailable = 1
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| 141 | SignBit = 32
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| 142 | UseLittleEndian = FALSE
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| 143 | TwosComplement = 0
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| 144 |
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