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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