;
; AppBase.ini
; Version Number 4.1.7
; ##################################################################
; ### Never change unknown or delete any entries in the ini-file ###
; ##################################################################

[Parameter]
; ##### CAN parameter #####
; Bitrate of the CAN connection. 1M or 1 or 20 = 1 MBit/s, 500K or 2 or 28 = 500 kBit/s
CANBaudrate = 500K
; Base-ID of the CAN output (1..0x7fe). The following identifiers are used:
; CANBaseID-1 = ANB messages
; CANBaseID   = Commands to the AppBase, e.g. Parameter setting
; CANBaseID+1 = Object data
CANBaseID = 0x4F0
; CANFormat: 0 = long format, 1 = short format
; This entry is only valid (and needed) for CANspec AS
CANFormat = 0
; ##### Settings for the object tracking #####
; Stretch factor for the segmentation in x-direction (1.0 - ...).
XYFactor = 3.0
; Maximum distance between two scanpoints of the same segment (0.1 - ...)
MinDist = 0.5
; Number of points on the object outline. Allowed values are 3-16. 0 = Auto-Select
ObjectPoints = 0
; Sorting criterion for the CAN output. 0=Radial distance, 1=Lookahead, 4=Highway
QualityCriterion = 0
; Maximum number of objects that may be sent for each scan (0..31)
SendObjects = 20
; ##### Output area #####
; Output area in which the objects must be. If all points are 0, this filter
; is disabled.
OutputAreaX1 = 0.0
OutputAreaY1 = 0.0
OutputAreaX2 = 0.0
OutputAreaY2 = 0.0
; ##### System parameter #####
; Sensor(s) is mounted upside down (TRUE or FALSE).
SensorUpsidedown =FLASE
; Rotation frequency of all connected scanners, in [Hz] (6..40).
RotationFreq = 12.5
AppBaseID = 6
ApplyRoiToScandata = FALSE

[Sensor_0]
StartAngle = 75.0
EndAngle = -75.0
OffsetX = 0.0
OffsetY = 0.0
OffsetZ = 0.0
HorizontalAngleOffset = 0.0
VerticalAngleOffset = 0.0
DIRTDIST = 1.3
SyncMaster = FALSE
ID = 73

[RS232]
SENDSTATUS = FALSE
Baudrate = 38400

[Ethernet_Out]
ScanDataPort = 12000
; ##### Parameter for the Vehicle model #####
; Ratio of the Steering wheel to the front wheels is given by the polynom:
; SteerRatio = SteerRatio3 * x^3 + SteerRatio2 * X^2 + SteerRatio1 * X + SteerRatio0
; with X = Steering wheel angle in deg

[Vehicle]
SteerRatio0 = 1
SteerRatio1 = 1
SteerRatio2 = 1
SteerRatio3 = 1
CenterToFrontAxle = 1.3
CenterToRearAxle = 1.35
DistOriginFront = 0.5
TurningCircle = 11.0
VehicleWidth = 1.780
VehicleLength = 4.839
; #################################################
; ### vehicle CAN messages - decode instruction ###
; [SteeringAngleRatio] not used
; #################################################

[Velocity]
Identifier = 0x44D
FirstBit = 16
LastBit = 31
ErrorValue = 0xff
Factor = 0.00277778
Offset = 0
SignBitAvailable = 0
SignBit = 0
UseLittleEndian = FALSE
TwosComplement = 0

[SteeringAngle]
Identifier = 0x305
FirstBit = 0
LastBit = 15
ErrorValue = 0xFFFF
; Factor = 0.1
Offset = 0
SignBitAvailable = 0
SignBit = 0
UseLittleEndian = FALSE
TwosComplement = 1

[SteeringAngleRatio]
Identifier = 0x0C2
FirstBit = 16
LastBit = 24
ErrorValue = 0xFFFF
Factor = 0.00076358155
Offset = 0
SignBitAvailable = 1
SignBit = 15
UseLittleEndian = TRUE
TwosComplement = 0

[YawRate]
Identifier = 0x3CD
FirstBit = 0
LastBit = 15
ErrorValue = 0xFFFF
Factor = 0.1
Offset = 0
SignBitAvailable = 1
SignBit = 33
UseLittleEndian = FALSE
TwosComplement = 0

[CrossAcceleration]
Identifier = 0x3CD
FirstBit = 0
LastBit = 15
ErrorValue = 0xFFFF
Factor = 0.05
Offset = 0
SignBitAvailable = 1
SignBit = 32
UseLittleEndian = FALSE
TwosComplement = 0

