Additional configuration file features

(Under Construction)

This page assumes you are familiar with the basics of a configuration file, as described for instance in the first tutorial

What each task must provide

Each task must provide values for Enabled and Entity Label.

# This task will be active in the Simulation and HIL profile
[SimulationSupervisor]
Enabled      = Simulation, HIL
Entity Label = Simulation Supervisor

"Enabled" can eiter be set to Never, Always or to a profile like Simulation or Hardware. It can also be set to several profiles, like above.

Creating custom profiles

Sometimes, it might be useful to create additional profiles other than the default Simulation and Hardware profiles. This can easily be done in a configuration file like this:

myConfig.ini:

[Profiles]
SimulationRC = Special simulation mode where some hardware are used for user input

[RCInput]
Enabled      = SimulationRC
Entity Label = RC user input

Dune can now be started with ./dune -c myConfig -p SimulationRC

Update parameters online

Parameters can be updated online by using the IMC-messages SetEntityParameters / GetEntityParameters. This can also be done from Neptus:

1. Neptus needs xml-files which holds parameter information for each vehicle. These can be generated by dune -c config -p Profile -X <path>. Place them in <neptus-dir>/conf/params/
2. In your console, open View->System Configuration. Enable the check-box "Access Developer Parameters"