Conexion ----------------- Puerto_COM:3 Baudios:9600 tcpActivated:1 tcpServer:localhost tcpPort:9999 Ancho_trabajo:15.0 A1:Abono:15.0:2.0:0.0:0:1-9.0;2-9.0:0.2:0.25:0.19:18.4:14.1 A2:Herbicida:18.0:2.0:0.0:1:1-1.5;2-3.0;3-3.0;4-3.0;5-3.0;6-3.0;7-1.5:0.2:0.2:0.2:17.5:18.0 A3:Rulo:6.0:2.0:0.0:0:1-1.0;2-1;3-1:0.2:0.2:0.2:25.5:16.0 A4:Cultivador:5.0:2.0:0.0:0:1-5.0:0.2:0.2:0.2:23.6:12.1 A5:Sembrar:5.0:0.0:0.0:0:1-2.0;2-3.0:0.2:0.22:0.2:41.1:5.0 A6:Vertedera:2.5:0.0:0.0:0:1-2.5:0.2:0.2:0.2:15.4:12.0 A7:Grada:4.0:1.0:0.0:0:1-1.0;2-1;3-1;4-1:0.2:0.2:0.2:31.5:12.7 A8:Corte:12.0:-2.5:0.0:0:1-12.0:0.1:0.2:0.2:25.5:14.0 Apero:Abono disTarget:0.2 ----------------- Atajos de teclado. ----------------- Auto:a Marcar:7 Contorno:4 Ancho:1 Nuevo:0 Cargar:r Conectar:9 S:s GPS:u Salir:6 A:w B:e C:2 Disp_right:+ Disp_left:- Zoom+:k Zoom-:l Disp_left:- Dimension:. Horizonte:* Teclas:/ Turn_right:p Turn_left:o ---------------- Archivo ---------------- filename:Abono ----------------- COLORES NOCTURNOS ----------------- nocturnosActivados:0 ----------------- PINTAR CICLOS ----------------- unoDeCada:5 ----------------- TOPCON GNRMC ----------------- GNRMCActivated:1 ----------------- TRAMOS ----------------- velMinActivacion:.5 ----------------- PANTALLA ----------------- WWIDTH:400 WHEIGH:600 POSX:0 POSY:0 SETINITIALSIZE:0 HIDEPANELS:0 ----------------- Estimacion angulo vehiculo ----------------- titaEstimation:1 avgFilterActivated:1.0 nOfTitasForAverage:1.0 ----------------- Paso de TN a GN ----------------- kConv:-1 ----------------- Filtros digitales ----------------- avgFilterForVelocityActivated:0 nOfVelocitiesForAverage:9 lowPassFilterActivated:0 ----------------- Filtro de Kalman ----------------- KActivado:1 dtKalman:0.100000000006 mathmodelCovariance:1 ----------------- Geometria vehiculo ----------------- KGpsEje:2.2 bVehiculo:2.2 uid ----------------- control automatico ----------------- cutCurrent:5.0 cutCurrentTransition:9.1 agrupadosBAuto:0 agrupadosMarcarAuto:0 lengthTransition:1.4 tolTransition:0.08 tolAnguloRuedas:0.0 numMaxOfRectRuedas:30.0 tolDesiredAngle:0 numMaxOfSameDesiredAngle:10000000 passPerDegree:271.8 kDeltaIzq=1.0 kDeltaDer=1.0 relativeAlgth:0 kRelative:.5 tolPasos:10 kp:0.1 ki:1.0 workingAcc:6250 velMaxMotor:100 lookAhead:0.2 kIErrorDist:0.25 kDErrorDist:0.19 maxRotationAngle:99999 angMaxLookAhead:50.0 kLookAhead:1.0 kV:0.15 kDelta:0.8 kDeltaClose:1.0 eLimitCloseFar:1.5 kDeltaFar:1.0 kIErrorDistFar:0.0 lookAheadFar:10.0 pivotCorrection:1.0 velMaxAuto:10.0 velMinAuto:1.0 timeNT:1.0 rotACM:10.0 ------ IMU ------ imuActivated:0 HOSTIMU:localhost PORTIMU:4223 UIDIMU:6dJZvJ OOUIDIMU:6rnfpd kComplementary:0.42 kRoll:0.0 hRoll:1.6 coriolisFactor:1.0 FIR:80 omegaCorrection:0.015 ------ SOFTIDOSE ------ softidoseActivated:0 PORTSoftidose:12 BAUDSoftidose:9600 ------ Reverse ------ tolReverse:10.0 ------ JUMPING ------ antiJumpingActivated:1 distJumping:5.1 ------ SUAVIZADO ------ smoothIndex:1 ------- DC ------- shouldCheckDC:0 ------- ENCODER INVERTIDO ------- signEncoder:-1 ------- EXC ANTENA ------- eAntena:0.0 ------- TADELANTO ------- tAdelanto:1.5 ratioTAdelanto:1 ------- ADELANTO EN CURVA ------- aCurva:1.0 ------- OFFSETCONTOUR ------- offsetContour:1.0 ------- AutomaticTurn ------- aTMaxAngle:18.4 atLimitAngle:70.0 LERotation:3.0 nARotation:2 kED:0.5 kEA:0.5 aCurvaRot:0.0 stanleyTime:0.0 offsetAT:14.1 warningHeadland:5.0 dGap:0.2 ------- Electrovalvulas ------- comValvulas:49 -------- Motor -------- dtLoop:0.05 -------- Control -------- iPower:0.0 ------- UTM control zone ------- utmControl:0 ------- Curves ------- smoothPoints:1 searchTol:20 extraCurve:100.0 nCalculateCurves:1 angleCleanCurve:2 ---- Control ---- portRBTQ:0 imuV2Activated:1 rbtqMode:0 --- BOOMS ---- tAdelantoCierre:0.0 tAdelantoHidraulico:1.0 boomBoxControl:0 percentOverlap:95.0 ---- Simulator --- simulatorOn:0 ------- BOOMS ------- boomButtonsOn:1 ------- Contorno ------- rToCloseContour:5.0 confirmationRecordMessage:1 ------ CEnterrada ------ disTarget0:0.1 disTarget1:2.51 disTarget2:0 disTarget3:0.86 ----- CONTROL ----- kVDerivative:0.02 dControl:0.0 ------ Windows ------ osPlatform:64 ------ Entry ------ LEntrada:1.0 IEntrada:0.2 DEntrada:0.2 kCaption:2.5 ------ Filter ------ antiRollFilter:0 nAntiRoll:3 antiRollGain:0.48 antiRollTolerance:2.0 ------ Integral ------- tolIntegral:0.5 tolAngular:10.0 Plantacion ---------- dPlantas:5.0 tAdelantoSensorPlanta:0.679 dispMarcacion:0.1 Debug --------- debug:0 Vehiculo --------- vehicle:cerea Control ---------- kProportional:1.0 Esquema ----------- autoRotSch:0 Trailer ----------- AT1:0:3.0:3.5 AT2:1:2.0:3.6 AT3:0:3.0:3.0 AT4:0:3.0:3.0 AT5:0:0.5:3.0 AT6:0:3.0:3.0 AT7:0:3.0:3.0 AT8:0:3.0:3.0 Curve -------------- distRecordCurve:0.5 recordCurveInContour:0 nMaxParallelCalculations:2 Avg --------------- nAvgPosition:3 avgPosition:1 CiclosSinDisparo ---------------- noFireCicleMax:10 CEnterrada ---------------- anchoCalle:17.5 nHileras:8 anchoHilera:0.52 Imu ---------------- taraRoll:0.0444279209724 Plot ---------------- plotAltOn:0 plotAltMax:900.0 plotAltMin:700.0 plotVelOn:0 plotVelMax:5.0 plotVelMin:1.0 plotVarExtOn:0 plotVarExtMax:10.0 plotVarExtMin:0.0 plotVarStandardOn:1 Simulation ----------------- latitudeSim:41.759739 longitudeSim:-4.881612 UTM ----------------- longOrigin:-6 ----------------- sobrante1:0.69 Guiado ------------ moderna:1 Filtros ----------- ortoPercent:1.0 nActuatorFilter:1 Gestion ------------ Agr:1 nExport:70 urltoken:https://app.agroptima.com/es/api/v7/token-auth/ urlimp:https://app.agroptima.com/es/api/v7/fields/field/?excluded_fields=official_fields urlexp:https://app.agroptima.com/es/api/v7/devices/tracks/ tokenagr:571015ad9e3e13f2924438624951b0e24b93c3d3 emailagr:ferran+cerea_test@agroptima.com ------------ distautocontourin:0.5 distautocontourout:0.0 ------------ autorotASString:1-D,3-I,5-I,2-I,4-D,6-I ------------ SWITCH ------ switchActivated:0 PORTSwitch:3 puertoCom:0 OPTIONS ------- shouldLaunch:1 shouldScan:0 uriRTKLIB:C:\Users\cesar\Desktop\RTKLIBTIMMOD JavierGr 1.9\RTKLIBTIMMOD JavierGr 1.9\rtknavi.exe uri2RTKLIB:C:\Users\cesar\Desktop\RTKLIBTIMMOD JavierGr 1.9\RTKLIBTIMMOD JavierGr 1.9\rtknavi.exe serverIPAndroid:192.168.43.1 ----------- urlnewconto:https://app.agroptima.com/es/api/v7/fields/field/ urlmodconto:https://app.agroptima.com/es/api/v7/fields/field/ ... Reverse ------ ReverseFactor:1.8 ------ Kalman ------ clasicoKFActivated:1 nuevoEKFAcivated:0 ------- CInterior ------- CIDActivated:0 CIDDistance:6.6 ------ nExportCont:2 exportAgrExit:0 ------- integralClasic:1 ------- EKF20:0 ReverseDFactor:1.0 ------- isVisibleD1:1 isVisibleD2:1 isVisibleD3:1 ------- xteSoundActive:0 xteSoundMin:0.3 xteSoundMax:0.4 ------- sigmaGPS:0.1 sigmaYawF:0.01 sigmaYawR:0.001 -------- nameBtnRTKLIB:RTKLib1 name2BtnRTKLIB:RTKLib2 --------- widthOverlap:0.0 --------- complementaryDT:0.05 deltaAlarImu:1e-7