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CHAPTER 4. GOBY MOOS MODULES
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• frontseat_connected_timeout: How long (in seconds) to wait for the Frontseat
to be connected before moving to the Frontseat Error state. (default=10)
• status_period: Seconds between publishing the status of iFrontseat. The
special value 0 disables posting of the status message (default=5).
• moos_var: Change the default values of the MOOS variables published or
subscribed to by iFrontSeat. Throughout the manual, these defaults are
referenced. If you change the values here, keep this in mind when reading
the rest of the manual.
– prefix: Prefix all MOOS variable names with this string (default=“IFS ”)
– raw_out: variable used to post raw (e.g. NMEA-0183) messages from
iFrontSeat to the vehicle frontseat. (default=“RAW OUT”)
– raw_in: variable used to post raw messages from the vehicle frontseat
to iFrontSeat. (default=“RAW IN”)
– command_request: variable used for commands that iFrontSeat should
request the vehicle frontseat to carry out.
(default=“COMMAND REQUEST”)
– command_response: if supported by the frontseat driver, the variable
used to post the result (success or failure with error information) of a
given request. (default=“COMMAND RESPONSE”)
– data_from_frontseat: the variable used to post any navigation and/or
sensor data from the frontseat. (default=“DATA IN”)
– data_to_frontseat: the variable used to post any data to be sent to the
frontseat. (default=“DATA OUT”)
– status: the variable used to post the state of the frontseat, IvP helm,
and iFrontSeat. (default=“STATUS”)
• exit_on_error: If true, exit the application if it enters one of the error states.
Use only for debugging. (default=false)
• legacy_cfg: Numerous options to automatically convert legacy variables
(e.g., from iHuxley) into the iFrontSeat messages. Generally new projects
will not use any of these options and thus this configuration block can be
omitted. See section 4.7.2 for details on which of these flags to enable if
legacy compatibility is desired.