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configuration.md

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Configuration

Oceanix is configured via JSON files in the config/ directory. The main file is config.json, which contains all system parameters. You can customize controllers, motors, logging, MQTT, and more. Below is a description of the main sections and parameters as of the latest version.

Main Configuration Sections

  • Controller: Contains all parameters for the available controllers (MIMO, PP, etc.).
    • MIMO: State-space controller gains and matrices (Admatrix_Gain, Bdmatrix_Gain, etc.).
    • PP: Pole Placement controller gains and physical parameters (Kp, Ki, Kd, buoyancy, etc.).
  • General: System-wide settings, logging, MQTT, and main operational parameters.
    • Includes controller selection, log levels, MQTT server, log file options, and more.
  • Motors: Parameters for each motor (PWM zero, direction, thrust limits, slew rate, etc.).

Key Parameters

Controller

  • MIMO: Contains all state-space matrices and gains for the MIMO controller. These are advanced parameters and should only be changed by experienced users.
  • PP: Contains all gains and physical parameters for the Pole Placement controller (e.g., Kp_pitch, Ki_roll, buoyancy, etc.).

General

  • controller_type: Selects which controller to use (PP or MIMO).
  • controller_profile: Numeric profile for controller tuning.
  • logFileDir: Directory for log files (default: log/).
  • logTypeCOUT, logTypeFILE, logTypeMQTT: Enable/disable logging to console, file, and MQTT.
  • mqtt_server_addr: Address of the MQTT broker.
  • mqtt_client_id: MQTT client ID.
  • imu_pitch_offset, imu_roll_offset: Calibration offsets for IMU.
  • debug_interval, motor_interval: Main loop and motor update intervals (ms).
  • *_loglevel: Log level for each subsystem (0=STATUS, 1=INFO, 2=WARNING, 3=ERROR).

Motors

Each motor has a coefficient and a PWM zero value (for calibration):

  • FDX_coeff, FDX_pwm_zero, ... (one for each motor)
  • thrust_max_xy, thrust_max_xy_work: Max thrust for XY motors (normal/work mode)
  • thrust_max_z, thrust_max_z_work: Max thrust for Z motors (normal/work mode)
  • thrust_slew_rate_max: Maximum allowed change in thrust per update

Parameter Reference

Controller Section

  • MIMO: Advanced users only. Contains all state-space matrices and gains for the MIMO controller.
  • PP: Main gains for pitch/roll, buoyancy, heave dynamics, and output limits.

General Section

  • controller_type: "PP" or "MIMO" — selects the active controller.
  • controller_profile: Integer for selecting a tuning profile.
  • logFileDir: Directory for log files.
  • logTypeCOUT: Enable logging to console.
  • logTypeFILE: Enable logging to file.
  • logTypeMQTT: Enable logging to MQTT.
  • mqtt_server_addr: MQTT broker address.
  • mqtt_client_id: MQTT client ID.
  • imu_pitch_offset, imu_roll_offset: IMU calibration offsets.
  • debug_interval: Main debug print interval (ms).
  • motor_interval: Motor update interval (ms).
  • *_loglevel: Log level for each subsystem (0=ERROR, 1=WARN, 2=INFO, 3=DEBUG).

Motors Section

  • [MOTOR]_coeff: Direction coefficient for each motor (e.g., FDX_coeff).
  • [MOTOR]_pwm_zero: PWM zero calibration for each motor (e.g., FDX_pwm_zero).
  • thrust_max_xy, thrust_max_xy_work: Max thrust for XY motors (normal/work mode).
  • thrust_max_z, thrust_max_z_work: Max thrust for Z motors (normal/work mode).
  • thrust_slew_rate_max: Max allowed change in thrust per update.

Adding New Configuration Options

  1. Add the new parameter to config.json.
  2. Update the relevant C++ code in src/config.cpp and include/config.hpp to parse and use the new parameter.
  3. Document the new parameter in this file.

For a full description of all available parameters, see comments in config/config.json and the code in src/config.cpp.