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Config.h
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Config.h
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// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
# undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
# undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)
#ifndef CONFIG_H
#define CONFIG_H
#include "Globals.h"
inline int LoadConfig(void)
{
FILE* file = NULL;
char line[1024];
double d0 = 0, d1 = 0;
// Missing error checking...
memset(line, 0, sizeof(line));
// Default values.
#pragma region General parameters
robid = SUBMARINE_SIMULATOR_ROBID;
roblength = 1;
robwidth = 1;
robheight = 1;
nbopencvgui = 1;
videoimgwidth = 320;
videoimgheight = 240;
captureperiod = 100;
HorizontalBeam = 70;
VerticalBeam = 50;
bUseRawImgPtrVideo = FALSE;
bCropOnResize = FALSE;
memset(szVideoRecordCodec, 0, sizeof(szVideoRecordCodec));
sprintf(szVideoRecordCodec, "WMV2");
bEnableOpenCVGUIs[0] = TRUE;
bEnableOpenCVGUIs[1] = FALSE;
bEnableOpenCVGUIs[2] = FALSE;
bEnableOpenCVGUIs[3] = FALSE;
bEnableOpenCVGUIs[4] = FALSE;
bShowVideoOpenCVGUIs[0] = TRUE;
bShowVideoOpenCVGUIs[1] = TRUE;
bShowVideoOpenCVGUIs[2] = TRUE;
bShowVideoOpenCVGUIs[3] = TRUE;
bShowVideoOpenCVGUIs[4] = TRUE;
bShowSonarOpenCVGUIs[0] = FALSE;
bShowSonarOpenCVGUIs[1] = FALSE;
bShowSonarOpenCVGUIs[2] = FALSE;
bShowSonarOpenCVGUIs[3] = FALSE;
bShowSonarOpenCVGUIs[4] = FALSE;
opencvguiimgwidth[0] = 320;
opencvguiimgheight[0] = 240;
opencvguiimgwidth[1] = 320;
opencvguiimgheight[1] = 240;
opencvguiimgwidth[2] = 320;
opencvguiimgheight[2] = 240;
opencvguiimgwidth[3] = 320;
opencvguiimgheight[3] = 240;
opencvguiimgwidth[4] = 320;
opencvguiimgheight[4] = 240;
opencvguiperiod = 100;
ExitOnErrorCount = 0;
AutoResumeMissionMode = 0;
bDisablelogstate = FALSE;
bDisablelognav = FALSE;
bStdOutDetailedInfo = FALSE;
bCommandPrompt = TRUE;
bEcho = TRUE;
bDetachCommandsThread = TRUE;
WaitForGNSSLevel = 0;
WaitForGNSSTimeout = 0;
bSetEnvOriginFromGNSS = FALSE;
bDisableExternalVisualLocalization = FALSE;
bDisableWall = FALSE;
bDisableBall = FALSE;
bDisablePinger = FALSE;
bDisableExternalProgramTrigger = FALSE;
bDisableFollowMe = FALSE;
#pragma endregion
#pragma region Interfaces parameters
bMAVLinkInterface = TRUE;
memset(szMAVLinkInterfacePath, 0, sizeof(szMAVLinkInterfacePath));
sprintf(szMAVLinkInterfacePath, ":5760");
MAVLinkInterfaceBaudRate = 115200;
MAVLinkInterfaceTimeout = 1500;
MAVLinkInterface_mavlink_comm = 4;
MAVLinkInterface_system_id = 1;
MAVLinkInterface_component_id = 1;
MAVLinkInterface_target_system = 0;
MAVLinkInterface_target_component = 0;
MAVLinkInterface_data_stream = 0;
bForceDefaultMAVLink1MAVLinkInterface = TRUE;
bDisableMAVLinkInterfaceIN = FALSE;
MAVLinkInterface_rc_override_time = 3;
MAVLinkInterface_overridechan = 6;
MAVLinkInterface_bDefaultDisablePWMOverride = TRUE;
MAVLinkInterface_forceoverrideinputschan = 6;
MAVLinkInterface_bDefaultForceOverrideInputs = FALSE;
MAVLinkInterface_bDisabletlog = FALSE;
bNMEAInterface = TRUE;
memset(szNMEAInterfacePath, 0, sizeof(szNMEAInterfacePath));
sprintf(szNMEAInterfacePath, ":5001");
NMEAInterfaceBaudRate = 4800;
NMEAInterfaceTimeout = 1500;
NMEAInterfacePeriod = 500;
bEnable_NMEAInterface_GPGGA = FALSE;
bEnable_NMEAInterface_GPRMC = TRUE;
bEnable_NMEAInterface_GPGLL = FALSE;
bEnable_NMEAInterface_GPVTG = FALSE;
bEnable_NMEAInterface_GPHDG = FALSE;
bEnable_NMEAInterface_GPHDM = FALSE;
bEnable_NMEAInterface_GPHDT = FALSE;
bEnable_NMEAInterface_HCHDG = FALSE;
bEnable_NMEAInterface_HCHDM = FALSE;
bEnable_NMEAInterface_HEHDT = FALSE;
bEnable_NMEAInterface_HEROT = FALSE;
bEnable_NMEAInterface_TIROT = FALSE;
bEnable_NMEAInterface_WIMWV = FALSE;
bEnable_NMEAInterface_WIMWD = FALSE;
bEnable_NMEAInterface_WIMDA = FALSE;
bEnable_NMEAInterface_PRDID = FALSE;
bEnable_NMEAInterface_PHTRO = FALSE;
bEnable_NMEAInterface_PHTRH = FALSE;
bEnable_NMEAInterface_IIRSA = FALSE;
bEnable_NMEAInterface_SDDBT = FALSE;
NMEAInterfaceSendPeriod = 500;
bDisableNMEAInterfaceIN = FALSE;
bRazorAHRSInterface = TRUE;
memset(szRazorAHRSInterfacePath, 0, sizeof(szRazorAHRSInterfacePath));
sprintf(szRazorAHRSInterfacePath, ":5007");
RazorAHRSInterfaceBaudRate = 57600;
RazorAHRSInterfaceTimeout = 2000;
bROSMode_RazorAHRSInterface = FALSE;
bSBGInterface = FALSE;
memset(szSBGInterfacePath, 0, sizeof(szSBGInterfacePath));
sprintf(szSBGInterfacePath, ":5007");
SBGInterfaceBaudRate = 115200;
SBGInterfaceTimeout = 2000;
bVectorNavInterface = FALSE;
memset(szVectorNavInterfacePath, 0, sizeof(szVectorNavInterfacePath));
sprintf(szVectorNavInterfacePath, ":5007");
VectorNavInterfaceBaudRate = 230400;
VectorNavInterfaceTimeout = 2000;
bSSC32Interface = TRUE;
memset(szSSC32InterfacePath, 0, sizeof(szSSC32InterfacePath));
sprintf(szSSC32InterfacePath, ":5004");
SSC32InterfaceBaudRate = 9600;
SSC32InterfaceTimeout = 1000;
bPololuInterface = FALSE;
memset(szPololuInterfacePath, 0, sizeof(szPololuInterfacePath));
sprintf(szPololuInterfacePath, ":5004");
PololuInterfaceBaudRate = 115200;
PololuInterfaceTimeout = 1000;
PololuType_PololuInterface = 1;
DeviceNumber_PololuInterface = 11;
bRoboteqInterface = TRUE;
memset(szRoboteqInterfacePath, 0, sizeof(szRoboteqInterfacePath));
sprintf(szRoboteqInterfacePath, ":5004");
RoboteqInterfaceBaudRate = 115200;
RoboteqInterfaceTimeout = 1000;
bVideoInterface = FALSE;
memset(szVideoInterfacePath, 0, sizeof(szVideoInterfacePath));
sprintf(szVideoInterfacePath, ":4014");
videoimgwidth_VideoInterface = 320;
videoimgheight_VideoInterface = 240;
captureperiod_VideoInterface = 100;
VideoInterfaceTimeout = 0;
bForceSoftwareResizeScale_VideoInterface = FALSE;
guiid_VideoInterface = -1;
videoid_VideoInterface = -1;
encodequality_VideoInterface = 0;
#pragma endregion
#pragma region Devices parameters
bDisableVideo[0] = TRUE;
bDisableVideo[1] = TRUE;
bDisableVideo[2] = TRUE;
bDisableVideo[3] = TRUE;
bDisableVideo[4] = TRUE;
bDisablegpControl = TRUE;
bDisablePathfinderDVL = TRUE;
bDisableNortekDVL = TRUE;
bDisableMES = TRUE;
bDisableMDM = TRUE;
bDisableSeanet = TRUE;
bDisableBlueView[0] = TRUE;
bDisableBlueView[1] = TRUE;
bDisableHokuyo = TRUE;
bDisableRPLIDAR = TRUE;
bDisableSRF02 = TRUE;
bDisableArduinoPressureSensor = TRUE;
bDisableMS580314BA = TRUE;
bDisableMS5837 = TRUE;
bDisableP33x = TRUE;
bDisableRazorAHRS = TRUE;
bDisableMT = TRUE;
bDisableSBG = TRUE;
bDisableNMEADevice[0] = TRUE;
bDisableNMEADevice[1] = TRUE;
bDisableublox[0] = TRUE;
bDisableublox[1] = TRUE;
bDisableublox[2] = TRUE;
bDisableMAVLinkDevice[0] = TRUE;
bDisableMAVLinkDevice[1] = TRUE;
bDisableMAVLinkDevice[2] = TRUE;
bDisableSwarmonDevice = TRUE;
bDisableUE9A = TRUE;
bDisableSSC32 = TRUE;
bDisablePololu[0] = TRUE;
bDisablePololu[1] = TRUE;
bDisablePololu[2] = TRUE;
bDisableMiniSSC = TRUE;
bDisableRoboteq[0] = TRUE;
bDisableRoboteq[1] = TRUE;
bDisableIM483I = TRUE;
bDisableOntrak = TRUE;
#pragma endregion
#pragma region Controller parameters
u_max = 1;
uw_max = 1;
u_coef = 0.5;
uw_coef = 0.5;
Kp = 1.0;
Kd1 = 0.5;
Kd2 = 0.1;
Ki = 0.1;
uw_derivative_max = 0.08;
uw_integral_max = 0.1;
cosdelta_angle_threshold = 0.5;
wdradius = 0.25;
vrxmax = 0.4;
omegazmax = 0.8;
Kp_z = 0;
Kd_z = 0;
Ki_z = 0;
up_max_z = 0;
ud_max_z = 0;
ui_max_z = 0;
u_min_z = -1;
u_max_z = 1;
error_min_z = -0.05;
error_max_z = 0.05;
dz_max_z = 0.25;
Kp_y = 1;
Kd_y = 0;
Ki_y = 0;
up_max_y = 1;
ud_max_y = 0.5;
ui_max_y = 0.1;
u_min_y = -1;
u_max_y = 1;
error_min_y = -0.5;
error_max_y = 0.5;
dy_max_y = 5;
Kp_wy = 1.0;
Kd_wy = 0;
Ki_wy = 0;
up_max_wy = 1;
ud_max_wy = 0.5;
ui_max_wy = 0.1;
u_min_wy = -1;
u_max_wy = 1;
error_min_wy = -0.5;
error_max_wy = 0.5;
omega_max_wy = 0.8;
Kp_wx = 1.0;
Kd_wx = 0;
Ki_wx = 0;
up_max_wx = 1;
ud_max_wx = 0.5;
ui_max_wx = 0.1;
u_min_wx = -1;
u_max_wx = 1;
error_min_wx = -0.5;
error_max_wx = 0.5;
omega_max_wx = 0.8;
gamma_infinite = 0.78;
radius = 5;
betaside = 0.5;
betarear = 1.5;
zeta = 0.87;
check_strategy_period = 60;
sail_update_period = 20;
sailboattacktype = 0;
sailformulatype = 0;
bCheckRudder = TRUE;
bCalibrateSail = TRUE;
sail_calibration_period = 43200;
max_distance_around = 1;
min_distance_around = 0.25;
min_distance_around_full_speed = 0.3;
amplitude_avoid = 5;
etalement_avoid = 1;
bLat_avoid = TRUE;
bEnableFluxMotorboat = FALSE;
bEnableBackwardsMotorboat = FALSE;
controllerperiod = 25;
#pragma endregion
#pragma region Observer parameters
psi_source = 0;
theta_phi_source = 0;
x_y_source = 0;
z_source = 0;
z_pressure_acc = 0.1;
dvl_acc = 0.1;
of_acc = 0.1;
acousticmodem_acc = 5;
phi_ahrs_acc = 0.1;
theta_ahrs_acc = 0.1;
psi_ahrs_acc = 0.1;
accrx_ahrs_acc = 0.1;
accry_ahrs_acc = 0.1;
accrz_ahrs_acc = 0.1;
omegax_ahrs_acc = 0.1;
omegay_ahrs_acc = 0.1;
omegaz_ahrs_acc = 0.1;
alpha_max_err = 0.01;
d_max_err = 0.1;
alphavrxhat = interval(0.09,0.10);
alphaomegazhat = interval(0.7,0.8);
alphafvrxhat = interval(0.20,0.25);
alphafomegazhat = interval(0.20,0.25);
alphazhat = interval(0.10,0.12);
vzuphat = interval(0.005,0.015);
alphashat = interval(0-0.1,0+0.1);
omegashat = interval(2.3562-0.05,2.3562+0.05);
xdotnoise = interval(-0.001,+0.001);
ydotnoise = interval(-0.001,+0.001);
zdotnoise = interval(-0.001,+0.001);
phidotnoise = interval(-0.001,+0.001);
thetadotnoise = interval(-0.001,+0.001);
psidotnoise = interval(-0.001,+0.001);
vrxdotnoise = interval(-0.001,+0.001);
vrydotnoise = interval(-0.001,+0.001);
vrzdotnoise = interval(-0.001,+0.001);
omegaxdotnoise = interval(-0.001,+0.001);
omegaydotnoise = interval(-0.001,+0.001);
omegazdotnoise = interval(-0.001,+0.001);
RTK_fixed_acc = 0.025;
RTK_float_acc = 0.5;
GPS_high_acc = 2.5;
GPS_high_acc_HDOP = 0.8;
GPS_high_acc_nbsat = 8;
GPS_med_acc = 5;
GPS_med_acc_HDOP = 1;
GPS_med_acc_nbsat = 6;
GPS_low_acc = 10;
GPS_low_acc_HDOP = 2;
GPS_low_acc_nbsat = 4;
GPS_min_sat_signal = 20;
GPS_submarine_depth_limit = -0.5;
GPS_SOG_for_valid_COG = 0.2;
rangescale = 10;
sdir = 1;
nb_outliers = 25;
dynamicsonarlocalization_period = 0.2;
observerperiod = 25;
#pragma endregion
#pragma region Wind, current and waves
vtwind_med = 6;
vtwind_var = 0.01;
psitwind_med = 0.0*M_PI/2.0;
psitwind_var = 1.0*M_PI/8.0;
wind_filter_coef = 0.999;
vc_med = 0;
vc_var = 0.01;
psic_med = 0.0*M_PI/2.0;
psic_var = 1.0*M_PI/8.0;
hw_var = 0.1;
#pragma endregion
#pragma region Power consumption
P_electronics_1 = 0; P_electronics_2 = 0; P_electronics_3 = 0; P_electronics_4 = 0;
P_actuators_1 = 0; P_actuators_2 = 0; P_actuators_3 = 0; P_actuators_4 = 0;
bat_filter_coef = 0.9;
#pragma endregion
#pragma region Simulator initial state
x_0 = 0; y_0 = 0; z_0 = 0; phi_0 = 0; theta_0 = 0; psi_0 = 0; vrx_0 = 0; vry_0 = 0; vrz_0 = 0; omegax_0 = 0; omegay_0 = 0; omegaz_0 = 0;
alpha_0 = 0; d_0 = 0;
#pragma endregion
#pragma region Simulator physical parameters
x_max_rand_err = 5; x_bias_err = 2;
y_max_rand_err = 5; y_bias_err = -1;
z_max_rand_err = 0.05; z_bias_err = 0.02;
phi_max_rand_err = 0.05; phi_bias_err = 0.02;
theta_max_rand_err = 0.05; theta_bias_err = 0.02;
psi_max_rand_err = 0.05; psi_bias_err = 0.02;
vrx_max_rand_err = 0.05; vrx_bias_err = 0.02;
vry_max_rand_err = 0.05; vry_bias_err = 0.02;
vrz_max_rand_err = 0.05; vrz_bias_err = 0.02;
omegaz_max_rand_err = 0.05; omegaz_bias_err = 0.02;
alpha_max_rand_err = 0.005; alpha_bias_err = 0.002;
d_max_rand_err = 0.25; d_bias_err = -0.1;
alphavrx = 0.1;
alphaomegaz = 0.7;
alphafvrx = 0.21;
alphafomegaz = 0.21;
alphaz = 0.1;
vzup = 0.01;
alphas = 0;
omegas = 2.3562;
outliers_ratio = 0.5;
bNoSimGNSSInsideObstacles = FALSE;
bRawSimStateInMAVLinkInterface = FALSE;
bDisablelogsimu = FALSE;
simulatorperiod = 70;
#pragma endregion
file = fopen("UxVCtrl.txt", "r");
if (file != NULL)
{
#pragma region General parameters
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : robid.\n");
if (sscanf(line, "%i", &robid) != 1) printf("Invalid parameter : robid.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : roblength.\n");
if (sscanf(line, "%lf", &roblength) != 1) printf("Invalid parameter : roblength.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : robwidth.\n");
if (sscanf(line, "%lf", &robwidth) != 1) printf("Invalid parameter : robwidth.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : robheight.\n");
if (sscanf(line, "%lf", &robheight) != 1) printf("Invalid parameter : robheight.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : nbopencvgui.\n");
if (sscanf(line, "%d", &nbopencvgui) != 1) printf("Invalid parameter : nbopencvgui.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : videoimgwidth.\n");
if (sscanf(line, "%d", &videoimgwidth) != 1) printf("Invalid parameter : videoimgwidth.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : videoimgheight.\n");
if (sscanf(line, "%d", &videoimgheight) != 1) printf("Invalid parameter : videoimgheight.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : captureperiod.\n");
if (sscanf(line, "%d", &captureperiod) != 1) printf("Invalid parameter : captureperiod.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : HorizontalBeam.\n");
if (sscanf(line, "%d", &HorizontalBeam) != 1) printf("Invalid parameter : HorizontalBeam.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : VerticalBeam.\n");
if (sscanf(line, "%d", &VerticalBeam) != 1) printf("Invalid parameter : VerticalBeam.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bUseRawImgPtrVideo.\n");
if (sscanf(line, "%d", &bUseRawImgPtrVideo) != 1) printf("Invalid parameter : bUseRawImgPtrVideo.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bCropOnResize.\n");
if (sscanf(line, "%d", &bCropOnResize) != 1) printf("Invalid parameter : bCropOnResize.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szVideoRecordCodec.\n");
if (sscanf(line, "%[^\r\n]4s", szVideoRecordCodec) != 1) printf("Invalid parameter : szVideoRecordCodec.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableOpenCVGUIs[0].\n");
if (sscanf(line, "%d", &bEnableOpenCVGUIs[0]) != 1) printf("Invalid parameter : bEnableOpenCVGUIs[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableOpenCVGUIs[1].\n");
if (sscanf(line, "%d", &bEnableOpenCVGUIs[1]) != 1) printf("Invalid parameter : bEnableOpenCVGUIs[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableOpenCVGUIs[2].\n");
if (sscanf(line, "%d", &bEnableOpenCVGUIs[2]) != 1) printf("Invalid parameter : bEnableOpenCVGUIs[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableOpenCVGUIs[3].\n");
if (sscanf(line, "%d", &bEnableOpenCVGUIs[3]) != 1) printf("Invalid parameter : bEnableOpenCVGUIs[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableOpenCVGUIs[4].\n");
if (sscanf(line, "%d", &bEnableOpenCVGUIs[4]) != 1) printf("Invalid parameter : bEnableOpenCVGUIs[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[0].\n");
if (sscanf(line, "%d", &bShowVideoOpenCVGUIs[0]) != 1) printf("Invalid parameter : bShowVideoOpenCVGUIs[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[1].\n");
if (sscanf(line, "%d", &bShowVideoOpenCVGUIs[1]) != 1) printf("Invalid parameter : bShowVideoOpenCVGUIs[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[2].\n");
if (sscanf(line, "%d", &bShowVideoOpenCVGUIs[2]) != 1) printf("Invalid parameter : bShowVideoOpenCVGUIs[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[3].\n");
if (sscanf(line, "%d", &bShowVideoOpenCVGUIs[3]) != 1) printf("Invalid parameter : bShowVideoOpenCVGUIs[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[4].\n");
if (sscanf(line, "%d", &bShowVideoOpenCVGUIs[4]) != 1) printf("Invalid parameter : bShowVideoOpenCVGUIs[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowVideoOpenCVGUIs[0].\n");
if (sscanf(line, "%d", &bShowSonarOpenCVGUIs[0]) != 1) printf("Invalid parameter : bShowSonarOpenCVGUIs[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowSonarOpenCVGUIs[1].\n");
if (sscanf(line, "%d", &bShowSonarOpenCVGUIs[1]) != 1) printf("Invalid parameter : bShowSonarOpenCVGUIs[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowSonarOpenCVGUIs[2].\n");
if (sscanf(line, "%d", &bShowSonarOpenCVGUIs[2]) != 1) printf("Invalid parameter : bShowSonarOpenCVGUIs[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowSonarOpenCVGUIs[3].\n");
if (sscanf(line, "%d", &bShowSonarOpenCVGUIs[3]) != 1) printf("Invalid parameter : bShowSonarOpenCVGUIs[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bShowSonarOpenCVGUIs[4].\n");
if (sscanf(line, "%d", &bShowSonarOpenCVGUIs[4]) != 1) printf("Invalid parameter : bShowSonarOpenCVGUIs[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgwidth[0].\n");
if (sscanf(line, "%d", &opencvguiimgwidth[0]) != 1) printf("Invalid parameter : opencvguiimgwidth[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgheight[0].\n");
if (sscanf(line, "%d", &opencvguiimgheight[0]) != 1) printf("Invalid parameter : opencvguiimgheight[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgwidth[1].\n");
if (sscanf(line, "%d", &opencvguiimgwidth[1]) != 1) printf("Invalid parameter : opencvguiimgwidth[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgheight[1].\n");
if (sscanf(line, "%d", &opencvguiimgheight[1]) != 1) printf("Invalid parameter : opencvguiimgheight[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgwidth[2].\n");
if (sscanf(line, "%d", &opencvguiimgwidth[2]) != 1) printf("Invalid parameter : opencvguiimgwidth[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgheight[2].\n");
if (sscanf(line, "%d", &opencvguiimgheight[2]) != 1) printf("Invalid parameter : opencvguiimgheight[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgwidth[3].\n");
if (sscanf(line, "%d", &opencvguiimgwidth[3]) != 1) printf("Invalid parameter : opencvguiimgwidth[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgheight[3].\n");
if (sscanf(line, "%d", &opencvguiimgheight[3]) != 1) printf("Invalid parameter : opencvguiimgheight[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgwidth[4].\n");
if (sscanf(line, "%d", &opencvguiimgwidth[4]) != 1) printf("Invalid parameter : opencvguiimgwidth[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiimgheight[4].\n");
if (sscanf(line, "%d", &opencvguiimgheight[4]) != 1) printf("Invalid parameter : opencvguiimgheight[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : opencvguiperiod.\n");
if (sscanf(line, "%d", &opencvguiperiod) != 1) printf("Invalid parameter : opencvguiperiod.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ExitOnErrorCount.\n");
if (sscanf(line, "%d", &ExitOnErrorCount) != 1) printf("Invalid parameter : ExitOnErrorCount.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : AutoResumeMissionMode.\n");
if (sscanf(line, "%d", &AutoResumeMissionMode) != 1) printf("Invalid parameter : AutoResumeMissionMode.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablelogstate.\n");
if (sscanf(line, "%d", &bDisablelogstate) != 1) printf("Invalid parameter : bDisablelogstate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablelognav.\n");
if (sscanf(line, "%d", &bDisablelognav) != 1) printf("Invalid parameter : bDisablelognav.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bStdOutDetailedInfo.\n");
if (sscanf(line, "%d", &bStdOutDetailedInfo) != 1) printf("Invalid parameter : bStdOutDetailedInfo.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bCommandPrompt.\n");
if (sscanf(line, "%d", &bCommandPrompt) != 1) printf("Invalid parameter : bCommandPrompt.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEcho.\n");
if (sscanf(line, "%d", &bEcho) != 1) printf("Invalid parameter : bEcho.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDetachCommandsThread.\n");
if (sscanf(line, "%d", &bDetachCommandsThread) != 1) printf("Invalid parameter : bDetachCommandsThread.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : WaitForGNSSLevel.\n");
if (sscanf(line, "%d", &WaitForGNSSLevel) != 1) printf("Invalid parameter : WaitForGNSSLevel.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : WaitForGNSSTimeout.\n");
if (sscanf(line, "%d", &WaitForGNSSTimeout) != 1) printf("Invalid parameter : WaitForGNSSTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bSetEnvOriginFromGNSS.\n");
if (sscanf(line, "%d", &bSetEnvOriginFromGNSS) != 1) printf("Invalid parameter : bSetEnvOriginFromGNSS.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableExternalVisualLocalization.\n");
if (sscanf(line, "%d", &bDisableExternalVisualLocalization) != 1) printf("Invalid parameter : bDisableExternalVisualLocalization.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableWall.\n");
if (sscanf(line, "%d", &bDisableWall) != 1) printf("Invalid parameter : bDisableWall.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableBall.\n");
if (sscanf(line, "%d", &bDisableBall) != 1) printf("Invalid parameter : bDisableBall.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablePinger.\n");
if (sscanf(line, "%d", &bDisablePinger) != 1) printf("Invalid parameter : bDisablePinger.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableExternalProgramTrigger.\n");
if (sscanf(line, "%d", &bDisableExternalProgramTrigger) != 1) printf("Invalid parameter : bDisableExternalProgramTrigger.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableFollowMe.\n");
if (sscanf(line, "%d", &bDisableFollowMe) != 1) printf("Invalid parameter : bDisableFollowMe.\n");
#pragma endregion
#pragma region Interfaces parameters
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bMAVLinkInterface.\n");
if (sscanf(line, "%d", &bMAVLinkInterface) != 1) printf("Invalid parameter : bMAVLinkInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szMAVLinkInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szMAVLinkInterfacePath) != 1) printf("Invalid parameter : szMAVLinkInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterfaceBaudRate.\n");
if (sscanf(line, "%d", &MAVLinkInterfaceBaudRate) != 1) printf("Invalid parameter : MAVLinkInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterfaceTimeout.\n");
if (sscanf(line, "%d", &MAVLinkInterfaceTimeout) != 1) printf("Invalid parameter : MAVLinkInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_mavlink_comm.\n");
if (sscanf(line, "%d", &MAVLinkInterface_mavlink_comm) != 1) printf("Invalid parameter : MAVLinkInterface_mavlink_comm.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_system_id.\n");
if (sscanf(line, "%d", &MAVLinkInterface_system_id) != 1) printf("Invalid parameter : MAVLinkInterface_system_id.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_component_id.\n");
if (sscanf(line, "%d", &MAVLinkInterface_component_id) != 1) printf("Invalid parameter : MAVLinkInterface_component_id.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_target_system.\n");
if (sscanf(line, "%d", &MAVLinkInterface_target_system) != 1) printf("Invalid parameter : MAVLinkInterface_target_system.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_target_component.\n");
if (sscanf(line, "%d", &MAVLinkInterface_target_component) != 1) printf("Invalid parameter : MAVLinkInterface_target_component.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_data_stream.\n");
if (sscanf(line, "%d", &MAVLinkInterface_data_stream) != 1) printf("Invalid parameter : MAVLinkInterface_data_stream.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bForceDefaultMAVLink1MAVLinkInterface.\n");
if (sscanf(line, "%d", &bForceDefaultMAVLink1MAVLinkInterface) != 1) printf("Invalid parameter : bForceDefaultMAVLink1MAVLinkInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMAVLinkInterfaceIN.\n");
if (sscanf(line, "%d", &bDisableMAVLinkInterfaceIN) != 1) printf("Invalid parameter : bDisableMAVLinkInterfaceIN.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_rc_override_time.\n");
if (sscanf(line, "%d", &MAVLinkInterface_rc_override_time) != 1) printf("Invalid parameter : MAVLinkInterface_rc_override_time.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_overridechan.\n");
if (sscanf(line, "%d", &MAVLinkInterface_overridechan) != 1) printf("Invalid parameter : MAVLinkInterface_overridechan.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_bDefaultDisablePWMOverride.\n");
if (sscanf(line, "%d", &MAVLinkInterface_bDefaultDisablePWMOverride) != 1) printf("Invalid parameter : MAVLinkInterface_bDefaultDisablePWMOverride.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_forceoverrideinputschan.\n");
if (sscanf(line, "%d", &MAVLinkInterface_forceoverrideinputschan) != 1) printf("Invalid parameter : MAVLinkInterface_forceoverrideinputschan.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_bDefaultForceOverrideInputs.\n");
if (sscanf(line, "%d", &MAVLinkInterface_bDefaultForceOverrideInputs) != 1) printf("Invalid parameter : MAVLinkInterface_bDefaultForceOverrideInputs.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : MAVLinkInterface_bDisabletlog.\n");
if (sscanf(line, "%d", &MAVLinkInterface_bDisabletlog) != 1) printf("Invalid parameter : MAVLinkInterface_bDisabletlog.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bNMEAInterface.\n");
if (sscanf(line, "%d", &bNMEAInterface) != 1) printf("Invalid parameter : bNMEAInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szNMEAInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szNMEAInterfacePath) != 1) printf("Invalid parameter : szNMEAInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : NMEAInterfaceBaudRate.\n");
if (sscanf(line, "%d", &NMEAInterfaceBaudRate) != 1) printf("Invalid parameter : NMEAInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : NMEAInterfaceTimeout.\n");
if (sscanf(line, "%d", &NMEAInterfaceTimeout) != 1) printf("Invalid parameter : NMEAInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : NMEAInterfacePeriod.\n");
if (sscanf(line, "%d", &NMEAInterfacePeriod) != 1) printf("Invalid parameter : NMEAInterfacePeriod.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPGGA.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPGGA) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPGGA.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPRMC.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPRMC) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPRMC.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPGLL.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPGLL) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPGLL.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPVTG.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPVTG) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPVTG.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPHDG.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPHDG) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPHDG.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPHDM.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPHDM) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPHDM.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_GPHDT.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_GPHDT) != 1) printf("Invalid parameter : bEnable_NMEAInterface_GPHDT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_HCHDG.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_HCHDG) != 1) printf("Invalid parameter : bEnable_NMEAInterface_HCHDG.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_HCHDM.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_HCHDM) != 1) printf("Invalid parameter : bEnable_NMEAInterface_HCHDM.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_HEHDT.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_HEHDT) != 1) printf("Invalid parameter : bEnable_NMEAInterface_HEHDT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_HEROT.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_HEROT) != 1) printf("Invalid parameter : bEnable_NMEAInterface_HEROT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_TIROT.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_TIROT) != 1) printf("Invalid parameter : bEnable_NMEAInterface_TIROT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_WIMWV.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_WIMWV) != 1) printf("Invalid parameter : bEnable_NMEAInterface_WIMWV.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_WIMWD.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_WIMWD) != 1) printf("Invalid parameter : bEnable_NMEAInterface_WIMWD.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_WIMDA.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_WIMDA) != 1) printf("Invalid parameter : bEnable_NMEAInterface_WIMDA.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_PRDID.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_PRDID) != 1) printf("Invalid parameter : bEnable_NMEAInterface_PRDID.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_PHTRO.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_PHTRO) != 1) printf("Invalid parameter : bEnable_NMEAInterface_PHTRO.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_PHTRH.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_PHTRH) != 1) printf("Invalid parameter : bEnable_NMEAInterface_PHTRH.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_IIRSA.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_IIRSA) != 1) printf("Invalid parameter : bEnable_NMEAInterface_IIRSA.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnable_NMEAInterface_SDDBT.\n");
if (sscanf(line, "%d", &bEnable_NMEAInterface_SDDBT) != 1) printf("Invalid parameter : bEnable_NMEAInterface_SDDBT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : NMEAInterfaceSendPeriod.\n");
if (sscanf(line, "%d", &NMEAInterfaceSendPeriod) != 1) printf("Invalid parameter : NMEAInterfaceSendPeriod.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableNMEAInterfaceIN.\n");
if (sscanf(line, "%d", &bDisableNMEAInterfaceIN) != 1) printf("Invalid parameter : bDisableNMEAInterfaceIN.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bRazorAHRSInterface.\n");
if (sscanf(line, "%d", &bRazorAHRSInterface) != 1) printf("Invalid parameter : bRazorAHRSInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szRazorAHRSInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szRazorAHRSInterfacePath) != 1) printf("Invalid parameter : szRazorAHRSInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : RazorAHRSInterfaceBaudRate.\n");
if (sscanf(line, "%d", &RazorAHRSInterfaceBaudRate) != 1) printf("Invalid parameter : RazorAHRSInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : RazorAHRSInterfaceTimeout.\n");
if (sscanf(line, "%d", &RazorAHRSInterfaceTimeout) != 1) printf("Invalid parameter : RazorAHRSInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bROSMode_RazorAHRSInterface.\n");
if (sscanf(line, "%d", &bROSMode_RazorAHRSInterface) != 1) printf("Invalid parameter : bROSMode_RazorAHRSInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bSBGInterface.\n");
if (sscanf(line, "%d", &bSBGInterface) != 1) printf("Invalid parameter : bSBGInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szSBGInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szSBGInterfacePath) != 1) printf("Invalid parameter szSBGInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : SBGInterfaceBaudRate.\n");
if (sscanf(line, "%d", &SBGInterfaceBaudRate) != 1) printf("Invalid parameter : SBGInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : SBGInterfaceTimeout.\n");
if (sscanf(line, "%d", &SBGInterfaceTimeout) != 1) printf("Invalid parameter : SBGInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bVectorNavInterface.\n");
if (sscanf(line, "%d", &bVectorNavInterface) != 1) printf("Invalid parameter : bVectorNavInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szVectorNavInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szVectorNavInterfacePath) != 1) printf("Invalid parameter szVectorNavInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : VectorNavInterfaceBaudRate.\n");
if (sscanf(line, "%d", &VectorNavInterfaceBaudRate) != 1) printf("Invalid parameter : VectorNavInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : VectorNavInterfaceTimeout.\n");
if (sscanf(line, "%d", &VectorNavInterfaceTimeout) != 1) printf("Invalid parameter : VectorNavInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bSSC32Interface.\n");
if (sscanf(line, "%d", &bSSC32Interface) != 1) printf("Invalid parameter : bSSC32Interface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szSSC32InterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szSSC32InterfacePath) != 1) printf("Invalid parameter : szSSC32InterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : SSC32InterfaceBaudRate.\n");
if (sscanf(line, "%d", &SSC32InterfaceBaudRate) != 1) printf("Invalid parameter : SSC32InterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : SSC32InterfaceTimeout.\n");
if (sscanf(line, "%d", &SSC32InterfaceTimeout) != 1) printf("Invalid parameter : SSC32InterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bPololuInterface.\n");
if (sscanf(line, "%d", &bPololuInterface) != 1) printf("Invalid parameter : bPololuInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szPololuInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szPololuInterfacePath) != 1) printf("Invalid parameter : szPololuInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : PololuInterfaceBaudRate.\n");
if (sscanf(line, "%d", &PololuInterfaceBaudRate) != 1) printf("Invalid parameter : PololuInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : PololuInterfaceTimeout.\n");
if (sscanf(line, "%d", &PololuInterfaceTimeout) != 1) printf("Invalid parameter : PololuInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : PololuType_PololuInterface.\n");
if (sscanf(line, "%d", &PololuType_PololuInterface) != 1) printf("Invalid parameter : PololuType_PololuInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : DeviceNumber_PololuInterface.\n");
if (sscanf(line, "%d", &DeviceNumber_PololuInterface) != 1) printf("Invalid parameter : DeviceNumber_PololuInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bRoboteqInterface.\n");
if (sscanf(line, "%d", &bRoboteqInterface) != 1) printf("Invalid parameter : bRoboteqInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szRoboteqInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szRoboteqInterfacePath) != 1) printf("Invalid parameter : szRoboteqInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : RoboteqInterfaceBaudRate.\n");
if (sscanf(line, "%d", &RoboteqInterfaceBaudRate) != 1) printf("Invalid parameter : RoboteqInterfaceBaudRate.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : RoboteqInterfaceTimeout.\n");
if (sscanf(line, "%d", &RoboteqInterfaceTimeout) != 1) printf("Invalid parameter : RoboteqInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bVideoInterface.\n");
if (sscanf(line, "%d", &bVideoInterface) != 1) printf("Invalid parameter : bVideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : szVideoInterfacePath.\n");
if (sscanf(line, "%[^\r\n]255s", szVideoInterfacePath) != 1) printf("Invalid parameter : szVideoInterfacePath.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : videoimgwidth_VideoInterface.\n");
if (sscanf(line, "%d", &videoimgwidth_VideoInterface) != 1) printf("Invalid parameter : videoimgwidth_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : videoimgheight_VideoInterface.\n");
if (sscanf(line, "%d", &videoimgheight_VideoInterface) != 1) printf("Invalid parameter : videoimgheight_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : captureperiod_VideoInterface.\n");
if (sscanf(line, "%d", &captureperiod_VideoInterface) != 1) printf("Invalid parameter : captureperiod_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : VideoInterfaceTimeout.\n");
if (sscanf(line, "%d", &VideoInterfaceTimeout) != 1) printf("Invalid parameter : VideoInterfaceTimeout.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bForceSoftwareResizeScale_VideoInterface.\n");
if (sscanf(line, "%d", &bForceSoftwareResizeScale_VideoInterface) != 1) printf("Invalid parameter : bForceSoftwareResizeScale_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : guiid_VideoInterface.\n");
if (sscanf(line, "%d", &guiid_VideoInterface) != 1) printf("Invalid parameter : guiid_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : videoid_VideoInterface.\n");
if (sscanf(line, "%d", &videoid_VideoInterface) != 1) printf("Invalid parameter : videoid_VideoInterface.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : encodequality_VideoInterface.\n");
if (sscanf(line, "%d", &encodequality_VideoInterface) != 1) printf("Invalid parameter : encodequality_VideoInterface.\n");
#pragma endregion
#pragma region Devices parameters
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableVideo[0].\n");
if (sscanf(line, "%d", &bDisableVideo[0]) != 1) printf("Invalid parameter : bDisableVideo[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableVideo[1].\n");
if (sscanf(line, "%d", &bDisableVideo[1]) != 1) printf("Invalid parameter : bDisableVideo[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableVideo[2].\n");
if (sscanf(line, "%d", &bDisableVideo[2]) != 1) printf("Invalid parameter : bDisableVideo[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableVideo[3].\n");
if (sscanf(line, "%d", &bDisableVideo[3]) != 1) printf("Invalid parameter : bDisableVideo[3].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableVideo[4].\n");
if (sscanf(line, "%d", &bDisableVideo[4]) != 1) printf("Invalid parameter : bDisableVideo[4].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablegpControl.\n");
if (sscanf(line, "%d", &bDisablegpControl) != 1) printf("Invalid parameter : bDisablegpControl.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablePathfinderDVL.\n");
if (sscanf(line, "%d", &bDisablePathfinderDVL) != 1) printf("Invalid parameter : bDisablePathfinderDVL.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableNortekDVL.\n");
if (sscanf(line, "%d", &bDisableNortekDVL) != 1) printf("Invalid parameter : bDisableNortekDVL.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMES.\n");
if (sscanf(line, "%d", &bDisableMES) != 1) printf("Invalid parameter : bDisableMES.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMDM.\n");
if (sscanf(line, "%d", &bDisableMDM) != 1) printf("Invalid parameter : bDisableMDM.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableSeanet.\n");
if (sscanf(line, "%d", &bDisableSeanet) != 1) printf("Invalid parameter : bDisableSeanet.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableBlueView[0].\n");
if (sscanf(line, "%d", &bDisableBlueView[0]) != 1) printf("Invalid parameter : bDisableBlueView[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableBlueView[1].\n");
if (sscanf(line, "%d", &bDisableBlueView[1]) != 1) printf("Invalid parameter : bDisableBlueView[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableHokuyo.\n");
if (sscanf(line, "%d", &bDisableHokuyo) != 1) printf("Invalid parameter : bDisableHokuyo.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableRPLIDAR.\n");
if (sscanf(line, "%d", &bDisableRPLIDAR) != 1) printf("Invalid parameter : bDisableRPLIDAR.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableSRF02.\n");
if (sscanf(line, "%d", &bDisableSRF02) != 1) printf("Invalid parameter : bDisableSRF02.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableArduinoPressureSensor.\n");
if (sscanf(line, "%d", &bDisableArduinoPressureSensor) != 1) printf("Invalid parameter : bDisableArduinoPressureSensor.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMS580314BA.\n");
if (sscanf(line, "%d", &bDisableMS580314BA) != 1) printf("Invalid parameter : bDisableMS580314BA.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMS5837.\n");
if (sscanf(line, "%d", &bDisableMS5837) != 1) printf("Invalid parameter : bDisableMS5837.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableP33x.\n");
if (sscanf(line, "%d", &bDisableP33x) != 1) printf("Invalid parameter : bDisableP33x.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableRazorAHRS.\n");
if (sscanf(line, "%d", &bDisableRazorAHRS) != 1) printf("Invalid parameter : bDisableRazorAHRS.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMT.\n");
if (sscanf(line, "%d", &bDisableMT) != 1) printf("Invalid parameter : bDisableMT.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableSBG.\n");
if (sscanf(line, "%d", &bDisableSBG) != 1) printf("Invalid parameter : bDisableSBG.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableNMEADevice[0].\n");
if (sscanf(line, "%d", &bDisableNMEADevice[0]) != 1) printf("Invalid parameter : bDisableNMEADevice[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableNMEADevice[1].\n");
if (sscanf(line, "%d", &bDisableNMEADevice[1]) != 1) printf("Invalid parameter : bDisableNMEADevice[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableublox[0].\n");
if (sscanf(line, "%d", &bDisableublox[0]) != 1) printf("Invalid parameter : bDisableublox[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableublox[1].\n");
if (sscanf(line, "%d", &bDisableublox[1]) != 1) printf("Invalid parameter : bDisableublox[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableublox[2].\n");
if (sscanf(line, "%d", &bDisableublox[2]) != 1) printf("Invalid parameter : bDisableublox[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMAVLinkDevice[0].\n");
if (sscanf(line, "%d", &bDisableMAVLinkDevice[0]) != 1) printf("Invalid parameter : bDisableMAVLinkDevice[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMAVLinkDevice[1].\n");
if (sscanf(line, "%d", &bDisableMAVLinkDevice[1]) != 1) printf("Invalid parameter : bDisableMAVLinkDevice[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMAVLinkDevice[2].\n");
if (sscanf(line, "%d", &bDisableMAVLinkDevice[2]) != 1) printf("Invalid parameter : bDisableMAVLinkDevice[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableSwarmonDevice.\n");
if (sscanf(line, "%d", &bDisableSwarmonDevice) != 1) printf("Invalid parameter : bDisableSwarmonDevice.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableUE9A.\n");
if (sscanf(line, "%d", &bDisableUE9A) != 1) printf("Invalid parameter : bDisableUE9A.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableSSC32.\n");
if (sscanf(line, "%d", &bDisableSSC32) != 1) printf("Invalid parameter : bDisableSSC32.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablePololu[0].\n");
if (sscanf(line, "%d", &bDisablePololu[0]) != 1) printf("Invalid parameter : bDisablePololu[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablePololu[1].\n");
if (sscanf(line, "%d", &bDisablePololu[1]) != 1) printf("Invalid parameter : bDisablePololu[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisablePololu[2].\n");
if (sscanf(line, "%d", &bDisablePololu[2]) != 1) printf("Invalid parameter : bDisablePololu[2].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableMiniSSC.\n");
if (sscanf(line, "%d", &bDisableMiniSSC) != 1) printf("Invalid parameter : bDisableMiniSSC.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableRoboteq[0].\n");
if (sscanf(line, "%d", &bDisableRoboteq[0]) != 1) printf("Invalid parameter : bDisableRoboteq[0].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableRoboteq[1].\n");
if (sscanf(line, "%d", &bDisableRoboteq[1]) != 1) printf("Invalid parameter : bDisableRoboteq[1].\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableIM483I.\n");
if (sscanf(line, "%d", &bDisableIM483I) != 1) printf("Invalid parameter : bDisableIM483I.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bDisableOntrak.\n");
if (sscanf(line, "%d", &bDisableOntrak) != 1) printf("Invalid parameter : bDisableOntrak.\n");
#pragma endregion
#pragma region Controller parameters
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_max.\n");
if (sscanf(line, "%lf", &u_max) != 1) printf("Invalid parameter : u_max.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : uw_max.\n");
if (sscanf(line, "%lf", &uw_max) != 1) printf("Invalid parameter : uw_max.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_coef.\n");
if (sscanf(line, "%lf", &u_coef) != 1) printf("Invalid parameter : u_coef.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : uw_coef.\n");
if (sscanf(line, "%lf", &uw_coef) != 1) printf("Invalid parameter : uw_coef.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kp.\n");
if (sscanf(line, "%lf", &Kp) != 1) printf("Invalid parameter : Kp.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd1.\n");
if (sscanf(line, "%lf", &Kd1) != 1) printf("Invalid parameter : Kd1.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd2.\n");
if (sscanf(line, "%lf", &Kd2) != 1) printf("Invalid parameter : Kd2.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Ki.\n");
if (sscanf(line, "%lf", &Ki) != 1) printf("Invalid parameter : Ki.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : uw_derivative_max.\n");
if (sscanf(line, "%lf", &uw_derivative_max) != 1) printf("Invalid parameter : uw_derivative_max.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : uw_integral_max.\n");
if (sscanf(line, "%lf", &uw_integral_max) != 1) printf("Invalid parameter : uw_integral_max.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : cosdelta_angle_threshold.\n");
if (sscanf(line, "%lf", &cosdelta_angle_threshold) != 1) printf("Invalid parameter : cosdelta_angle_threshold.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : wdradius.\n");
if (sscanf(line, "%lf", &wdradius) != 1) printf("Invalid parameter : wdradius.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : vrxmax.\n");
if (sscanf(line, "%lf", &vrxmax) != 1) printf("Invalid parameter : vrxmax.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omegazmax.\n");
if (sscanf(line, "%lf", &omegazmax) != 1) printf("Invalid parameter : omegazmax.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kp_z.\n");
if (sscanf(line, "%lf", &Kp_z) != 1) printf("Invalid parameter : Kp_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd_z.\n");
if (sscanf(line, "%lf", &Kd_z) != 1) printf("Invalid parameter : Kd_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Ki_z.\n");
if (sscanf(line, "%lf", &Ki_z) != 1) printf("Invalid parameter : Ki_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : up_max_z.\n");
if (sscanf(line, "%lf", &up_max_z) != 1) printf("Invalid parameter : up_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ud_max_z.\n");
if (sscanf(line, "%lf", &ud_max_z) != 1) printf("Invalid parameter : ud_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ui_max_z.\n");
if (sscanf(line, "%lf", &ui_max_z) != 1) printf("Invalid parameter : ui_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_min_z.\n");
if (sscanf(line, "%lf", &u_min_z) != 1) printf("Invalid parameter : u_min_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_max_z.\n");
if (sscanf(line, "%lf", &u_max_z) != 1) printf("Invalid parameter : u_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_min_z.\n");
if (sscanf(line, "%lf", &error_min_z) != 1) printf("Invalid parameter : error_min_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_max_z.\n");
if (sscanf(line, "%lf", &error_max_z) != 1) printf("Invalid parameter : error_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : dz_max_z.\n");
if (sscanf(line, "%lf", &dz_max_z) != 1) printf("Invalid parameter : dz_max_z.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kp_y.\n");
if (sscanf(line, "%lf", &Kp_y) != 1) printf("Invalid parameter : Kp_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd_y.\n");
if (sscanf(line, "%lf", &Kd_y) != 1) printf("Invalid parameter : Kd_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Ki_y.\n");
if (sscanf(line, "%lf", &Ki_y) != 1) printf("Invalid parameter : Ki_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : up_max_y.\n");
if (sscanf(line, "%lf", &up_max_y) != 1) printf("Invalid parameter : up_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ud_max_y.\n");
if (sscanf(line, "%lf", &ud_max_y) != 1) printf("Invalid parameter : ud_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ui_max_y.\n");
if (sscanf(line, "%lf", &ui_max_y) != 1) printf("Invalid parameter : ui_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_min_y.\n");
if (sscanf(line, "%lf", &u_min_y) != 1) printf("Invalid parameter : u_min_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_max_y.\n");
if (sscanf(line, "%lf", &u_max_y) != 1) printf("Invalid parameter : u_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_min_y.\n");
if (sscanf(line, "%lf", &error_min_y) != 1) printf("Invalid parameter : error_min_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_max_y.\n");
if (sscanf(line, "%lf", &error_max_y) != 1) printf("Invalid parameter : error_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : dy_max_y.\n");
if (sscanf(line, "%lf", &dy_max_y) != 1) printf("Invalid parameter : dy_max_y.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kp_wy.\n");
if (sscanf(line, "%lf", &Kp_wy) != 1) printf("Invalid parameter : Kp_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd_wy.\n");
if (sscanf(line, "%lf", &Kd_wy) != 1) printf("Invalid parameter : Kd_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Ki_wy.\n");
if (sscanf(line, "%lf", &Ki_wy) != 1) printf("Invalid parameter : Ki_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : up_max_wy.\n");
if (sscanf(line, "%lf", &up_max_wy) != 1) printf("Invalid parameter : up_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ud_max_wy.\n");
if (sscanf(line, "%lf", &ud_max_wy) != 1) printf("Invalid parameter : ud_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ui_max_wy.\n");
if (sscanf(line, "%lf", &ui_max_wy) != 1) printf("Invalid parameter : ui_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_min_wy.\n");
if (sscanf(line, "%lf", &u_min_wy) != 1) printf("Invalid parameter : u_min_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_max_wy.\n");
if (sscanf(line, "%lf", &u_max_wy) != 1) printf("Invalid parameter : u_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_min_wy.\n");
if (sscanf(line, "%lf", &error_min_wy) != 1) printf("Invalid parameter : error_min_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_max_wy.\n");
if (sscanf(line, "%lf", &error_max_wy) != 1) printf("Invalid parameter : error_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omega_max_wy.\n");
if (sscanf(line, "%lf", &omega_max_wy) != 1) printf("Invalid parameter : omega_max_wy.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kp_wx.\n");
if (sscanf(line, "%lf", &Kp_wx) != 1) printf("Invalid parameter : Kp_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Kd_wx.\n");
if (sscanf(line, "%lf", &Kd_wx) != 1) printf("Invalid parameter : Kd_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : Ki_wx.\n");
if (sscanf(line, "%lf", &Ki_wx) != 1) printf("Invalid parameter : Ki_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : up_max_wx.\n");
if (sscanf(line, "%lf", &up_max_wx) != 1) printf("Invalid parameter : up_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ud_max_wx.\n");
if (sscanf(line, "%lf", &ud_max_wx) != 1) printf("Invalid parameter : ud_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : ui_max_wx.\n");
if (sscanf(line, "%lf", &ui_max_wx) != 1) printf("Invalid parameter : ui_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_min_wx.\n");
if (sscanf(line, "%lf", &u_min_wx) != 1) printf("Invalid parameter : u_min_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : u_max_wx.\n");
if (sscanf(line, "%lf", &u_max_wx) != 1) printf("Invalid parameter : u_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_min_wx.\n");
if (sscanf(line, "%lf", &error_min_wx) != 1) printf("Invalid parameter : error_min_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : error_max_wx.\n");
if (sscanf(line, "%lf", &error_max_wx) != 1) printf("Invalid parameter : error_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omega_max_wx.\n");
if (sscanf(line, "%lf", &omega_max_wx) != 1) printf("Invalid parameter : omega_max_wx.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : gamma_infinite.\n");
if (sscanf(line, "%lf", &gamma_infinite) != 1) printf("Invalid parameter : gamma_infinite.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : radius.\n");
if (sscanf(line, "%lf", &radius) != 1) printf("Invalid parameter : radius.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : betaside.\n");
if (sscanf(line, "%lf", &betaside) != 1) printf("Invalid parameter : betaside.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : betarear.\n");
if (sscanf(line, "%lf", &betarear) != 1) printf("Invalid parameter : betarear.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : zeta.\n");
if (sscanf(line, "%lf", &zeta) != 1) printf("Invalid parameter : zeta.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : check_strategy_period.\n");
if (sscanf(line, "%lf", &check_strategy_period) != 1) printf("Invalid parameter : check_strategy_period.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : sail_update_period.\n");
if (sscanf(line, "%lf", &sail_update_period) != 1) printf("Invalid parameter : sail_update_period.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : sailboattacktype.\n");
if (sscanf(line, "%d", &sailboattacktype) != 1) printf("Invalid parameter : sailboattacktype.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : sailformulatype.\n");
if (sscanf(line, "%d", &sailformulatype) != 1) printf("Invalid parameter : sailformulatype.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bCheckRudder.\n");
if (sscanf(line, "%d", &bCheckRudder) != 1) printf("Invalid parameter : bCheckRudder.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bCalibrateSail.\n");
if (sscanf(line, "%d", &bCalibrateSail) != 1) printf("Invalid parameter : bCalibrateSail.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : sail_calibration_period.\n");
if (sscanf(line, "%lf", &sail_calibration_period) != 1) printf("Invalid parameter : sail_calibration_period.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : max_distance_around.\n");
if (sscanf(line, "%lf", &max_distance_around) != 1) printf("Invalid parameter : max_distance_around.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : min_distance_around.\n");
if (sscanf(line, "%lf", &min_distance_around) != 1) printf("Invalid parameter : min_distance_around.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : min_distance_around_full_speed.\n");
if (sscanf(line, "%lf", &min_distance_around_full_speed) != 1) printf("Invalid parameter : min_distance_around_full_speed.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : amplitude_avoid.\n");
if (sscanf(line, "%lf", &litude_avoid) != 1) printf("Invalid parameter : amplitude_avoid.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : etalement_avoid.\n");
if (sscanf(line, "%lf", &etalement_avoid) != 1) printf("Invalid parameter : etalement_avoid.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bLat_avoid.\n");
if (sscanf(line, "%d", &bLat_avoid) != 1) printf("Invalid parameter : bLat_avoid.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableFluxMotorboat.\n");
if (sscanf(line, "%d", &bEnableFluxMotorboat) != 1) printf("Invalid parameter : bEnableFluxMotorboat.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : bEnableBackwardsMotorboat.\n");
if (sscanf(line, "%d", &bEnableBackwardsMotorboat) != 1) printf("Invalid parameter : bEnableBackwardsMotorboat.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : controllerperiod.\n");
if (sscanf(line, "%d", &controllerperiod) != 1) printf("Invalid parameter : controllerperiod.\n");
#pragma endregion
#pragma region Observer parameters
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : psi_source.\n");
if (sscanf(line, "%d", &psi_source) != 1) printf("Invalid parameter : psi_source.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : theta_phi_source.\n");
if (sscanf(line, "%d", &theta_phi_source) != 1) printf("Invalid parameter : theta_phi_source.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : x_y_source.\n");
if (sscanf(line, "%d", &x_y_source) != 1) printf("Invalid parameter : x_y_source.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : z_source.\n");
if (sscanf(line, "%d", &z_source) != 1) printf("Invalid parameter : z_source.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : z_pressure_acc.\n");
if (sscanf(line, "%lf", &z_pressure_acc) != 1) printf("Invalid parameter : z_pressure_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : dvl_acc.\n");
if (sscanf(line, "%lf", &dvl_acc) != 1) printf("Invalid parameter : dvl_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : of_acc.\n");
if (sscanf(line, "%lf", &of_acc) != 1) printf("Invalid parameter : of_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : acousticmodem_acc.\n");
if (sscanf(line, "%lf", &acousticmodem_acc) != 1) printf("Invalid parameter : acousticmodem_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : phi_ahrs_acc.\n");
if (sscanf(line, "%lf", &phi_ahrs_acc) != 1) printf("Invalid parameter : phi_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : theta_ahrs_acc.\n");
if (sscanf(line, "%lf", &theta_ahrs_acc) != 1) printf("Invalid parameter : theta_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : psi_ahrs_acc.\n");
if (sscanf(line, "%lf", &psi_ahrs_acc) != 1) printf("Invalid parameter : psi_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : accrx_ahrs_acc.\n");
if (sscanf(line, "%lf", &accrx_ahrs_acc) != 1) printf("Invalid parameter : accrx_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : accry_ahrs_acc.\n");
if (sscanf(line, "%lf", &accry_ahrs_acc) != 1) printf("Invalid parameter : accry_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : accrz_ahrs_acc.\n");
if (sscanf(line, "%lf", &accrz_ahrs_acc) != 1) printf("Invalid parameter : accrz_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omegax_ahrs_acc.\n");
if (sscanf(line, "%lf", &omegax_ahrs_acc) != 1) printf("Invalid parameter : omegax_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omegay_ahrs_acc.\n");
if (sscanf(line, "%lf", &omegay_ahrs_acc) != 1) printf("Invalid parameter : omegay_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : omegaz_ahrs_acc.\n");
if (sscanf(line, "%lf", &omegaz_ahrs_acc) != 1) printf("Invalid parameter : omegaz_ahrs_acc.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : alpha_max_err.\n");
if (sscanf(line, "%lf", &alpha_max_err) != 1) printf("Invalid parameter : alpha_max_err.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d_max_err.\n");
if (sscanf(line, "%lf", &d_max_err) != 1) printf("Invalid parameter : d_max_err.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d0.\n");
if (sscanf(line, "%lf", &d0) != 1) printf("Invalid parameter : d0.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d1.\n");
if (sscanf(line, "%lf", &d1) != 1) printf("Invalid parameter : d1.\n");
alphavrxhat = interval(d0,d1);
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d0.\n");
if (sscanf(line, "%lf", &d0) != 1) printf("Invalid parameter : d0.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d1.\n");
if (sscanf(line, "%lf", &d1) != 1) printf("Invalid parameter : d1.\n");
alphaomegazhat = interval(d0,d1);
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d0.\n");
if (sscanf(line, "%lf", &d0) != 1) printf("Invalid parameter : d0.\n");
if (fgets3(file, line, sizeof(line)) == NULL) printf("Error reading parameter : d1.\n");