From d62b4abfca5298b2ff4068b3d7f63324b2deee41 Mon Sep 17 00:00:00 2001
From: acschang <61025344+acschang@users.noreply.github.com>
Date: Wed, 3 Jun 2020 19:30:52 -0400
Subject: [PATCH] Cave Circuit Communication Adjustment (#441)

* Adjustment of fading exponent from 2.5 to 1.5 for the cave circuit.

* Add fading exponent to cloudsim launch files

Signed-off-by: Nate Koenig <nate@openrobotics.org>

Co-authored-by: Nate Koenig <nate@openrobotics.org>
---
 subt_ign/launch/cave_circuit.ign | 2 +-
 subt_ign/launch/cloudsim_sim.ign | 7 ++++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/subt_ign/launch/cave_circuit.ign b/subt_ign/launch/cave_circuit.ign
index 709d0284..a7ab6f39 100644
--- a/subt_ign/launch/cave_circuit.ign
+++ b/subt_ign/launch/cave_circuit.ign
@@ -568,7 +568,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent>1.5</fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index 4930a17e..b40b81df 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -70,6 +70,11 @@
     end
   end
 
+  $commsFadingExponent = 2.5
+  if $circuit == "cave"
+    $commsFadingExponent = 1.5
+  end
+
   # spawn world offset
   if $circuit == "urban"
     spawnWorldXPos = 6
@@ -569,7 +574,7 @@
 
       <range_config>
         <max_range>500.0</max_range>
-        <fading_exponent>2.5</fading_exponent>
+        <fading_exponent><%= $commsFadingExponent %></fading_exponent>
         <L0>40</L0>
         <sigma>10.0</sigma>
       </range_config>