////////////////////////////////////////////////////////////////
//
//  Copyright (c) 2024 MBARI
//  MBARI Proprietary Information. Confidential. All Rights Reserved
//  Unauthorized copying or distribution of this file via any medium is strictly
//  prohibited.
//
//  WARNING - This file contains information whose export is restricted by the
//  Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
//  amended. Violations of these export laws are subject to severe civil and/or
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////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Ahi.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////


VerticalControl.buoyancyNeutral       = 180 cc;         // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyLimitLoCC     = 40  cc;           // Low limit for oil. Should be less than the above physical limit for motor co
VerticalControl.buoyancyLimitHiCC     = 925 cc;
VerticalControl.buoyancyDefault       = 925 cc;

VerticalControl.massDefault           =   -1.3 cm;            // Position of mass at pitch=0 at neutral buoyancy
VerticalControl.massPositionLimitFwd  =  3.2 cm;            // max offset forward of center
VerticalControl.massPositionLimitAft  = -2.1 cm;            // max offset aft of center