////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Aku.
//
// 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      = 550.0 cc; // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyDefault      = 915 cc;
VerticalControl.buoyancyPumpDepth    = 90.0 m;   // Depth must be <= this value in order to safely pump
VerticalControl.buoyancyLimitLoCC    = 0  cc;   // Low limit for oil. Should be less than the physical limit for motor controller

VerticalControl.massDefault          =  0.0 cm;  // Position of mass at pitch=0 at neutral buoyancy
VerticalControl.massPositionLimitFwd =  3.9 cm;  // max offset forward of center
VerticalControl.massPositionLimitAft = -2.1 cm;  // max offset aft of center