////////////////////////////////////////////////////////////////
//
//  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 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      = 200.0 cc; // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyDefault      = 905 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.buoyancyLimitHiCC    = 910 cc;

VerticalControl.massDefault          =  0.0 cm;  // Position of mass at pitch=0 at neutral buoyancy
VerticalControl.massPositionLimitFwd =  3.85 cm;  // max offset forward of center
VerticalControl.massPositionLimitAft = -1.3 cm;  // max offset aft of center