////////////////////////////////////////////////////////////////
//
//  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 Brizo.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////

BackSeatDriver.loadAtStartup = 0 bool;

VerticalControl.buoyancyNeutral       = 208.0 ml;
VerticalControl.buoyancyPumpDepth     = 75 m;
VerticalControl.buoyancyLimitLoCC     = 70 cc;
VerticalControl.buoyancyLimitHiCC     = 1016 cc;
VerticalControl.buoyancyDefault       = 916 cc;

VerticalControl.massDefault           =  28.6 mm;

// Secondary Pack
VerticalControl.massPositionLimitFwd  =  33.5 mm; 
VerticalControl.massPositionLimitAft  = -26 mm;

//Primary Pack
//VerticalControl.massPositionLimitFwd  =  32 mm; 
//VerticalControl.massPositionLimitAft  = -40 mm;

// Gains for shallow water buoyancy control
VerticalControl.kpDepthBuoy             = 120. ratio;     // Buoyancy loop pos'n gain cc/m
VerticalControl.kiDepthBuoy             = 0.15 1/s;       // Buoyancy loop int. gain
VerticalControl.kdDepthBuoy             = 1000 s;         // Buoy loop deriv. gain cc/(m/s)
VerticalControl.kiDepthOff              = 0.01 m/s;       // Integrator shut-off