////////////////////////////////////////////////////////////////
//
//  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 Makai.
//
// 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 ml;           // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyPumpDepth    = 90 m;             // Depth must be <= this value in order to safely pump

VerticalControl.massDefault          =  22.0 mm;           // Position of mass at pitch=0 at neutral buoyancy

// Secondary Batteries
VerticalControl.massPositionLimitFwd =  41 mm;           // max offset forward of center
VerticalControl.massPositionLimitAft = -13 mm;           // max offset aft of center

// Primary Batteries
//VerticalControl.massPositionLimitFwd =  40 mm;           // max offset forward of center
//VerticalControl.massPositionLimitAft = -28 mm;           // max offset aft of center

// 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