////////////////////////////////////////////////////////////////
//
//  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 Opah.
//
// 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       = 300.0 cc;         // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyLimitLoCC     = 60  cc;           // Low limit for oil. Should be less than the physical limit for motor controller
VerticalControl.buoyancyDefault       = 1950.0 cc;         // Default amount of oil to be stored in the bladder
VerticalControl.buoyancyLimitHiCC     = 2000 cubic_centimeter;
VerticalControl.buoyancyLimitLoCC     = 500 cubic_centimeter;

VerticalControl.massDefault           =  0.5 cm;            // Position of mass at pitch=0 at neutral buoyancy
VerticalControl.massPositionLimitFwd  =  1.9 cm;             // max offset forward of center
VerticalControl.massPositionLimitAft  = -5.8 cm;             // max offset aft of center