////////////////////////////////////////////////////////////////////
//
// PURPOSE: List of tailcone parameters, such as mass properties.
// AUTHOR:  Altex Team/rsm
// DATE:    00/5/3
//
// NOTES:   These values current on 00/5/3, from Mark G.
// MODS:
//
////////////////////////////////////////////////////////////////////
//
//speedPerRpm = 0.005;       // Waterspeed (m/sec) per prop rpm
  propPitch = .04912;        //Meters/rad; Corrected 3kts <=> 300 rpm
  xR = .2965;                //Proj of act length along body x, meters
  aR = .03746;               //Proj of act length along body y, meters
  r1 = .02540;               // meters
  r2 = .07112;               // meters
  maxRudderAngle =  6.0;     // Degrees. Empirically determined.
  minRudderAngle = -3.7;     // Degrees. Empirically determined.
//
  xE = .2965;                //Proj of act length along body x, meters
  aE = .1222;                //Proj of act length along body y, meters
  e1 = .008900;              // meters
  e2 = .07239;               // meters
  maxElevatorAngle =  9.0;   // Degrees. Empirically determined.
  minElevatorAngle = -9.0;   // Degrees. Empirically determined.
//
// The following motor constants are scaled for the fixed-point micro code,
// and must be 16 bit integers. The control gains include the sampling period 
// where required.  That is Ki-here = Ki-cont*Ts, and Kd-here = Kd-cont/Ts.
//
//motorKmInv = 1236;         // (10e-4 pwm counts)/(rpm) Loaded (Operational)   
  motorKmInv = 758;          // (10e-4 pwm counts)/(rpm) No load (In lab)
  motorKp    = 0;            // Position gain, (10e-4 counts)/(prop rpm)
//motorKi    = 105;          // Integral gain, (10e-4 counts)/(prop rpm)
  motorKi    = 0;            // Integral gain, (Kp,Ki,Kd)=0 => OPEN LOOP
  motorKd    = 0;            // Rate gain, (10e-4 pwm counts)(prop rpm)


