////////////////////////////////////////////////////////////////////
//
// PURPOSE: List of control paramaters
// AUTHOR:  Altex Team/rsm
// DATE:    99/9/8
//
// NOTES:   All values must be in Standard International 
//          Units (mks).  Angles must be in degrees.
//
//
// MODS:
//
////////////////////////////////////////////////////////////////////
//
   vehicleName		= Dorado538;  
   Ts                   = .2;           //seconds; Control system sampling prd.
   propPitch		= .04912;       //Meters/rad; Corrected 3kts <=> 300 rpm
   tau			= 2.5;		//seconds; Command generator time const.
//
// Heading (Sway/Yaw):
   kpHeading		= .56;		//unitless; Position gain, ODY
   kdHeading		= 1.6;		//sec; Rate gain           ODY
   kiHeading		= 0.016;        //1/sec; Integral gain     ODY
   kwpHeading		= .05;		//rad/meter; Cross-track error gain
   maxHdgRate		= 12.;          //Deg/sec; Max turn rate
   maxHdgInt		= 5.0;          //deg.; max cmded rudder from hdg int
   rudLimit	        = 11.;		//degrees; Max tailcone deflection
//
// Pitch:
   kpPitch		= 0.6;          //unitless; Position gain  
   kdPitch		= 1.5;		//sec; Rate gain           
   kiPitch		= 0.01;		//1/sec; Integral gain     
   pitchLimit		= 30.;		//degrees; Max veh pitch
   maxPitchInt		= 10.0;         //deg.; max cmded elev from pitch int
   elevLimit		= 12.;		//degrees, max tailcone deflection
//
// Depth (Heave/Pitch):
   kpDepth		= .011;         //rad/meter; Dive loop pos'n gain ODY
   kiDepth		= 0.0005;	//rad/sec/meter; Dive loop int. gain
   maxDiveRate		= .50;		//meters/sec
   maxDepthInt		= 5.0;          //deg.; max cmded pitch frm depth int

   decouple = 0.;                       // Decouple headin
   altimeterInstrument = 0; //use dvl
   useIns = 0.;
   useLbl = 0.;
//
// Not used?
   kiHeadingLimit	= 5.;		//degrees; Limit on integral term
   kiPitchLimit		= 10.;		//degrees; Limit on integral term
   rudActLimit		= 10000;	//counts; Max actuator excursion
   rudActRateLimit	= 1200.;	//counts/sec
   elevActLimit		= 10000;	//counts; Max actuator excursion
   elevActRateLimit	= 1200.;	//counts/sec
//
// Mass properties:
   mass			= 1046.9; 	//kg; Vehicle mass
   buoyancy		= 10266;	//Newtons
//
   Xuabu = -24.8;                       // Force Derivative, kg/meter
   effDragCoef		= .21;		//unitless; veh drag in x; related to Xuu

   centerOfMassX = 0.1207;
   centerOfMassY = 0.;
   centerOfMassZ = 0.0068;

   centerOfBuoyX = 0.1207;
   centerOfBuoyY = 0.0;
   centerOfBuoyZ = 0.0;

   lowerRudX = -2.684;
   lowerRudY = 0.012;
   lowerRudZ = -0.152;

   upperRudX = -2.684;
   upperRudY = 0.012;
   upperRudZ = 0.152;

   portElevX = -2.684;
   portElevY = -0.152;
   portElevZ = 0.0;

   stbdElevX = -2.684;
   stbdElevY = 0.152;
   stbdElevZ = 0.0;

   ductArea       = 0.28;              //Area of propeller disk, m^2
   propEfficiency = 0.80;              //eta, unitless
