////////////////////////////////////////////////////////////////////
//
// PURPOSE: List of parameters, such as mass properties.
// AUTHOR:  Altex Team/rsm, 2004/4/23
// MODS: 1) 
//
// NOTES:   All values must be in Standard International 
//          Units (mks).  Angles must be in degrees.
//
//
////////////////////////////////////////////////////////////////////
//
   vehicleName		= Multibeam;  
   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		= .57;	    //unitless; Position gain
   kdHeading		= 1.7;	    //sec; Rate gain 
// kiHeading		= 0.017;    //1/sec; Integral gain 
   kiHeading		= 0.0;      //1/sec; Integral gain 
   kwpHeading		= .05;	    //rad/meter; Cross-track error gain
   kiwp                 = .003;     //rad/sec/meter; x-trk intgrl 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		= 0.5;      //unitless; Position gain
   kdPitch		= 1.30; //was 1.3;	    //sec; Rate gain         
// kiPitch		= .015;	    //1/sec; Integral gain     
   kiPitch		= 0.0;	    //1/sec; Integral gain     
   pitchLimit	= 45.;		    //degrees; Max veh pitch
   maxPitchInt	= 10.0;             //deg.; max cmded elev from pitch int
   elevLimit	= 15.;		    //degrees, max tailcone deflection
//
// Depth (Heave/Pitch):
// kpDepth		= 0.014;    //rad/meter; Dive loop pos'n gain ODY
// kiDepth		= 0.0006;   //rad/sec/meter; Dive loop int. gain
// kdDepth		= 0.0;      //rad/sec/meter; Dive loop deriv. gain
   kpDepth		= 0.06;     //rad/meter; Dive loop pos'n gain ODY
   kiDepth		= 0.0008;   //rad/sec/meter; Dive loop int. gain
   kiDepthOff           = 2.0;      //m/s int. off above vertical cmd gen rate
   kdDepth		= 0.12;     //rad/sec/meter; Dive loop deriv. gain
// maxDiveRate	= .50;		    //meters/sec
   maxDiveRate	= 1.0;		    //meters/sec
   maxDepthInt	= 20.0;             //deg.; max cmded pitch frm depth int
//
// Flags:
   decouple             = 0.;   // Decouple heading and depth control
   useLbl               = 0.;   // 0 => log only; 1 => Use for control
   useIns		= 1.;   // 0 => use something else; 1=> use kearfott
//
// Determine which instrument and which algorithm determines altitude:
// 0 => DVL only
// 1 => Echosounder only
// 2 => Average of forward two beams of the Dvl and the fixed-beam Echosounder
// 3 => Take the smallest altitude of either the Dvl or the fixed-beam
// 4 => Take the smallest altitude of either the Dvl or the scanning Echosounder
   altimeterInstrument  = 0.;           
   logOnly = 0;                         // 1=> log only.  0=> act on it.
//
// 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			= 721.0;	//kg; Vehicle mass
   buoyancy		= 7136.1;	//Newtons, incl 65.6 N measured 1 June 01
//
// Stability Derivatives:
   effDragCoef	= .21;		//unitless; veh drag in x; related to Xuu
   Xuabu        = -20.0;    //Force Derivative, kg/meter
//
// Geometric Parameters (Used only by the simulation)
//
// The following y & z CG values were measured on 1 June, for the 1st Octans 
// test.  The x value is computed.
//
   centerOfMassX = 0.1181;
   centerOfMassY = -0.000236;
   centerOfMassZ = 0.006794;

   centerOfBuoyX = 0.1181;
   centerOfBuoyY = 0.0;
   centerOfBuoyZ = 0.0;
//
// Fin locations for the QNX simulation, which are required by the 
// QNX simulation.
//
   lowerRudX = -2.62;        //meters, updated for multibeam vehicle, 8Oct04
   lowerRudY = 0.012;
   lowerRudZ = -0.152;

   upperRudX = -2.62;
   upperRudY = 0.012;
   upperRudZ = 0.152;

   portElevX = -2.62;
   portElevY = -0.152;
   portElevZ = 0.0;

   stbdElevX = -2.62;
   stbdElevY = 0.152;
   stbdElevZ = 0.0;

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