////////////////////////////////////////////////////////////////////
//
// PURPOSE: List of parameters, such as mass properties.
// AUTHOR:  Altex Team/rsm
// DATE:    99/9/8
//
// NOTES:   All values must be in Standard International 
//          Units (mks).  Angles must be in degrees.
//
//          The first cut of this file contains Odyssey II numbers.
//
// MODS:
//
////////////////////////////////////////////////////////////////////
//
   vehicleName		= Altex;  
//
// The propPitch numbers below have been moved to doradoTailcone.cfg.  
// These are ignored.  Remove them later.  rsm 00/5/20.
//
// propPitch		= .124;	        //Meters/rad; Simulation number
   propPitch		= .04912;       //Meters/rad; Corrected 3kts <=> 300 rpm
   mass			= 782.6;	//kg; Vehicle mass
   buoyancy		= 2707.;	//Newtons
// kpHeading		= .35;		//unitless; Position gain  DOR
// kdHeading		= 1.0;		//sec; Rate gain           DOR
// kiHeading		= 0.015;        //1/sec; Integral gain     DOR
   kpHeading		= .7;		//unitless; Position gain, ODY
   kdHeading		= 2.0;		//sec; Rate gain           ODY
   kiHeading		= 0.02;         //1/sec; Integral gain     ODY
   kiHeadingLimit	= 5.;		//degrees; Limit on integral term
   kwpHeading		= .05;		//rad/meter; Cross-track error gain
   maxHdgRate		= 12.;          //Deg/sec; Max turn rate
   rudLimit	        = 11.;		//degrees; Max tailcone deflection
   rudActLimit		= 10000;	//counts; Max actuator excursion
   rudActRateLimit	= 1200.;	//counts/sec
// kpPitch		= .3;           //unitless; Position gain  DOR
// kdPitch		= .4;		//sec; Rate gain           DOR
// kiPitch		= .02;		//1/sec; Integral gain     DOR
   kpPitch		= 0.75;          //unitless; Position gain  ODY
   kdPitch		= 1.0;		//sec; Rate gain           ODY
   kiPitch		= .025;		//1/sec; Integral gain     ODY
   kiPitchLimit		= 10.;		//degrees; Limit on integral term
   pitchLimit		= 30.;		//degrees; Max veh pitch
   maxDiveRate		= .50;		//meters/sec
// kpDepth		= .055;         //rad/meter; Dive loop pos'n gain  10%
// kiDepth		= .0022;        //rad/sec/meter; Dive loop int. gain 10%
// kiDepth		= .001;         //rad/sec/meter; Dive loop int. gain ODY
   kpDepth		= .015;          //rad/meter; Dive loop pos'n gain ODY
   kiDepth		= 0.0008;	//rad/sec/meter; Dive loop int. gain
   elevLimit		= 12.;		//degrees, max tailcone deflection
   elevActLimit		= 10000;	//counts; Max actuator excursion
   elevActRateLimit	= 1200.;	//counts/sec
   Ts                   = .2;           //seconds; Control system sampling prd.
   effDragCoef		= .21;		//unitless; veh drag in x; related to Xuu
   tau			= 2.5;		//seconds; Command generator time const.
   maxDepthInt		= 5.0;          //deg.; max cmded pitch frm depth int
   maxHdgInt		= 5.0;          //deg.; max cmded rudder from hdg int
   maxPitchInt		= 10.0;         //deg.; max cmded elev from pitch int

   Xuabu = -9.1;                        // Force Derivative, kg/meter

   centerOfMassX = 0.00243;
   centerOfMassY = -0.00120;
   centerOfMassZ = 0.08000;

   centerOfBuoyX = 0.00240;
   centerOfBuoyY = 0.0;
   centerOfBuoyZ = 0.0;

   lowerRudX = -1.069;
   lowerRudY = 0.012;
   lowerRudZ = -0.152;

   upperRudX = -1.069;
   upperRudY = 0.012;
   upperRudZ = 0.152;

   portElevX = -1.069;
   portElevY = -0.152;
   portElevZ = 0.0;

   stbdElevX = -1.069;
   stbdElevY = 0.152;
   stbdElevZ = 0.0;

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