/******************************************************************************/
/* Copyright 1992 MBARI                                                       */
/******************************************************************************/
/* Summary  : Dynamic Model Module Definitions for Tiburon Control System     */
/* Filename : model.h                                                         */
/* Author   : Janice Tarrant                                                  */
/* Project  : Tiburon                                                         */
/* Version  : Version 1.0                                                     */
/* Created  : 09/02/92                                                        */
/* Modified : 11/30/92                                                        */
/* Archived :                                                                 */
/******************************************************************************/
/* Modification History :                                                     */
/* $Header: model.h,v 1.1 97/12/04 15:28:16 oreilly Exp $
 * $Log:        model.h,v $
 * Revision 1.1  97/12/04  15:28:16  15:28:16  oreilly (Thomas C. O'Reilly)
 * Initial revision
 *
 *
 */
/******************************************************************************/

#ifndef ROV_CONTROL_MODEL_H
#define ROV_CONTROL_MODEL_H

#define LOSS_FACTOR           0.3227    /* motor thrust loss factor           */
#define LAT_RADIAL            0.35      /* lateral thruster radial position   */
#define HORIZ_RADIAL          0.9415    /* horizontal thruster radial position*/
                                        /* conversion factors                 */
#define LAT_THRUST_FACTOR          3340 /* lateral velocity to vehicle thrust */
#define HORIZ_THRUST_FACTOR        1440 /* horizontal vel. to vehicle thrust  */
#define VERT_THRUST_FACTOR         3950 /* vertical velocity to vehicle thrust*/
#define HEADING_THRUST_FACTOR      4600 /* heading velocity to vehicle thrust */

#endif