////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Makai.
//
// NOTES:   All values (except "strings") must be followed by
//          a unit abbreviation (or one of the unit-like
//          abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////


VerticalControl.buoyancyNeutral      = 223 ml;           // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyPumpDepth    = 90 m;             // Depth must be <= this value in order to safely pump

VerticalControl.massDefault          =  9.9 mm;           // Position of mass at pitch=0 at neutral buoyancy

// Secondary Batteries
VerticalControl.massPositionLimitFwd =  39 mm;           // max offset forward of center
VerticalControl.massPositionLimitAft = -15 mm;           // max offset aft of center

// Primary Batteries
//VerticalControl.massPositionLimitFwd =  40 mm;           // max offset forward of center
//VerticalControl.massPositionLimitAft = -28 mm;           // max offset aft of center

// Gains for shallow water buoyancy control
VerticalControl.kpDepthBuoy             = 120. ratio;     // Buoyancy loop pos'n gain cc/m
VerticalControl.kiDepthBuoy             = 0.15 1/s;       // Buoyancy loop int. gain
VerticalControl.kdDepthBuoy             = 1000 s;         // Buoy loop deriv. gain cc/(m/s)
VerticalControl.kiDepthOff              = 0.01 m/s;       // Integrator shut-off