////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Tethys.
//
// NOTES: All values (except "strings") must be followed by
// a unit abbreviation (or one of the unit-like
// abbreviations: n/a, bool, enum, count).
//
////////////////////////////////////////////////////////////////
HorizontalControl.loadAtStartup = 1 bool;
HorizontalControl.kdHeading = 0.05 s; // Derivative gain
HorizontalControl.kiHeading = 0.001 1/s; // Integral gain
HorizontalControl.kiwpHeading = 0.0005 rad/s/m; // Cross-track integral error gain
HorizontalControl.kpHeading = 0.4 n/a; // Proportional gain
HorizontalControl.kwpHeading = .05 rad/m; // Cross-track error gain
HorizontalControl.maxHdgAccel = 7.5 arcdeg/s2; // Max turn accel
HorizontalControl.maxHdgInt = 0.0872664 rad; // Max cmded rudder from hdg int
HorizontalControl.maxHdgRate = 12.0 arcdeg/s; // Max turn rate
HorizontalControl.maxKxte = 45. arcdeg; // Max heading correction due to kwpHeading
HorizontalControl.rudDeadband = 0.5 arcdeg; // Degree of rounding in output values
HorizontalControl.rudLimit = 15 arcdeg; // Max rudder angle
LoopControl.loadAtStartup = 1 bool;
LoopControl.nominalDt = 0.400 s; // Nominal control cycle period used in determining control constants
SpeedControl.loadAtStartup = 1 bool;
SpeedControl.propPitch = 0.0318309 m/rad; // Equals 1 m/s / 300 rpm
VerticalControl.loadAtStartup = 1 bool;
VerticalControl.buoyancyDefault = 945.0 cc; // Default amount of oil to be stored in the bladder
VerticalControl.buoyancyLimitHiCC = 955 cc; // High limit for oil. Should be less than the above physical limit for motor controller
VerticalControl.buoyancyLimitLoCC = 80 cc; // Low limit for oil. Should be less than the above physical limit for motor controller
VerticalControl.buoyancyNeutral = 500.0 cc; // Amount of oil stored in the bladder when the vehicle is neutral
VerticalControl.buoyancyPumpDepth = 65.0 m; // Depth must be < = this value in order to safely pump
VerticalControl.depthDeadband = 0.01 m; // Buoy loop off within deadband
VerticalControl.depthRateDeadband = 0.015 m/s; // Values less than this value are
// considered to be zero.
VerticalControl.depthRateSamples = 75 count; // Number of depth rate samples to average.
VerticalControl.dropWtDepthExcursion = 20 meter; // If we are requesting upwards motion,
// and haven't achieved it within this depth change
// drop the drop weight to go up.
VerticalControl.dropWtOverrideDelay = 5 min; // If we are requesting upwards motion,
// and haven't achieved it within this time after ending the mission
// drop the drop weight to go up.
VerticalControl.elevDeadband = 0.5 arcdeg; // Degree of rounding in output values
VerticalControl.elevLimit = 15. arcdeg; // max elevator angle
VerticalControl.elevTurnTime = 5.0 s; // Time to reach inflection in elevator mode
VerticalControl.excursionDepthTimeout = 5.0 s; // This much time must elapse in the mission ending or weight dropping state before taking action.
VerticalControl.kdDepth = 0.0 rad/s/m; // Dive loop deriv. gain // was 0.12
VerticalControl.kdDepthBuoy = 0.0 s; // Buoy loop deriv. gain cc/(m/s)
VerticalControl.kdDepthRateBuoy = 0.0 s; // Buoy loop deriv. gain cc/(m/s)
VerticalControl.kdPitchElevator = 0.05 s; // Derivative gain
VerticalControl.kdPitchMass = 0.0 s; // Derivative gain
VerticalControl.kiDepth = 0.002 rad/s/m; // Dive loop int. gain // was 0.0008
VerticalControl.kiDepthBuoy = 0.60 1/s; // Buoyancy loop int. gain
VerticalControl.kiDepthOff = 0.10 m/s; // Integrator shut-off
VerticalControl.kiDepthRateBuoy = 30.0 1/s; // Buoyancy loop int. gain
VerticalControl.kiPitchElevator = 0.008 1/s; // Integral gain
VerticalControl.kiPitchMass = 0.0015 1/s; // Integral gain
VerticalControl.kpDepth = 0.07 rad/m; // Dive loop pos'n gain // was 0.09
VerticalControl.kpDepthBuoy = 120. ratio; // Buoyancy loop pos'n gain cc/m
VerticalControl.kpDepthRateBuoy = -50. ratio; // Buoyancy loop pos'n gain cc/m
VerticalControl.kpPitchElevator = 0.25 n/a; // Proportional gain
VerticalControl.kpPitchMass = 0.01 n/a; // Proportional gain
VerticalControl.limitDepthTrajectory = 1 bool; // If true, reset depth trajectory when depthCmd changes and when dive starts
VerticalControl.massBackOnGoToSurface = 1 bool; // if true, command the mass back on GoToSurface
VerticalControl.massDeadband = 1.0 mm; // Degree of rounding in output values
VerticalControl.massDefault = 0.0 cm; // Position of mass at pitch =0 at neutral buoyancy
VerticalControl.massFilterLimit = 5 degree; // Don't use the filter if error exceeds this value
VerticalControl.massFilterWidth = 17 second; // Size of filter for pitch error values
VerticalControl.massPositionLimitAft = -28 mm; // max offset aft of center
VerticalControl.massPositionLimitFwd = 28 mm; // max offset forward of center
VerticalControl.massTurnTime = 17.0 s; // Time to reach inflection in mass-only mode
VerticalControl.maxBuoyDiveAccel = 0.00025 m/s2; // Maximum dive accel with prop off
VerticalControl.maxBuoyDiveRate = 0.0500 m/s; // Maximum dive rate with prop off
VerticalControl.maxBuoyInt = 200.0 cc; // Maximum buoyancy int. value
VerticalControl.maxDepthInt = 20. arcdeg; // max cmded pitch frm depth int
VerticalControl.maxDiveAccel = 0.001 m/s2; // Maximum dive accel
VerticalControl.maxDiveRate = 0.400 m/s; // Maximum dive rate at pitchLimit and 1 m/s
VerticalControl.maxPitchElevatorInt = 15. arcdeg; // max cmded elev from pitch int
VerticalControl.maxPitchMassInt = 30 mm; // max cmded mass posn from pitch int
VerticalControl.maxPitchRate = 5. arcdeg/s; // max cmded pitch rate
VerticalControl.minAscendPitch = 5. arcdeg; // At this pitch, with prop on, the vehicle should eventually ascend
// Used for determining failure to ascend
VerticalControl.minDepthExcursion = 1 meter; // Excursions less than this are ignored when
// determining if up/downward motion is needed
VerticalControl.pitchLimit = 30.0 arcdeg; // Max pitch
VerticalControl.pitchTimeoutGoToSurface = 60 second; // time to allow the prop on while pitch is negative in GoToSurface
VerticalControl.stopDepthExcursion = 10 meter; // If we are requesting upwards motion,
// and haven't achieved it within this depth
// stop the mission (run default mission) to go up.
VerticalControl.stopOverrideDelay = 5 min; // If we are requesting upwards motion,
// and haven't achieved it within this time
// stop the mission (run default mission) to go up.
VerticalControl.stopOverrideDelayBuoy = 14 min; // If we are requesting upwards motion,
// and haven't achieved it within this time with the prop off
// stop the mission (run default mission) to go up.
VerticalControl.surfaceThreshold = 1.0 m; // Depth at which we consider ourselves on the "surface"
VerticalControl.useElevIntInDepthMode = 1 bool; // if true, use elevator integral in depth mode