////////////////////////////////////////////////////////////////
//
//  Copyright (c) 2024 MBARI
//  MBARI Proprietary Information. Confidential. All Rights Reserved
//  Unauthorized copying or distribution of this file via any medium is strictly
//  prohibited.
//
//  WARNING - This file contains information whose export is restricted by the
//  Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
//  amended. Violations of these export laws are subject to severe civil and/or
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////////////////////////////////////////////////////////////////
//
// PURPOSE: This contains ControlModule parameters for Whoidhs.
//
// 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       = 300 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.buoyancyLimitLoCC     = 145  cc;          // Per calibration 03/16/2021
VerticalControl.buoyancyLimitHiCC     = 1020 cc;          // Reduced by 25cc for safety envelope 06/05/2024 MOC
VerticalControl.buoyancyDefault       = 950 cc;          // Per calibration 03/16/2021 

VerticalControl.massDefault           =  5 mm;           // Position of mass at pitch=0 at neutral buoyancy
VerticalControl.massPositionLimitFwd  =  33 mm;           // max offset forward of center 08/3/2021
VerticalControl.massPositionLimitAft  = -25 mm;           // max offset aft of center. 08/3/2021

//Shallow Water buoyancy gains added 06/05/2024 MOC
VerticalControl.kpDepthBuoy             = 120. ratio;     // Buoyancy loop posn 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