RC control

• Thrust and steering mapped to right stick
• Serial enable mapped to G switch, pull towards you to enable RC.
• Motor on/off mapped to A switch, on in up position.

Battery cutoffs

• 11.2 volts --> 20% thrust
• 10.6 volts --> 0% thrust
• 11.8 volts to reset to 100% thrust

Gains and Offsets

Default rudder offsets are inherited from soft_config and are updated periodically.

Offsets from running depth sounder + modem hanging opposite for William's experiments (PID: [ 0.45, 0, 0, 0 ].  The following rudder offsets are set to compensate for the drag of the modem, which was hung from one side opposite the depth sounder.  

• Nostromo: -12
• Silvana: 14
• Kestrel: 15

From Nostromo's bathymetry survey without modem, PID at [ 0.3, 0.6, 0.025, 1000 ].  For kestrel and silvana with the cruzpro depth sounder, a rudder offset of -6 and the same gains worked well.  

uPokeDB targ_KESTREL.moos YAW_PID_KP=0.3 YAW_PID_KD=0.6 YAW_PID_KI=0.015 YAW_PID_INTEGRAL_LIMIT=750