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- ACOMMS_SCHEDULER_OFFSET - the estimated offset of the receive start
- ACOMMS_SCHEDULER_DURATION - the estimated duration of the receive
- ACOMMS_SCHEDULER_STATE - current state: 0=unlocked, 1-3=locked (pre, mid, post), 4=unset (no observation)
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pMarinePID_Hover
A slightly modified version of the pMarinePID application included with MOOS-IvP. Differential control is properly implemented by the following equation:
| Code Block |
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Diff = (dTheta*Tau*OldDiff)/(Tau+dT)
Differential portion of rudder output = Kd*Diff
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