//------------------------------------------------
// pDynamLearning config block

ProcessConfig = pDynamLearning
{
   AppTick   = 4
   CommsTick = 4

   ////////////////////////////
   // State prefix for learning system dynamics
   //  Ex.  NAV or GT or GPS
   StateVarPrefix = GT

   ////////////////////////////
   // Filepath to save the weights
   SaveFilePath = /home/student2680/moos-ivp-pavlab/src/pDynamLearning/data/

   /////////////////////////////
   //// Time lim for state ////
   MaxTimeLim     = 0.2 // Time "window" in which all measurements
                        // must lie to be considered a single state
   TimeBetweenEst = 0.4  // An estimate is attempeted every interval 

   /////////////////////////////
   ////// RNN Parameters ///////

   NumberNeurons = 8
   NumberInputs  = 4
   
   // These values are used to scale the inputs to the range 0 to 1.
   // It is better to over estimate the max values than to underestimate
   // The units are the same as the inputs.
   MaxInput1 = 4    // Max Speed
   MaxInput2 = 360  // Max Heading
   MaxInput3 = 110  // Max Thrust Left Value (Commanded)
   MaxInput4 = 110  // Max Thrust Right Value (Commanded)

   // These values are used for the Adams back-propagation algorithm
   Alpha   = 0.0005  
   Beta1   = 0.9
   Beta2   = 0.999
   Epsilon = 0.00000001

   /////////////////////////////
   ////// AID Parameters ///////

   NumberParamsAID = 4

   // Initial estimate of each param
   AIDParamInit1 = 0.00021948
   AIDParamInit2 = 0.00018628
   AIDParamInit3 = -0.99999
   AIDParamInit4 = -0.00000001

   // Adaptation gains
   GainParam1 = 0.0000000000001  // So small since thrusters commands are 100
   GainParam2 = 0.0000000000001  
   GainParam3 = 0.00001
   GainParam4 = 0.000001
   aM 	      = -0.1

   ////////////////////////////
   ////// RLS Parameters //////

   NumberParamsRLS = 8
   OrderRLS        = 0
   ForgettingFactor = 0.995
   //RLSParamInit1   = 0.00012668
   //RLSParamInit2   = 0.00010042
   RLSParamInit1   =  0.0128
   RLSParamInit2   = -0.00024133
   RLSParamInit3   =  0.0000022296
   RLSParamInit4   =  0.0402
   RLSParamInit5   = -0.0011
   RLSParamInit6   =  0.0000079938
   RLSParamInit7   =  0.0
   RLSParamInit8   =  0.0
   
}