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

ProcessConfig = pDynamLearning
{
   AppTick   = 4
   CommsTick = 4

   ////////////////////////////
   // State prefix for learning system dynamics
   //  Ex.  NAV or GT or GPS
   StateVarPrefix = NAV
   
   ////////////////////////////
   // 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 = 20
   NumberInputs  = 5
   
   // 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
   
   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
   ContractionWeight = 0.1

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

   NumberParamsAID = 9

   // Initial estimate of each param
   AIDParamInit1 =  0.0022
   AIDParamInit2 =  0.0000061309
   AIDParamInit3 =  0.0146
   AIDParamInit4 =  0.00056060
   AIDParamInit5 =  0.00000665
   AIDParamInit6 =  0.0147
   AIDParamInit7 = -0.9998
   AIDParamInit8 = -0.0034
   AIDParamInit9 = -0.0000086704

   // Adaptation gains
   GainParam1 = 0.00000035
   GainParam2 = 0.0000000000035  
   GainParam3 = 0.00000000035
   GainParam4 = 0.00000035
   GainParam5 = 0.0000000000035
   GainParam6 = 0.00000000035
   GainParam7 = 0.000035
   GainParam8 = 0.0000035
   GainParam9 = 0.00035
   aM 	      = -0.1

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

   NumberParamsRLS = 9
   OrderRLS        = 0
   ForgettingFactor = 0.995
   //RLSParamInit1   = 0.00012668
   //RLSParamInit2   = 
   RLSParamInit1   =  0.0081
   RLSParamInit2   =  0.00022536
   RLSParamInit3   = -0.0000024357
   RLSParamInit4   =  0.0138
   RLSParamInit5   =  0.000030636
   RLSParamInit6   = -0.0000011269
   RLSParamInit7   =  0.0486
   RLSParamInit8   =  0.0304
   RLSParamInit9   =  0.0208
   
}