[PSUBS-MAILIST] Speed controllers

[Sean T. Stevenson via Personal_Submersibles]

Late to this thread, but I'll throw in my $0.02:

I had envisioned a control scheme whereby the joystick inputs are decoupled from direct thruster / ballast control output. Instead, the PAC runs the thruster outputs on the basis of PID control loops, where the setpoints are adjusted by the pilot controls. Thus, the ramp rate of the target setpoint is dependent on how far e.g. the joystick is pushed or rotated, but on letting go, the stick springs back to center, and at that point the setpoint is overwritten with the current depth, heading or what have you, and the system automatically maintains that setting until you touch the controls again.  Manually commanded fully automatic.

Sean
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