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Tétard - Rescue / Maintenance Mini Submarine

6 seats mini sub, it cruises 10 m/s, 19 knots, under water as well.
it has a main cabin with seats and a rear "cubbyhole" for engines and logic.
Both cabin need to be free of water to keep CG in place, just don't go see engines, it is full of fumes and there is nothing to do down there^^.

- 1 pilot, 1 operator, 4 passengers
- Top and bottom acces dock
- 2 extendable magnet beams, extends to front
- 2 search lights, one steerable by operator seat
- 2 big fluid bilge pumps
- Incomming On/Off Signal on dock opens it
-... so each dock has a toggle button to send On/Off signal

It behave almost like a plane in normal mode :
- Throttle on W/S, yaw on A/D
- Pitch on Up/Down, roll on Left/Right
- not that "plany" part : depht thrust on Axis 7
- Left/Right translation on Axis 8

You can roam around or play "Free Willy" in this mode,
it tend to pitch backwards a bit, but if you plan your jump right you can realy play the wahle^^.

Managed Nav :
- Set managed depth to current depth and tries to hold it
- Stabilized pitch and roll
- Up/Down are switched to increase/decrease managed depth
- Left/Right are switched to translate left right

This is stabilized mode for "precise" operations, specialy with mag arms.
Works quite well but still needs a bit of PID tuning.

Work In Progress/Planned :
- PID improvments
- GPS Go/Stay at target (auto nav and drift correction)
- External hose for refloat missions
- Few tow points, maybe a nice dock adapter for heli-carying
- A proper exit ... : in order to connect two of them by smalls docks, top and bottom docks are alligned verticaly.
with the no-build-zone zone for door opening and the one of the ladder blocks, i cannot find an elegant way to get out of the ship when at surface depth, as the top hatch is too high... i get out by bottom hatch and use flood pumps...
i cannot put anything on top or bottom external hull planes, to keep room to dock. NEED HELP ON THIS ^^.

All in all it works well, not that slow but still drift a bit in managed mode,
nothing you can't swim against though.

Have fun !