The copperhead (Agkistrodon contortrix) is a member of the pit viper family, like most of the venomous snakes in North America. The copperhead (Agkistrodon contortrix) is a member of the pit viper family, like most of the venomous snakes in North America.
The Command Thrust models use the same bigger gearcase housing as the Mercury 150 FourStroke, but with an all-new 2.38:1 ratio ideally suited for pontoons and heavier boats. Itâs the first true oversized gearcase in the industry for outboards in this horsepower range.
The Position Loop controller receives the command (PCMD), subtracts it with the actual motor position (PFB), and forwards the result as a position error (PE) signal. This position error is fed through a PID compensator and presented as the velocity command (VCMD) to the Velocity Loop controller. The position loop samples at a rate of 2 kHz.