//------------------------------------------------------
// uSimMarineX Configuration Block (Created from plugin)

ProcessConfig = uSimMarineX
{
  AppTick   = 6
  CommsTick = 6

  start_pos     = $(START_POS), $(START_SPD)
  prefix        = NAV


  // Below Parameters for embedded PID control. All params
  // similar to those for pMarinePID
  
  depth_control = false
  //active_start  = true

	turn_rate = 80
	
  // Yaw PID controller
  yaw_pid_kp             = 1.2
  //yaw_pid_kp             = 0.4
  yaw_pid_kd             = 0.1
  yaw_pid_ki             = 0.0
  yaw_pid_integral_limit = 0.07
  
  // Speed PID controller
  speed_pid_kp           = 1.0
  speed_pid_kd           = 0.0
  speed_pid_ki           = 0.0
  speed_pid_integral_limit = 0.07
  
  // Maximums
  maxrudder  = 100
  maxthrust  = 100
  
  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  speed_factor = 20
	
	thrust_map = 100:$(MAXSPD)
	
  //wormhole = tag=one, madrid_poly=pts={0,0:100,0:100,100:0,100}
  //wormhole = tag=one, weber_poly=pts={0,0:100,0:100,100}
  //wormhole = tag=one, connection=from_weber
  //wormhole = tag=one, id_change=true
  //wormhole = tag=one, delay=3
  //wormhole = tag=one, poke=WPT_UPDATE=speed=2.3
	
}