//----------------------------------------------
// pMarinePID config block (created from plugin) 

ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10

  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true

  // Yaw PID controller (Set for M300)
  YAW_PID_KP             = 0.9 
  YAW_PID_KD             = 0.3 
  YAW_PID_KI             = 0.3  
  YAW_PID_INTEGRAL_LIMIT = 0.3 

  // 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 // 100
  MAXTHRUST  = 100

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  //SPEED_FACTOR = 20
}