//---------------------------------------
ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10

  VERBOSE       = true
  DEPTH_CONTROL = false
  ACTIVE_START  = true

  // Yaw PID controller
#ifdef VMODEL M200
  // Yaw PID controller (Set for M200)
  YAW_PID_KP             = 0.35 // 0.4  sim, m200
  YAW_PID_KD             = 0.07 // 0.1
  YAW_PID_KI             = 0.0  // 0.0
  YAW_PID_INTEGRAL_LIMIT = 0.07 // 0.07
#else
  // Yaw PID controller (Set for M300)
  YAW_PID_KP             = 0.35 
  YAW_PID_KD             = 0.07 
  YAW_PID_KI             = 0.0  
  YAW_PID_INTEGRAL_LIMIT = 0.07 
#endif

  // 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  = 84

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