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

  verbose       = true
  depth_control = false
  active_start  = true

  // Yaw PID controller
  yaw_pid_kp             = 0.55 // 0.4  sim, m200
//  YAW_PID_KP             = 0.07 // 0.4 m100
  yaw_pid_kd             = 0.07 // 0.1
  yaw_pid_ki             = 0.0  // 0.0
  yaw_pid_integral_limit = 0.07 // 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 // 100
  maxthrust  = 84

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