//------------------------------------------
// pMarinePID config block

ProcessConfig = pMarinePID
{
  AppTick    = 20
  CommsTick  = 20

  VERBOSE       = true
  DEPTH_CONTROL = true

  // Yaw PID controller
  YAW_PID_KP		 = 0.5
  YAW_PID_KD		 = 0.0
  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

  // Depth PID controller
  DEPTH_PID_KP		 = 0.5
  DEPTH_PID_KD		 = 0.0
  DEPTH_PID_KI		 = 0.0
  DEPTH_PID_INTEGRAL_LIMIT = 0.07

  //MAXIMUMS
  MAXRUDDER    = 100
  MAXTHRUST    = 100
  MAXELEVATOR  = 100

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