//-----------------------------------------------------
// pMarinePID Configuration Block (created from plugin)

ProcessConfig = pMarinePID
{
  AppTick    = 10
  CommsTick  = 10
  
  VERBOSE       = true
  DEPTH_CONTROL = true
  ACTIVE_START  = true
  
  // Yaw PID controller
  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
  
  //Pitch PID controller
  PITCH_PID_KP                   = 0.5
  PITCH_PID_KD                   = 1.0
  PITCH_PID_KI                   = 0
  PITCH_PID_INTEGRAL_LIMIT       = 0

  //ZPID controller
  Z_TO_PITCH_PID_KP              = 0.12
  Z_TO_PITCH_PID_KD              = 0
  Z_TO_PITCH_PID_KI              = 0.004
  Z_TO_PITCH_PID_INTEGRAL_LIMIT  = 0.05

  // Maximums
  MAXRUDDER   = 100
  MAXTHRUST   = 100
  MAXPITCH    = 15
  MAXELEVATOR = 13
  
  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  SPEED_FACTOR = 20
}