//----------------------------------------------------- // pMarinePID Configuration Block (created from plugin) ProcessConfig = pMarinePID { AppTick = 10 CommsTick = 10 VERBOSE = true DEPTH_CONTROL = false 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 // Maximums MAXRUDDER = 100 MAXTHRUST = 100 // A non-zero SPEED_FACTOR overrides use of SPEED_PID // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR SPEED_FACTOR = 20 }