//------------------------------------------------
// pTrajectTranslate config block

ProcessConfig = pTrajectTranslate
{
   AppTick   = 4
   CommsTick = 4

   time_window = 0.5

   // Heading rate scale is used to calculate
   // desired heading rate with the following
   // formulas:
   // delta_theta = desired_heading - compass_heading
   // desired_heading_rate = heading_rate_scale * delta_theta
   // (and the result is input to the lowpass filter)
   heading_rate_scale = 0.2

   cutoff_freq_vel_x = 1  // Hz
   cutoff_freq_vel_y = 1  // Hz
   cutoff_freq_ang_z = 10  // Hz

   // Actual body heading variable to use in calc
   body_heading_var = NAV_HEADING


     des_speed_in_surge_only = true

}