//------------------------------------------------------
// uSimMarineX Configuration Block (Created from plugin)

ProcessConfig = uSimMarineX
{
  AppTick   = 4
  CommsTick = 4

  start_pos     = $(START_POS)
  prefix        = NAV

    thrust_map    = 0:0, 20:1, 40:2, 60:3, 80:4, 100:5
    turn_rate=100
  // Below Parameters for embedded PID control. All params
  // similar to those for pMarinePID
  //thrust_mode_diff=true
  turn_spd_map_null_rate=99
  turn_spd_map_full_rate=100
  depth_control = false
  //active_start  = true
  simulation    = true

  // Yaw PID controller
  yaw_pid_kp             = 1.2
  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
  //thrust_mode_reverse=true
  
  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  speed_factor = 20
}