//------------------------------------------------------
// uSimMarineV22 Config Block

ProcessConfig = uSimMarineV22
{
  AppTick   = 10
  CommsTick = 10

  start_pos = $(START_POS)
  prefix    = NAV
	
	thrust_map = 100:2
	turn_rate = 90
	
  depth_control = false
  max_acceleration     = 0.2        // meters/sec^2               
  max_deceleration     = 0.5      // meters/sec^2               
  max_depth_rate       = 0.5      // meters/sec                 
  max_depth_rate_speed = 2.0      // meters/sec  

  //post_des_thrust      = DESIRED_THRUST                        
  //post_des_rudder      = DESIRED_RUDDER

  // Yaw PID controller (Set for M300)
  //yaw_pid_kp             = 0.9 
  //yaw_pid_kd             = 0.3 
  //yaw_pid_kd             = 0.6
  //yaw_pid_ki             = 0.3  
  //yaw_pid_integral_limit = 0.3 

  // 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
}