//------------------------------------------------
// 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 = 0.1

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

   // Actual body heading variable to use in calc
   #ifdef XMODE SIM
      body_heading_var = NAV_HEADING
   #elseifdef XMODE M300
      body_heading_var = COMPASS_HEADING_RAW
   #endif



}