ServerHost = localhost
ServerPort = 9000

ProcessConfig = pMotionControler
{
  AppTick    = 5
  CommsTick  = 5

  verbose       = true
  depth_control = true

  // SIM_INSTABILITY = 20

  // Yaw PID controller
  yaw_pid_kp		 = 10
  yaw_pid_kd		 = 0.0
  yaw_pid_ki		 = 0.01
  yaw_pid_integral_limit = 10

  // Speed PID controller
  speed_pid_kp		 = 20.0
  speed_pid_kd		 = 0.0
  speed_pid_ki		 = 1
  speed_pid_integral_limit = 100

  maxpitch = 15
  maxelevator = 30

  pitch_pid_kp = 1.5
  pitch_pid_kd = 0
  pitch_pid_ki = 1.0
  pitch_pid_integral_limit = 0

  z_to_pitch_pid_kp = 0.12
  z_to_pitch_pid_kd = 0
  z_to_pitch_pid_ki = 0.004
  z_to_pitch_pid_integral_limit = 0.05
  

  //MAXIMUMS MAXRUDDER
  maxrudder    = 30
  maxthrust    = 1525

  // A non-zero SPEED_FACTOR overrides use of SPEED_PID
  // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
  speed_factor = 0
}