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src/pMotionControler/a.moos

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+ServerHost = localhost
+ServerPort = 9000
+
+ProcessConfig = pMotionControler
+{
+    AppTick   = 20
+    CommsTick = 20
+    verbose       = true
+    depth_control = true
+
+    // SIM_INSTABILITY = 20
+
+    // Yaw PID controller
+    yaw_pid_kp		 = 1.2
+    yaw_pid_kd		 = 0.0
+    yaw_pid_ki		 = 0.3
+    yaw_pid_integral_limit = 0.07
+
+    // Speed PID controller
+    speed_pid_kp		 = 1.0
+    speed_pid_kd		 = 0.0
+    speed_pid_ki		 = 0.1
+    speed_pid_integral_limit = 0.07
+
+    maxpitch = 15
+    maxelevator = 13
+
+    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    = 100
+    maxthrust    = 100
+
+    // A non-zero SPEED_FACTOR overrides use of SPEED_PID
+    // Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
+    speed_factor = 0
+}