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
}