46 lines
938 B
Plaintext
Executable File
46 lines
938 B
Plaintext
Executable File
ServerHost = localhost
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ServerPort = 9000
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ProcessConfig = pMotionControler
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{
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AppTick = 20
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CommsTick = 20
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verbose = true
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depth_control = true
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// SIM_INSTABILITY = 20
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// Yaw PID controller
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yaw_pid_kp = 1.2
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yaw_pid_kd = 0.0
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yaw_pid_ki = 0.3
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yaw_pid_integral_limit = 0.07
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// Speed PID controller
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speed_pid_kp = 1.0
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speed_pid_kd = 0.0
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speed_pid_ki = 0.1
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speed_pid_integral_limit = 0.07
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maxpitch = 15
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maxelevator = 13
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pitch_pid_kp = 1.5
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pitch_pid_kd = 0
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pitch_pid_ki = 1.0
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pitch_pid_integral_limit = 0
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z_to_pitch_pid_kp = 0.12
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z_to_pitch_pid_kd = 0
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z_to_pitch_pid_ki = 0.004
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z_to_pitch_pid_integral_limit = 0.05
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//MAXIMUMS
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maxrudder = 100
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maxthrust = 100
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// A non-zero SPEED_FACTOR overrides use of SPEED_PID
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// Will set DESIRED_THRUST = DESIRED_SPEED * SPEED_FACTOR
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speed_factor = 0
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} |