# =============================================================================
# Default PID tuning — 40 m planing motor yacht
# =============================================================================
#
# WARNING — Conservative bench/start values only.
# Scaled from the 30 m profile to account for the larger vessel: higher mass
# moment of inertia and longer time constants. Compared to the 30 m profile:
#   - kp slightly lower (slower response per unit rudder)
#   - kd slightly higher (more anticipation needed for the inertia)
#   - setpoint_rate_limit_dps reduced (gentler heading slew)
#
# As with the 30 m profile, these are commissioning starting points and
# must be replaced with the integrator's production tuning.
# =============================================================================

schema_version: "0.1.0"

inner_loop_base:
  kp: 2.20
  ki: 0.12
  kd: 0.35
inner_loop_freq_hz: 50.0

outer_loop_base:
  kp: 0.75
  ki: 0.015
  kd: 1.55
outer_loop_freq_hz: 10.0

gain_schedule:
  - speed_knots: 5.0
    gains: { kp: 1.00, ki: 0.025, kd: 1.10 }
  - speed_knots: 15.0
    gains: { kp: 0.75, ki: 0.015, kd: 1.55 }
  - speed_knots: 28.0
    gains: { kp: 0.45, ki: 0.008, kd: 2.20 }

rot_feedforward_gain: 1.80

setpoint_deadband_deg: 0.5
setpoint_rate_limit_dps: 3.0
anti_windup_limit: 8.0

adaptive_enabled: false
adaptive_max_deviation_pct: 50.0
