ProcessConfig = pEstimSpeed
{
   AppTick   = 4
   CommsTick = 4

   // The coeff matrix maps forces (Newton) to inputs ([-1,1], adimensional)
   // In this application, we will compute the inverse of this matrix,
   // so that from inputs we get forces, and can apply Newton's law of motion
   COEFF_MATRIX = 1,-1,0,1,1,0,0,0,1

   // The damping matrix maps square of speeds as inputs, and return a force.
   // In an underwater environment, the damping is not linear with respect
   // to speed.
   // Once we have the damping forces and the input forces, we can apply Newton's laws of motion
   DAMPING_MATRIX = 0.4,0,0,0,0.4,0,0,0,0.4

   // Initial speed. In principle, we should aim for a null speed at
   // startup
   V0 = 0,0,0

   // Name to receive the yaw
   YAW_REGISTRATION_NAME = IMU_YAW

   // Mass of the robot
   MASS = 20

   U1_SUBSCRIPTION_NAME = SET_THRUSTER_LEFT
   U2_SUBSCRIPTION_NAME = SET_THRUSTER_RIGHT
   U3_SUBSCRIPTION_NAME = SET_THRUSTER_VERTICAL
   RESET_SUBSCRIPTION_NAME = RESET_ESTIM
   GPS_E_SUBSCRIPTION_NAME = GPS_E
   GPS_N_SUBSCRIPTION_NAME = GPS_N
   KELLER_DEPTH_SUBSCRIPTION_NAME = DEPTH

   // Names of the publications
   POS_DEAD_RECKONING_PUBLICATION_NAME = POS_DEAD_RECKONING
   SPEED_LOCAL_DEAD_RECKONING_PUBLICATION_NAME = SPEED_LOCAL_DEAD_RECKONING
   SPEED_GLOBAL_DEAD_RECKONING_PUBLICATION_NAME = SPEED_GLOBAL_DEAD_RECKONING
}