[
  {
    "descriptor": "tuning_vertiq_81xx_g2_position",
    "Entries": [
      {
        "type_idn": 59,
        "descriptor": "Angle Kp",
        "info": "The angle proportional gain. Helps to correct angle errors. Higher gain means smaller errors and faster response, but can lead to oscillations and overheating.",
        "sub_idn": 5,
        "format": "f",
        "unit": "V/rad",
        "frame_type": 2,
        "maximum": 100,
        "minimum": -0.001,
        "decimal": 2,
        "single_step": 0.01,
        "nan": true
      },
      {
        "type_idn": 59,
        "descriptor": "Angle Ki",
        "info": "The angle integral gain. Helps to correct steady state angle errors. Higher gain means quicker suppression of steady state errors, but also increased oscillations, overheating, and faster windup.",
        "sub_idn": 6,
        "format": "f",
        "unit": "V/(rad*s)",
        "frame_type": 2,
        "maximum": 100,
        "minimum": -0.01,
        "single_step": 0.01,
        "decimal": 2,
        "nan": true
      },
      {
        "type_idn": 59,
        "descriptor": "Angle Kd",
        "info": "The angle derivative gain. Helps to reduce overshoot oscillations. Higher gain means less overshoot from Kp and Ki, but can also introduce higher frequency oscillations and overheating.",
        "sub_idn": 7,
        "format": "f",
        "unit": "V/(rad/s)",
        "frame_type": 2,
        "maximum": 1,
        "minimum": -0.0001,
        "single_step": 0.0001,
        "decimal": 4,
        "nan": true
      },
      {
        "type_idn": 59,
        "descriptor": "Timeout",
        "info": "The motor must receive a message within this amount of time. If it does not, it enters coast mode.",
        "sub_idn": 8,
        "format": "f",
        "unit": "s",
        "frame_type": 2,
        "maximum": 1000000000,
        "minimum": 0,
        "single_step": 0.001,
        "decimal": 3,
        "nan": true
      }
    ]
  }
]