<xml>
    <object name="AHRSCalibration" singleinstance="true" settings="true">
        <description>Contains the calibration settings for the @ref AHRSCommsModule</description>
        <field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/>
        <field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/>
        <field name="accel_scale" units="(m/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,0.0359"/>
        <field name="accel_ortho" units="scale" type="float" elementnames="XY,XZ,YZ" defaultvalue="0.0,0.0,0.0"/>
        <field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/>
        <field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="28,-28,28"/>
        <field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/>
        <field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/>
        <field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
        <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/>
        <field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
        <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>
        <field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/>
        <field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/>
        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
        <telemetryflight acked="true" updatemode="onchange" period="0"/>
	<logging updatemode="never" period="0"/>
    </object>
</xml>
