<xml>
    <object name="GuidanceSettings" singleinstance="true" settings="true">
        <description>Settings for the @ref GuidanceModule</description>
        <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
        <field name="HorizontalVelMax" units="cm/s" type="uint16" elements="1" defaultvalue="300"/>
        <field name="VerticalVelMax" units="cm/s" type="uint16" elements="1" defaultvalue="150"/>
        <field name="HorizontalPosPI" units="(cm/s)/cm" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,300"/>
        <field name="HorizontalVelPID" units="deg/(cm/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.05,0.002,0,1000"/>
        <field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/>
        <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/>
        <field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
        <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/>
        <field name="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>
        <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>
