<xml>
    <object name="AHRSSettings" singleinstance="true" settings="true">
        <description>Settings for the @ref AHRSCommsModule to control the algorithm and what is updated</description>
        <field name="Algorithm" units="" type="enum" elements="1" options="SIMPLE,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
        <field name="Downsampling" units="" type="uint8" elements="1" defaultvalue="20"/>
        <field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="1"/>
        <field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>
        <field name="YawBias" units="" type="float" elements="1" defaultvalue="0"/>
        <field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/>
        <field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/>	
        <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>
