<xml>
    <object name="AttitudeSettings" singleinstance="true" settings="true">
        <description>Settings for the @ref Attitude module used on CopterControl</description>
        <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
        <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
        <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.01"/>
        <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
        <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>
