<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="HorizontalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.2,150"/>
        <field name="HorizontalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0.002,0,1000"/>
        <field name="VerticalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.1,200"/>
        <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>
