<xml>
    <object name="AttitudeSettings" singleinstance="true" settings="true" category="State">
        <description>Settings for the @ref Attitude module used on CopterControl</description>
        <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
        <field name="BoardLevelTrim" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,0"/>
        <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
        <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
        <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0.05"/>
        <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
        <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="InitialZeroWhenBoardSteady" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>
        <field name="BoardSteadyMaxVariance" units="(deg/s)^2" type="float" elements="1" defaultvalue="5"/>
        <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
        <telemetryflight acked="true" updatemode="onchange" period="0"/>
        <logging updatemode="manual" period="0"/>
    </object>
</xml>
