<xml>
    <object name="EKFStateVariance" singleinstance="true" settings="false" category="State">
        <description>Extended Kalman Filter state covariance</description>
	<field name="P" units="1^2" type="float">
		<elementnames>
			<elementname>PositionNorth</elementname>
			<elementname>PositionEast</elementname>
			<elementname>PositionDown</elementname>
			<elementname>VelocityNorth</elementname>
			<elementname>VelocityEast</elementname>
			<elementname>VelocityDown</elementname>
			<elementname>AttitudeQ1</elementname>
			<elementname>AttitudeQ2</elementname>
			<elementname>AttitudeQ3</elementname>
			<elementname>AttitudeQ4</elementname>
			<elementname>GyroDriftX</elementname>
			<elementname>GyroDriftY</elementname>
			<elementname>GyroDriftZ</elementname>
		</elementnames>
	</field>
        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="false" updatemode="manual" period="0"/>
        <telemetryflight acked="false" updatemode="periodic" period="10000"/>
        <logging updatemode="manual" period="0"/>
    </object>
</xml>
