<xml>
    <object name="AltitudeFilterSettings" singleinstance="true" settings="true" category="State">
        <description>Settings for the @ref State Estimator module plugin altitudeFilter</description>
        <field name="AccelLowPassKp" units="m/s^2" type="float" elements="1" defaultvalue="0.04"/>
        <field name="AccelDriftKi" units="m/s^2" type="float" elements="1" defaultvalue="0.0005"/>
        <field name="InitializationAccelDriftKi" units="m/s^2" type="float" elements="1" defaultvalue="0.2"/>
        <field name="BaroKp" units="m" type="float" elements="1" defaultvalue="0.02"/>
        <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>
