<xml>
    <object name="GroundPathFollowerSettings" singleinstance="true" settings="true" category="Control">
        <description>Settings for the @ref GroundPathFollowerModule</description>

        <!-- these coefficients control desired movement in airspace -->
        <field name="HorizontalVelMax" units="m/s" type="float" elements="1" defaultvalue="2"/>
                <!-- Maximum speed the autopilot will try to achieve, usually for long distances -->
        <field name="HorizontalVelMin" units="m/s" type="float" elements="1" defaultvalue="0"/>
                <!-- V_y, Minimum speed the autopilot will try to fly, for example when loitering -->
        <field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="3.0"/>
        <field name="VelocityFeedForward" units="s" type="float" elements="1" defaultvalue="0.1"/>
                <!-- how many seconds to plan the flight vector ahead when initiating necessary heading changes - increase for planes with sluggish response -->
        
	<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.2"/>
                <!-- proportional coefficient for correction vector in path vector field to get back on course - reduce for fast planes to prevent course oscillations -->
        <!-- these coefficients control actual control outputs -->

        <field name="SpeedPI" units="deg / (m/s)" type="float" elements="4" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.1, .1, 0.001, 0.8"/>
                <!-- coefficients for desired pitch
                     in relation to speed error IASerror -->
        <field name="ThrustLimit" units="" type="float" elements="2" elementnames="Min,SlowForward, Max" defaultvalue="-0.3,0.15,0.3" />
                <!-- minimum and maximum allowed thrust and setpoint for cruise speed -->
        <field name="UpdatePeriod" units="ms" 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="manual" period="0"/>
    </object>
</xml>
