<xml>
    <object name="GPSSettings" singleinstance="true" settings="true" category="Sensors">
        <description>GPS Module specific settings</description>
        <field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX,DJI" defaultvalue="UBX"/>
        <field name="MinSatellites" units="" type="uint8" elements="1" defaultvalue="7"/>
        <field name="MaxPDOP" units="" type="float" elements="1" defaultvalue="3.5"/>
        <!-- Ubx self configuration. Enable to allow the flight board to auto configure ubx GPS options,
            store does AutoConfig and save GPS settings (i.e. to prevent issues if gps is power cycled)  -->
        <!-- add AbConfigStoreAndDisable after AbConfigAndStore and uncomment AUTOBAUD_CONFIGURE_STORE_AND_DISABLE in ubx_autoconfig.c-->
        <field name="UbxAutoConfig" units="" type="enum" elements="1" options="Disabled,AutoBaud,AutoBaudAndConfigure,AutoBaudConfigureAndStore,AutoBaudConfigureStoreAndDisable" defaultvalue="AutoBaudAndConfigure"/>
        <!-- Ubx position update rate, -1 for auto -->
        <field name="UbxRate" units="Hz" type="int8" elements="1" defaultvalue="5" />
        <!-- Ubx dynamic model, see UBX datasheet for more details -->
        <field name="UbxDynamicModel" units="" type="enum" elements="1" 
        options="Portable,Stationary,Pedestrian,Automotive,Sea,Airborne1G,Airborne2G,Airborne4G" defaultvalue="Airborne1G" />
        <!-- Ubx SBAS settings -->
        <field name="UbxSBASMode" units="" type="enum" elements="1" options="Disabled,Ranging,Correction,Integrity,Ranging+Correction,Ranging+Integrity,Ranging+Correction+Integrity,Correction+Integrity" defaultvalue="Ranging" />
        <field name="UbxSBASChannelsUsed" units="" type="uint8" elements="1" defaultvalue="3"/>
        <field name="UbxSBASSats" units="" type="enum" elements="1" options="AutoScan,WAAS,EGNOS,MSAS,GAGAN,SDCM" defaultvalue="AutoScan" />
        <!-- Ubx GNSS configuration, only applies to Ublox generation 7+ and concurrent GNSS only to generation 8 -->
        <field name="UbxGNSSMode" units="" type="enum" elements="1" options="Default,GPS,GLONASS,GPS+GLONASS,GPS+BeiDou,GLONASS+BeiDou,GPS+GALILEO,GPS+GLONASS+GALILEO" defaultvalue="Default" />
        <field name="UbxAssistNowAutonomous" units="" type="enum" elements="1" options="False,True" defaultvalue="True"
               description="Enable or disable the AssistNow Autonomous feature"/> 
        <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>
