<xml>
    <object name="SystemIdentState" singleinstance="true" settings="false" category="State">
        <description>Used for logging PID tuning.</description>
        <field name="Tau" units="ln(sec)" type="float" elements="1" defaultvalue="-4.0" description="Measured delay between inner loop and detected gyro response"/>
        <!-- Beta default values 10.0 10.0 7.0 so that SystemIdent mode can be run without AutoTune -->
        <field name="Beta" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="10.0,10.0,7.0" description="(Natural log of) Measured control gain"/>
        <field name="Bias" units="" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured amount and direction of control stick that stabilization automatically adds for motionless hover"/>
        <field name="Noise" units="(deg/s)^2" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0" description="Measured vibration: Usually 10's to 1000's"/>
        <field name="Period" units="ms" type="float" elements="1" defaultvalue="0" description="Measured time between gyro samples"/>
        <field name="NumAfPredicts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were counted"/>
        <field name="NumSpilledPts" units="" type="uint32" elements="1" defaultvalue="0" description="Number of gyro samples that were dropped (should be zero)"/>
        <field name="HoverThrottle" units="%/100" type="float" elements="1" defaultvalue="0" description="Measured throttle stick position"/>
        <field name="GyroReadTimeAverage" units="s" type="float" elements="1" defaultvalue="0.001" description="Measured delay from gyro read to inner loop"/>
        <field name="Complete" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False" description="Automatically set True for a good complete tune or False for incomplete or bad"/>
        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="false" updatemode="manual" period="0"/>
        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
        <logging updatemode="manual" period="0"/>
    </object>
</xml>
