<xml>
    <object name="RevoSettings" singleinstance="true" settings="true" category="State">
        <description>Settings for the revo to control the algorithm and what is updated</description>
        <field name="FusionAlgorithm" units="" type="enum" elements="1" 
        options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13),GPS Navigation (INS13+CF),Testing (INS Indoor+CF),Acro (No Sensors)" 
        defaultvalue="Basic (Complementary)"/>

        <!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
        Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
        Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
        <field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>

	<!-- Configuration for magnetometer vector validity check -->
	<field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" />

        <!--  Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature 
              bias = a + b * temp + c * temp^2 + d * temp^3 --> 
        <field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/>
        <field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/>

	<!-- Coefficient for velocity estimate post processing low pass filter
	     - filters velocity bias based on delta position to compensate offsets coming from EKF -->
	<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/>

        <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>
