<xml>
    <object name="AltitudeHoldSettings" singleinstance="true" settings="true" category="Control">
    <description>Settings for the @ref AltitudeHold module</description>
	<field name="CutThrustWhenZero" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" />
    <field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
    <field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
    <field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
    <field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.7"/>
    <field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.3, 0.4, 0.0001, 0.9"/>
    <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>
