<xml>
    <object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
        <description>Extended Kalman Filter initialisation</description>
	<field name="P" units="1^2" type="float" defaultvalue="
		25.0, 25.0, 25.0,
		5.0, 5.0, 5.0,
		0.00001, 0.00001, 0.00001, 0.00001,
		0.000001, 0.000001, 0.000001">
		<elementnames>
			<elementname>PositionNorth</elementname>
			<elementname>PositionEast</elementname>
			<elementname>PositionDown</elementname>
			<elementname>VelocityNorth</elementname>
			<elementname>VelocityEast</elementname>
			<elementname>VelocityDown</elementname>
			<elementname>AttitudeQ1</elementname>
			<elementname>AttitudeQ2</elementname>
			<elementname>AttitudeQ3</elementname>
			<elementname>AttitudeQ4</elementname>
			<elementname>GyroDriftX</elementname>
			<elementname>GyroDriftY</elementname>
			<elementname>GyroDriftZ</elementname>
		</elementnames>
	</field>
	<field name="Q" units="1^2" type="float" defaultvalue="
		0.001, 0.001, 0.001,
		0.003, 0.003, 0.003,
		0.000001, 0.000001, 0.000001">
		<elementnames>
			<elementname>GyroX</elementname>
			<elementname>GyroY</elementname>
			<elementname>GyroZ</elementname>
			<elementname>AccelX</elementname>
			<elementname>AccelY</elementname>
			<elementname>AccelZ</elementname>
			<elementname>GyroDriftX</elementname>
			<elementname>GyroDriftY</elementname>
			<elementname>GyroDriftZ</elementname>
		</elementnames>
	</field>
	<field name="R" units="1^2" type="float" defaultvalue="
		0.1, 0.1, 1000000,
		0.01, 0.01, 0.01,
		10, 10, 10,
		0.01">
		<elementnames>
			<elementname>GPSPosNorth</elementname>
			<elementname>GPSPosEast</elementname>
			<elementname>GPSPosDown</elementname>
			<elementname>GPSVelNorth</elementname>
			<elementname>GPSVelEast</elementname>
			<elementname>GPSVelDown</elementname>
			<elementname>MagX</elementname>
			<elementname>MagY</elementname>
			<elementname>MagZ</elementname>
			<elementname>BaroZ</elementname>
		</elementnames>
	</field>
	<field name="FakeR" type="float" units="1^2" defaultvalue="
		10,
		1,
		1000">
		<elementnames>
			<elementname>FakeGPSPosIndoor</elementname>
			<elementname>FakeGPSVelIndoor</elementname>
			<elementname>FakeGPSVelAirspeed</elementname>
		</elementnames>
	</field>
	<field name="MapMagnetometerToHorizontalPlane" type="enum" units="bool" elements="1"
		options="False,True" defaultvalue="True"
		description="Set to True to suppress effect of magnetometers on Roll+Pitch State estimate" />
        <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>
