<xml>
    <object name="TxPIDSettings" singleinstance="true" settings="true" category="Control">
        <description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
        <field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
	<field name="BankNumber" units="" type="enum" options="Bank1,Bank2,Bank3" elements="1" defaultvalue="Bank1"/>
        <field name="Inputs" units="channel" type="enum"
		elementnames="Instance1,Instance2,Instance3"
		options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
		defaultvalue="Throttle,Accessory0,Accessory1"/>
        <field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
        <field name="PIDs" units="option" type="enum"
		elementnames="Instance1,Instance2,Instance3"
		options="Disabled,
			EasyTuneRatePitch,EasyTuneRateRoll,
			Roll Rate.Kp, Roll Rate.Ki, Roll Rate.Kd, Roll Rate.ILimit, Roll Rate.Resp,
			Pitch Rate.Kp, Pitch Rate.Ki, Pitch Rate.Kd, Pitch Rate.ILimit, Pitch Rate.Resp,
			Roll+Pitch Rate.Kp, Roll+Pitch Rate.Ki, Roll+Pitch Rate.Kd, Roll+Pitch Rate.ILimit, Roll+Pitch Rate.Resp,
			Yaw Rate.Kp, Yaw Rate.Ki, Yaw Rate.Kd, Yaw Rate.ILimit, Yaw Rate.Resp,
			Roll Attitude.Kp, Roll Attitude.Ki, Roll Attitude.ILimit, Roll Attitude.Resp,
			Pitch Attitude.Kp, Pitch Attitude.Ki, Pitch Attitude.ILimit, Pitch Attitude.Resp,
			Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
			Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
			Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
			GyroTau,Acro+ Roll Factor,Acro+ Pitch Factor,Acro+ Roll+Pitch Factor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
			AccelTau, AccelKp, AccelKi"
		defaultvalue="Disabled"/>

        <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
        <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>

	<field name="EasyTunePitchRollRateFactors" units="" type="float" elementnames="I,D" defaultvalue="3,0.0135"/>
	<field name="EasyTuneYawRateFactors" units="" type="float" elementnames="P,I,D" defaultvalue="1.5,1.9,0.0085"/>
	<field name="EasyTuneRatePIDRecalculateYaw" units="" type="enum" elements="1" options="False,True" defaultvalue="True"/>

	<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>
