<xml>
	<object name="StabilizationSettings" singleinstance="true" settings="true">
		<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
		<field name="RollMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
		<field name="PitchMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
		<field name="YawMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
		<field name="ManualRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
		<field name="MaximumRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
		
		<field name="RollRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
		<field name="PitchRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
		<field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.5"/>
		<field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
		<field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
		<field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
		
		<access gcs="readwrite" flight="readwrite"/>
		<telemetrygcs acked="true" updatemode="onchange" period="0"/>
		<telemetryflight acked="true" updatemode="onchange" period="0"/>
		<logging updatemode="never" period="0"/>
	</object>
</xml>
