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<xml >
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<object name= "StabilizationSettings" singleinstance= "true" settings= "true" category= "Control" >
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<description > PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
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<!-- Note: The number of elements here must match the number of available flight modes -->
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<field name= "FlightModeMap" units= "" type= "enum"
options="Bank1,Bank2,Bank3"
elementnames="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
defaultvalue="Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1,Bank1"/>
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<field name= "VbarSensitivity" units= "frac" type= "float" elementnames= "Roll,Pitch,Yaw" defaultvalue= "0.5,0.5,0.5" />
<field name= "VbarRollPI" units= "1/(deg/s)" type= "float" elementnames= "Kp,Ki" defaultvalue= "0.005,0.002" />
<field name= "VbarPitchPI" units= "1/(deg/s)" type= "float" elementnames= "Kp,Ki" defaultvalue= "0.005,0.002" />
<field name= "VbarYawPI" units= "1/(deg/s)" type= "float" elementnames= "Kp,Ki" defaultvalue= "0.005,0.002" />
<field name= "VbarTau" units= "sec" type= "float" elements= "1" defaultvalue= "0.5" />
<field name= "VbarGyroSuppress" units= "%" type= "int8" elements= "1" defaultvalue= "30" />
<field name= "VbarPiroComp" units= "" type= "enum" elements= "1" options= "FALSE,TRUE" defaultvalue= "FALSE" />
<field name= "VbarMaxAngle" units= "deg" type= "uint8" elements= "1" defaultvalue= "10" />
<field name= "GyroTau" units= "" type= "float" elements= "1" defaultvalue= "0.005" />
<field name= "DerivativeCutoff" units= "Hz" type= "uint8" elements= "1" defaultvalue= "20" />
<field name= "DerivativeGamma" units= "" type= "float" elements= "1" defaultvalue= "1" />
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<field name= "MaxAxisLock" units= "deg" type= "uint8" elements= "1" defaultvalue= "30" />
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<field name= "MaxAxisLockRate" units= "deg/s" type= "uint8" elements= "1" defaultvalue= "2" />
<field name= "WeakLevelingKp" units= "(deg/s)/deg" type= "float" elements= "1" defaultvalue= "0.1" />
<field name= "MaxWeakLevelingRate" units= "deg/s" type= "uint8" elements= "1" defaultvalue= "5" />
<field name= "LowThrottleZeroIntegral" units= "" type= "enum" elements= "1" options= "FALSE,TRUE" defaultvalue= "TRUE" />
<field name= "LowThrottleZeroAxis" units= "" type= "enum" elementnames= "Roll,Pitch,Yaw" options= "FALSE,TRUE" defaultvalue= "FALSE,FALSE,FALSE" />
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<field name= "ScaleToAirspeed" units= "m/s" type= "float" elements= "1" defaultvalue= "0" />
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<field name= "ScaleToAirspeedLimits" units= "" type= "float" elementnames= "Min,Max" defaultvalue= "0.05,3" />
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<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>
