LibrePilot/shared/uavobjectdefinition/stabilizationsettings.xml

<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" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>

	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>

	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
	<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="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>