From 8b812fb8dca250c50d9210ee3593f2aba0b8d66d Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Sat, 16 Jul 2016 00:37:06 -0400
Subject: [PATCH] LP-340 fix ancient tabs and remove commented out xml

---
 shared/uavobjectdefinition/gyrosensor.xml          | 6 +++---
 shared/uavobjectdefinition/gyrostate.xml           | 6 +++---
 shared/uavobjectdefinition/systemidentsettings.xml | 6 ++----
 3 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/shared/uavobjectdefinition/gyrosensor.xml b/shared/uavobjectdefinition/gyrosensor.xml
index 80b8894b5..eddc4e943 100644
--- a/shared/uavobjectdefinition/gyrosensor.xml
+++ b/shared/uavobjectdefinition/gyrosensor.xml
@@ -1,9 +1,9 @@
 <xml>
     <object name="GyroSensor" singleinstance="true" settings="false" category="Sensors">
         <description>Calibrated sensor data from 3 axis gyroscope in deg/s.</description>
-	<field name="x" units="deg/s" type="float" elements="1"/>
-	<field name="y" units="deg/s" type="float" elements="1"/>
-	<field name="z" units="deg/s" type="float" elements="1"/>
+        <field name="x" units="deg/s" type="float" elements="1"/>
+        <field name="y" units="deg/s" type="float" elements="1"/>
+        <field name="z" units="deg/s" type="float" elements="1"/>
         <field name="temperature" units="deg C" type="float" elements="1"/>
         <field name="SensorReadTimestamp" units="PiosRaw" type="uint32" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
diff --git a/shared/uavobjectdefinition/gyrostate.xml b/shared/uavobjectdefinition/gyrostate.xml
index cf0386d8b..a90373fa7 100644
--- a/shared/uavobjectdefinition/gyrostate.xml
+++ b/shared/uavobjectdefinition/gyrostate.xml
@@ -1,9 +1,9 @@
 <xml>
     <object name="GyroState" singleinstance="true" settings="false" category="State">
         <description>The filtered rotation sensor data.</description>
-	<field name="x" units="deg/s" type="float" elements="1"/>
-	<field name="y" units="deg/s" type="float" elements="1"/>
-	<field name="z" units="deg/s" type="float" elements="1"/>
+        <field name="x" units="deg/s" type="float" elements="1"/>
+        <field name="y" units="deg/s" type="float" elements="1"/>
+        <field name="z" units="deg/s" type="float" elements="1"/>
         <field name="SensorReadTimestamp" units="PiosRaw" type="uint32" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
diff --git a/shared/uavobjectdefinition/systemidentsettings.xml b/shared/uavobjectdefinition/systemidentsettings.xml
index 5f0e4cc22..9095668a3 100644
--- a/shared/uavobjectdefinition/systemidentsettings.xml
+++ b/shared/uavobjectdefinition/systemidentsettings.xml
@@ -26,16 +26,14 @@
         <field name="NoiseMin" units="" type="uint8" elements="1" defaultvalue="6"/>
         <field name="NoiseRate" units="" type="uint8" elements="1" defaultvalue="10"/>
         <field name="NoiseMax" units="" type="uint8" elements="1" defaultvalue="16"/>
-        <!-- <field name="CalculateYaw" units="" type="enum" elements="1" options="False,True,TrueIgnoreError" defaultvalue="True"/> -->
         <field name="CalculateYaw" units="" type="enum" elements="1" options="False,TrueLimitToRatio,TrueIgnoreLimit" defaultvalue="TrueLimitToRatio"/>
-        <!-- <field name="YawBetaMin" units="" type="float" elements="1" defaultvalue="5.6"/> -->
         <!-- Mateuze quad needs yaw P to be at most 2.6 times roll/pitch P to avoid yaw oscillation -->
         <!-- Cliff sluggish 500 quad thinks that yaw P should be about 5.8 times roll/pitch P, but can easily (and better) live with 2.6 -->
         <field name="YawToRollPitchPIDRatioMin" units="" type="float" elements="1" defaultvalue="1.0"/>
         <field name="YawToRollPitchPIDRatioMax" units="" type="float" elements="1" defaultvalue="2.5"/>
-        <!-- <field name="YawPIDRatioFunction" units="" type="enum" elements="1" options="Disable,Limit" defaultvalue="Limit"/> -->
+        <field name="DerivativeFactor" units="" type="float" elements="1" defaultvalue="1.0" limits="%BE:0:1"/>
         <field name="DestinationPidBank" units="bank#" type="uint8" elements="1" defaultvalue="2"/>
-        <field name="TuningDuration" units="sec" type="uint8" elements="1" defaultvalue="60" limits="%BI:0;" />
+        <field name="TuningDuration" units="sec" type="uint8" elements="1" defaultvalue="60" limits="%BI:0" />
         <!-- SmoothQuickSource: the smooth vs. quick PID selector -->
         <!-- 0 = disabled -->
         <!-- 10 thru 13 correspond to accessory0 -> accessory3 transmitter knobs -->