<xml> <object name="RevoSettings" singleinstance="true" settings="true" category="State"> <description>Settings for the revo to control the algorithm and what is updated</description> <field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Basic (Complementary),Complementary+Mag,Complementary+Mag+GPSOutdoor,INS13Indoor,GPS Navigation (INS13)" limits="%NE:None:Complementary+Mag:Complementary+Mag+GPSOutdoor:INS13Indoor;" defaultvalue="Basic (Complementary)"/> <!-- Low pass filter configuration to calculate offset of barometric altitude sensor. Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062 Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. --> <field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/> <!-- Configuration for magnetometer vector validity check --> <field name="MagnetometerMaxDeviation" units="%" type="float" elementnames="Warning,Error" defaultvalue="0.05,0.15" /> <!-- Cooefficients for the polynomial that models the barometer pressure bias as a function of temperature bias = a + b * temp + c * temp^2 + d * temp^3 --> <field name="BaroTempCorrectionPolynomial" units="" type="float" elements="4" elementnames="a,b,c,d" defaultvalue="0,0,0,0"/> <field name="BaroTempCorrectionExtent" units="" type="float" elements="2" elementnames="min,max" defaultvalue="0,0"/> <!-- Coefficient for velocity estimate post processing low pass filter - filters velocity bias based on delta position to compensate offsets coming from EKF --> <field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/> <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>