<xml> <object name="GuidanceSettings" singleinstance="true" settings="true"> <description>Settings for the @ref GuidanceModule</description> <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/> <field name="HorizontalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.2,150"/> <field name="HorizontalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0.002,0,1000"/> <field name="VerticalP" units="" type="float" elementnames="Kp,Max" defaultvalue="0.1,200"/> <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/> <field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/> <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="10"/> <field name="UpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/> <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>