<xml> <object name="AHRSCalibration" singleinstance="true" settings="true"> <description>Contains the calibration settings for the @ref AHRSCommsModule</description> <field name="measure_var" units="" type="enum" elements="1" options="SET,MEASURE" defaultvalue="SET"/> <field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="-73.5,-73.5,73.5"/> <field name="accel_scale" units="(m/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="0.0359,0.0359,0.0359"/> <field name="accel_ortho" units="scale" type="float" elementnames="XY,XZ,YZ" defaultvalue="0.0,0.0,0.0"/> <field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="5e-4"/> <field name="gyro_bias" units="rad/s" type="float" elementnames="X,Y,Z" defaultvalue="28,-28,28"/> <field name="gyro_scale" units="(rad/s)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="-0.017,0.017,-0.017"/> <field name="gyro_var" units="(rad/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1e-4"/> <field name="gyro_tempcompfactor" units="raw/raw" type="float" elementnames="X,Y,Z" defaultvalue="0"/> <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0"/> <field name="mag_scale" units="(mGau)/lsb" type="float" elementnames="X,Y,Z" defaultvalue="1"/> <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/> <field name="vel_var" units="(m/s)^2" type="float" elements="1" defaultvalue="10"/> <field name="pos_var" units="m^2" type="float" elements="1" defaultvalue="0.04"/> <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>