<xml>
    <object name="RelayTuningSettings" singleinstance="true" settings="true" category="Control">
        <description>Setting to run a relay tuning algorithm</description>
	<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
	<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
	<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.25"/>
	<field name="HysteresisThresh" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
	<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Attitude"/>
	<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>
	<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>