<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>