<xml> <object name="AHRSSettings" singleinstance="true" settings="true"> <description>Settings for the @ref AHRSCommsModule to control the algorithm and what is updated</description> <field name="Algorithm" units="" type="enum" elements="1" options="SIMPLE,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/> <field name="Downsampling" units="" type="uint8" elements="1" defaultvalue="20"/> <field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="1"/> <field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/> <field name="YawBias" units="" type="float" elements="1" defaultvalue="0"/> <field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/> <field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/> <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>