<xml> <object name="AltitudeHoldSettings" singleinstance="true" settings="true"> <description>Settings for the @ref AltitudeHold module</description> <field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/> <field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/> <field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.25"/> <field name="Ka" units="throttle/(m/s^2)" type="float" elements="1" defaultvalue="0"/> <field name="PressureNoise" units="m" type="float" elements="1" defaultvalue="0.01"/> <field name="AccelNoise" units="m/s^2" type="float" elements="1" defaultvalue="10"/> <field name="AccelDrift" units="m/s^2" type="float" elements="1" defaultvalue="0.001"/> <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>