<xml> <object name="VtolPathFollowerSettings" singleinstance="true" settings="true"> <description>Settings for the @ref VtolPathFollowerModule</description> <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/> <field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/> <field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/> <field name="HorizontalPosPI" units="(m/s)/m" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="1,0,0"/> <field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="5,0,1,0"/> <field name="VerticalPosPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.1,0.001,200"/> <field name="VerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.1,0,0,0"/> <field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/> <field name="ThrottleControl" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/> <field name="VelocitySource" units="" type="enum" elements="1" options="EKF,NEDVEL,GPSPOS" defaultvalue="EKF"/> <field name="PositionSource" units="" type="enum" elements="1" options="EKF,GPSPOS" defaultvalue="EKF"/> <field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/> <field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="100"/> <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>