<xml> <object name="EKFStateVariance" singleinstance="true" settings="false" category="State"> <description>Extended Kalman Filter state covariance</description> <field name="P" units="1^2" type="float"> <elementnames> <elementname>PositionNorth</elementname> <elementname>PositionEast</elementname> <elementname>PositionDown</elementname> <elementname>VelocityNorth</elementname> <elementname>VelocityEast</elementname> <elementname>VelocityDown</elementname> <elementname>AttitudeQ1</elementname> <elementname>AttitudeQ2</elementname> <elementname>AttitudeQ3</elementname> <elementname>AttitudeQ4</elementname> <elementname>GyroDriftX</elementname> <elementname>GyroDriftY</elementname> <elementname>GyroDriftZ</elementname> </elementnames> </field> <access gcs="readwrite" flight="readwrite"/> <telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetryflight acked="false" updatemode="periodic" period="10000"/> <logging updatemode="manual" period="0"/> </object> </xml>