<xml>
    <object name="RevoCalibration" singleinstance="true" settings="true">
        <description>Settings for the INS to control the algorithm and what is updated</description>
        <field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="TRUE,FALSE" defaultvalue="TRUE"/>

	<!-- Sensor noises -->
        <field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
        <field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
        <field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
        <field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
        <field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
        <field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
	<field name="gyro_tempcoeff" units="(deg/s)/deg" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
        <field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
        <field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
        <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="50"/>

        <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>