<xml> <object name="AttitudeSettings" singleinstance="true" settings="true"> <description>Settings for the @ref Attitude module used on CopterControl</description> <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/> <field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/> <field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/> <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/> <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/> <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/> <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/> <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/> <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/> <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/> <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>