<!DOCTYPE settings SYSTEM "../settings.dtd">

<settings>
  <dl_settings>

    <dl_settings NAME="Vert Loop">
      <dl_setting var="guidance_v_kp" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kp" param="GUIDANCE_V_HOVER_KP"/>
      <dl_setting var="guidance_v_kd" min="0" step="1" max="600"   module="guidance/guidance_v" shortname="kd" param="GUIDANCE_V_HOVER_KD"/>
      <dl_setting var="guidance_v_ki" min="0" step="1" max="300"   module="guidance/guidance_v" shortname="ki" handler="SetKi" param="GUIDANCE_V_HOVER_KI"/>
      <dl_setting var="guidance_v_nominal_throttle" min="0.2" step="0.01" max="0.8" module="guidance/guidance_v" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
      <dl_setting var="guidance_v_adapt_throttle_enabled" min="0" step="1" max="1" module="guidance/guidance_v" shortname="adapt_throttle" param="GUIDANCE_V_ADAPT_THROTTLE_ENABLED" values="FALSE|TRUE"/>
      <dl_setting var="guidance_v_z_sp" min="-5" step="0.5" max="3" module="guidance/guidance_v" shortname="sp" unit="2e-8m" alt_unit="m" alt_unit_coef="0.00390625"/>
    </dl_settings>

    <dl_settings NAME="Horiz Loop">
      <dl_setting var="guidance_h_use_ref" min="0" step="1" max="1" module="guidance/guidance_h" shortname="use_ref" values="FALSE|TRUE" handler="SetUseRef" param="GUIDANCE_H_USE_REF"/>
      <dl_setting var="gh_ref.max_speed" min="0.1" step="0.1" max="15.0" module="guidance/guidance_h" shortname="max_speed" handler="SetMaxSpeed" param="GUIDANCE_H_REF_MAX_SPEED"/>
      <dl_setting var="guidance_h_approx_force_by_thrust" min="0" step="1" max="1" module="guidance/guidance_h" shortname="approx_force" values="FALSE|TRUE" param="GUIDANCE_H_APPROX_FORCE_BY_THRUST"/>
      <dl_setting var="gh_ref.tau" min="0.1" step="0.1" max="1.0" module="guidance/guidance_h" shortname="tau" handler="SetTau" param="GUIDANCE_H_REF_TAU"/>
      <dl_setting var="gh_ref.omega" min="0.1" step="0.1" max="3.0" module="guidance/guidance_h" shortname="omega" handler="SetOmega" param="GUIDANCE_H_REF_OMEGA"/>
      <dl_setting var="gh_ref.zeta" min="0.7" step="0.05" max="1.0" module="guidance/guidance_h" shortname="zeta" handler="SetZeta" param="GUIDANCE_H_REF_ZETA"/>
      <dl_setting var="guidance_h_pgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kp" param="GUIDANCE_H_PGAIN"/>
      <dl_setting var="guidance_h_dgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kd" param="GUIDANCE_H_DGAIN"/>
      <dl_setting var="guidance_h_igain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ki" handler="SetKi" param="GUIDANCE_H_IGAIN"/>
      <dl_setting var="guidance_h_vgain" min="0" step="1" max="400" module="guidance/guidance_h" shortname="kv" param="GUIDANCE_H_VGAIN"/>
      <dl_setting var="guidance_h_again" min="0" step="1" max="400" module="guidance/guidance_h" shortname="ka" param="GUIDANCE_H_AGAIN"/>
      <dl_setting var="guidance_h_pos_sp.x" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_x_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
      <dl_setting var="guidance_h_pos_sp.y" MIN="-10" MAX="10" STEP="1"  module="guidance/guidance_h" shortname="sp_y_ned" unit="1/2^8m" alt_unit="m" alt_unit_coef="0.00390625"/>
    </dl_settings>

    <dl_settings NAME="NAV">
      <dl_setting var="flight_altitude" MIN="0" STEP="0.1" MAX="400" module="navigation" unit="m" handler="SetFlightAltitude"/>
      <dl_setting var="nav_heading" MIN="0" STEP="1" MAX="360" module="navigation" unit="1/2^12r" alt_unit="deg" alt_unit_coef="0.0139882"/>
      <dl_setting var="nav_radius" MIN="-50" STEP="0.1" MAX="50" module="navigation" unit="m"/>
    </dl_settings>

  </dl_settings>
</settings>
