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

<settings>
  <dl_settings>

    <dl_settings NAME="indi">
      <dl_setting var="indi.reference_acceleration.err_p" min="0" step="1" max="2500" module="stabilization/stabilization_indi_simple" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true"/>
      <dl_setting var="indi.reference_acceleration.rate_p" min="0" step="0.1" max="100" module="stabilization/stabilization_indi_simple" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
      <dl_setting var="indi.g1.p" min="0" step="0.001" max="10" module="stabilization/stabilization_indi_simple" shortname="ctl_eff_p" param="STABILIZATION_INDI_G1_P" persistent="true"/>
      <dl_setting var="indi.reference_acceleration.err_q" min="0" step="1" max="2500" module="stabilization/stabilization_indi_simple" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
      <dl_setting var="indi.reference_acceleration.rate_q" min="0" step="0.1" max="100" module="stabilization/stabilization_indi_simple" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
      <dl_setting var="indi.g1.q" min="0" step="0.001" max="10" module="stabilization/stabilization_indi_simple" shortname="ctl_eff_q" param="STABILIZATION_INDI_G1_Q" persistent="true"/>
      <dl_setting var="indi.reference_acceleration.err_r" min="0" step="1" max="2500" module="stabilization/stabilization_indi_simple" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
      <dl_setting var="indi.reference_acceleration.rate_r" min="0" step="0.1" max="100" module="stabilization/stabilization_indi_simple" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
      <dl_setting var="indi.g1.r" min="0" step="0.001" max="10" module="stabilization/stabilization_indi_simple" shortname="ctl_eff_r" param="STABILIZATION_INDI_G1_R" persistent="true"/>
      <dl_setting var="indi.g2" min="0" step="0.01" max="10" module="stabilization/stabilization_indi_simple" shortname="g2" param="STABILIZATION_INDI_G2_R" persistent="true"/>
      <dl_setting var="indi.adaptive" min="0" step="1" max="1" module="stabilization/stabilization_indi_simple" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
      <dl_setting var="indi.max_rate" min="0" step="0.01" max="400.0" module="stabilization/stabilization_indi_simple" shortname="max_rate" param="STABILIZATION_INDI_MAX_RATE" unit="rad/s" alt_unit="deg/s"/>
      <dl_setting var="indi.attitude_max_yaw_rate" min="0" step="0.01" max="400.0" module="stabilization/stabilization_indi_simple" shortname="max_yaw_rate_attitude" param="STABILIZATION_INDI_MAX_R" unit="rad/s" alt_unit="deg/s"/>
    </dl_settings>

  </dl_settings>
</settings>
