<!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="0.1" step="0.01" max="0.9" module="guidance/guidance_v" shortname="nominal_throttle" param="GUIDANCE_V_NOMINAL_HOVER_THROTTLE"/>
      <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_setting var="ins.vf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="vf_realign" values="OFF|ON"/>
   </dl_settings>

   <dl_settings NAME="Horiz Loop">
      <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_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_setting var="ins.hf_realign" min="0" step="1" max="1" module="subsystems/ins" shortname="hf_realign" values="OFF|ON"/>
   </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="-150" STEP="0.1" MAX="150" module="navigation" unit="m"/>
   </dl_settings>

  </dl_settings>
</settings>
