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

<settings>
  <dl_settings>
    <dl_settings NAME="Controller">

      <dl_setting var="controller.elevation_sp" min="-25" step="1" max="20" module="firmwares/beth/overo_twist_controller" shortname="elev_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>

      <dl_setting var="controller.tilt_sp" min="-15" step="0.5" max="15" module="firmwares/beth/overo_twist_controller"  shortname="tilt_sp" unit="rad" alt_unit="deg" alt_unit_coef="57.29578">
      </dl_setting>

      <dl_setting var="controller.azim_gain" min="0" step=".01" max=".1" module="firmwares/beth/overo_estimator"  shortname="azim_gain">
      </dl_setting>

      <dl_setting var="controller.omega_tilt_ref" min="200" step="100" max="1200" module="firmwares/beth/overo_twist_controller"  shortname="tilt_omega_ref" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578">
      </dl_setting>

      <dl_setting var="estimator.elevation_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="elev_lp_coeff">
      </dl_setting>

      <dl_setting var="estimator.tilt_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="tilt_lp_coeff">
      </dl_setting>

      <dl_setting var="estimator.azimuth_lp_coeff" min="0.01" step="0.01" max="1" module="firmwares/beth/overo_estimator"  shortname="azim_lp_coeff">
      </dl_setting>

      <dl_setting var="controller.armed" min="0" step="1" max="2" shortname ="mode"/>

    </dl_settings>
  </dl_settings>
</settings>
