<!DOCTYPE settings SYSTEM "settings.dtd">

<!-- A conf to use for standard operation (no tuning) -->

<settings>
  <dl_settings>
    <dl_settings NAME="Misc" >
      <dl_setting VAR="telemetry_mode_Ap_DefaultChannel" MIN="0" STEP="1" MAX="1" module="csc_telemetry" shortname="telemetry"
        values="Default|Debug"/>
    </dl_settings>
    <dl_settings NAME="imu params">
      <dl_setting VAR="xsens_setzero" MIN="0" STEP="1" MAX="1" module="csc_xsens" shortname="zero orientation"/>
      <dl_setting VAR="xsens_psi_offset[0]" MIN="-180" STEP="1" MAX="180" module="csc_xsens" shortname="psi offset"/>
      <dl_setting VAR="csc_yaw_setpoint_rate" MIN="0" STEP="0.01" MAX="3" module="csc_autopilot" shortname="setpoint rate"/>
      <dl_setting VAR="csc_yaw_setpoint_range" MIN="0" STEP="0.01" MAX="100" module="csc_autopilot" shortname="setpoint range"/>
    </dl_settings>
    <dl_settings NAME="vane sensor">
      <dl_setting VAR="csc_vane_angle_offset" MIN="-360" STEP="1" MAX="360" module="csc_autopilot" shortname="vane offset"/>
      <dl_setting VAR="csc_vane_weight" MIN="0" STEP="0.01" MAX="1" module="csc_autopilot" shortname="vane weight" />
      <dl_setting VAR="csc_vane_filter_constant" MIN="0" STEP="0.01" MAX="1" module="csc_autopilot" shortname="vane filter constant" />
    </dl_settings>
    <dl_settings NAME="drag devices">
      <dl_setting VAR="csc_drag_pitch" MIN="-2" STEP="0.05" MAX="2" module="csc_autopilot" shortname="drag pitch mix"/>
      <dl_setting VAR="csc_drag_yaw" MIN="-2" STEP="0.05" MAX="2" module="csc_autopilot" shortname="drag yaw mix" />
    </dl_settings>
    <dl_settings NAME="flight params">
      <dl_setting VAR="csc_gains.pitch_kp" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="pitch kp"/>
      <dl_setting VAR="csc_gains.pitch_kd" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="pitch kd"/>
      <dl_setting VAR="csc_gains.pitch_ki" MIN="-200" STEP=".1" MAX="200" module="csc_autopilot" shortname="pitch ki" handler="set_pitch_ki"/>
      <dl_setting VAR="csc_gains.roll_kp" MIN="-8000" STEP="10" MAX="8000" module="csc_autopilot" shortname="roll kp"/>
      <dl_setting VAR="csc_gains.roll_kd" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="roll kd"/>
      <dl_setting VAR="csc_gains.roll_ki" MIN="-200" STEP=".1" MAX="200" module="csc_autopilot" shortname="roll ki" handler="set_roll_ki"/>
      <dl_setting VAR="csc_gains.yaw_kp" MIN="-10000" STEP="10" MAX="10000" module="csc_autopilot" shortname="yaw kp"/>
      <dl_setting VAR="csc_gains.yaw_kd" MIN="-4000" STEP="10" MAX="4000" module="csc_autopilot" shortname="yaw kd"/>
      <dl_setting VAR="csc_gains.yaw_ki" MIN="-200" STEP=".1" MAX="200" module="csc_autopilot" shortname="yaw ki" handler="set_yaw_ki"/>
      <dl_setting VAR="csc_yaw_rudder" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw rudder"/>
      <dl_setting VAR="csc_yaw_aileron" MIN="-5" STEP="0.01" MAX="5" module="csc_autopilot" shortname="yaw aileron"/>
      <dl_setting VAR="csc_yaw_deadband" MIN="-30" STEP="0.01" MAX="30" module="csc_autopilot" shortname="yaw deadband"/>
    </dl_settings>
    <dl_settings NAME="self-tuning PID">
      <dl_setting VAR="csc_gamma.pitch_kp" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="pitch kp"/>
      <dl_setting VAR="csc_gamma.pitch_kd" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="pitch kd"/>
      <dl_setting VAR="csc_gamma.pitch_ki" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="pitch ki" handler="set_pitch_ki"/>
      <dl_setting VAR="csc_gamma.roll_kp" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="roll kp"/>
      <dl_setting VAR="csc_gamma.roll_kd" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="roll kd"/>
      <dl_setting VAR="csc_gamma.roll_ki" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="roll ki" handler="set_roll_ki"/>
      <dl_setting VAR="csc_gamma.yaw_kp" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="yaw kp"/>
      <dl_setting VAR="csc_gamma.yaw_kd" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="yaw kd"/>
      <dl_setting VAR="csc_gamma.yaw_ki" MIN="-20" STEP="0.01" MAX="20" module="csc_autopilot" shortname="yaw ki" handler="set_yaw_ki"/>
    </dl_settings>
    <dl_settings NAME="trims">
      <dl_setting VAR="csc_trims_set" MIN="0" STEP="1" MAX="1" module="csc_ap_main" shortname="set trims"/>
      <dl_setting VAR="csc_trims.elevator" MIN="-6000" STEP="10" MAX="6000" module="csc_autopilot" shortname="elevator trim"/>
      <dl_setting VAR="csc_trims.aileron" MIN="-6000" STEP="10" MAX="6000" module="csc_autopilot" shortname="aileron trim"/>
      <dl_setting VAR="csc_trims.rudder" MIN="-6000" STEP="10" MAX="6000" module="csc_autopilot" shortname="rudder trim"/>
    </dl_settings>
    <dl_settings NAME="GPS">
      <dl_setting VAR="csc_gps_setzero" MIN="0" STEP="1" MAX="1" module="csc_autopilot" shortname="zero GPS"/>
      <dl_setting VAR="csc_gps_weight" MIN="-2" STEP="0.01" MAX="2" module="csc_autopilot" shortname="GPS weight"/>
      <dl_setting VAR="csc_gps_gain" MIN="-1" STEP="0.0001" MAX="1" module="csc_autopilot" shortname="GPS gain"/>
      <dl_setting VAR="csc_gps_filter_weight" MIN="0" STEP="0.0001" MAX="1" module="csc_autopilot" shortname="GPS low-pass coeff"/>
    </dl_settings>
  </dl_settings>
</settings>
