<!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
  <dl_settings>

    <dl_settings NAME="Misc" >
      <dl_setting VAR="telemetry_mode_Main" MIN="0" STEP="1" MAX="4" module="rdyb_telemetry" shortname="telemetry" 
	values="Default|Raw sensors|Scaled sensors|AHRS|setup_commands"/>
    </dl_settings>

    <dl_settings NAME="Control setpoints" >
      <dl_setting VAR="throttle"                           MIN="0" STEP="100" MAX="9600" module="ready_main"       shortname="throttle_sp"/>
      <dl_setting VAR="whirly_cyclic_setpoint"             MIN="-40" STEP="1" MAX=" 40"  module="elevator_control" shortname="cyclic_sp"/>
      <dl_setting VAR="whirly_collective_setpoint"         MIN="-15" STEP="1" MAX=" 15"  module="elevator_control" shortname="collective_sp"/>
      <dl_setting VAR="whirly_plane1_phase_offset_degrees" MIN="  0" STEP="5" MAX="360"  module="elevator_control" shortname="phase_offset"/>
    </dl_settings>

    <dl_settings NAME="Control gains" >
         <dl_setting MAX="80000" MIN="0" STEP="500" VAR="whirly_elevator_pitch_kp" shortname="ele pi kp" module="elevator_control"
          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KP"/>
        <dl_setting MAX="50000" MIN="0" STEP="50000" VAR="whirly_elevator_pitch_kd" shortname="ele pi kd" module="elevator_control"
          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KD"/>
        <dl_setting MAX="4000" MIN="0" STEP="5" VAR="whirly_elevator_pitch_ki" shortname="ele pi ki" module="elevator_control"
          param="DEFAULT_WHIRLY_ELEVATOR_PITCH_KI"/>
        <dl_setting MAX="60000" MIN="-60000" STEP="1000" VAR="whirly_elevator_roll_kp" shortname="ele roll kp" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_ROLL_KP"/>
        <dl_setting MAX="5000000" MIN="-5000000" STEP="50000" VAR="whirly_elevator_roll_kd" shortname="elevator roll kd" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_ROLL_KD"/>
        <dl_setting MAX="1" MIN="-1" STEP="0.1" VAR="whirly_elevator_flap_mix" shortname="ele flap mix" module="elevator_control" param="DEFAULT_WHIRLY_ELEVATOR_FLAP_MIX"/>
       <dl_setting MAX="80000" MIN="0" STEP="500" VAR="whirly_flap_pitch_kp" shortname="flap pi kp" module="elevator_control"
          param="DEFAULT_WHIRLY_FLAP_PITCH_KP"/>
        <dl_setting MAX="2000" MIN="0" STEP="10" VAR="whirly_flap_pitch_kd" shortname="flap pi kd" module="elevator_control"
          param="DEFAULT_WHIRLY_FLAP_PITCH_KD"/>
        <dl_setting MAX="4000" MIN="0" STEP="5" VAR="whirly_flap_pitch_ki" shortname="flap pi ki" module="elevator_control"
          param="DEFAULT_WHIRLY_FLAP_PITCH_KI"/>
        <dl_setting MAX="60000" MIN="-60000" STEP="1000" VAR="whirly_flap_roll_kp" shortname="flap roll kp" module="elevator_control" param="DEFAULT_WHIRLY_FLAP_ROLL_KP"/>
        <dl_setting MAX="5000000" MIN="-5000000" STEP="50000" VAR="whirly_flap_roll_kd" shortname="flap roll kd" module="elevator_control" param="DEFAULT_WHIRLY_FLAP_ROLL_KD"/>


    </dl_settings>

    <dl_settings NAME="Trims" >
      <dl_setting VAR="whirly_elevator1_trim" MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_ele_1"/>
      <dl_setting VAR="whirly_elevator2_trim" MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_ele_2"/>
      <dl_setting VAR="whirly_flap1_trim"     MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_flap_1"/>
      <dl_setting VAR="whirly_flap2_trim"     MIN="-9600" STEP="100" MAX="9600" module="elevator_control" shortname="trim_flap_2"/>
      <dl_setting MAX="30" MIN="-30" STEP="0.5" VAR="whirly_plane1_pitch_offset" shortname="offset 1" module="elevator_control"
	param="DEFAULT_PLANE1_PITCH_OFFSET"/>
      <dl_setting MAX="30" MIN="-30" STEP="0.5" VAR="whirly_plane2_pitch_offset" shortname="offset 2" module="elevator_control"
	param="DEFAULT_PLANE2_PITCH_OFFSET"/>
   </dl_settings>

    <dl_settings NAME="Commands" >
      <dl_setting VAR="disable_control"  MIN="0"     STEP="1" MAX="1" module="ready_main" shortname="disable control" values="FALSE|TRUE"/>
      <dl_setting VAR="commands[COMMAND_THROTTLE]"  MIN="0"     STEP="100" MAX="9600" module="commands" shortname="throttle"/>
      <dl_setting VAR="commands[COMMAND_ELEVATOR1]" MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="ele_1"/>
      <dl_setting VAR="commands[COMMAND_ELEVATOR2]" MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="ele_2"/>
      <dl_setting VAR="commands[COMMAND_FLAP1]"     MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="flap_1"/>
      <dl_setting VAR="commands[COMMAND_FLAP2]"     MIN="-9600" STEP="100" MAX="9600" module="commands" shortname="flap_2"/>
    </dl_settings>

    <dl_settings NAME="Actuators" >
      <dl_setting VAR="disable_commands"  MIN="0"     STEP="1" MAX="1" module="ready_main" shortname="disable commands" values="FALSE|TRUE"/>
      <dl_setting VAR="actuators[SERVO_ELEVATOR1]" MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="ele_1"/>
      <dl_setting VAR="actuators[SERVO_ELEVATOR2]" MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="ele_2"/>
      <dl_setting VAR="actuators[SERVO_FLAP1]"     MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="flap_1"/>
      <dl_setting VAR="actuators[SERVO_FLAP2]"     MIN="15000" STEP="100" MAX="30000" module="actuators" shortname="flap_2"/>
    </dl_settings>

   <dl_settings NAME="motor_control">
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_req" shortname="send_req" module="rdyb_throttle"/>
        <dl_setting MAX="1" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_bid" shortname="send_tid" module="rdyb_throttle"/>
        <dl_setting MAX="16" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_cid" shortname="send_cid" module="rdyb_throttle"/>
        <dl_setting MAX="65535" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_arg1" shortname="send_arg1" module="rdyb_throttle"/>
        <dl_setting MAX="65535" MIN="0" STEP="1" VAR="rdyb_throttle_send_cmd_arg2" shortname="send_arg2" module="rdyb_throttle"/>
   </dl_settings>



  </dl_settings>
</settings>
