<!DOCTYPE settings SYSTEM "settings.dtd">

<settings>
  <dl_settings>
    <dl_settings NAME="flight params">
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="estimator_in_flight" shortname="in_flight" module="tl_estimator"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="tl_estimator_set_ground_pressure" shortname="set_pressure" module="tl_estimator"/>
      <dl_setting MAX="1" MIN="0" STEP="1" VAR="kill_throttle" shortname="kill" module="tl_control"/>
      <dl_setting MAX="0" MIN="-1000" STEP="10" VAR="tl_control_rate_r_pgain" shortname="rate_pgain" module="tl_control"/>
      <dl_setting MAX="20" MIN="0" STEP="0.1" VAR="tl_control_rate_r_dgain" shortname="rate_dgain" module="tl_control"/>
      <dl_setting MAX="10" MIN="0" STEP="1" VAR="tl_control_rate_r_igain" shortname="rate_igain" module="tl_control"/>
      <dl_setting MAX="3000" MIN="-3000" STEP="1" VAR="tl_control_trim_r" shortname="trim_r" module="tl_control"/>
      <dl_setting MAX="6" MIN="0" STEP="1" VAR="telemetry_mode_Ap" shortname="telemetry_mode" module="tl_telemetry"/>
   </dl_settings>

   <dl_settings name="yaw">
      <dl_setting MAX="0" MIN="-3000" STEP="1" VAR="tl_control_attitude_psi_pgain" shortname="att_gain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-3000" STEP="1" VAR="tl_control_attitude_psi_dgain" shortname="att_dgain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-10" STEP="1" VAR="tl_control_attitude_psi_igain" shortname="att_igain" module="tl_control"/>
   </dl_settings>

   <dl_settings name="vertical">
      <dl_setting MAX="0" MIN="-3000" STEP="1" VAR="tl_control_agl_pgain" shortname="agl_pgain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-3000" STEP="1" VAR="tl_control_agl_dgain" shortname="agl_dgain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-10" STEP="1" VAR="tl_control_agl_igain" shortname="agl_igain" module="tl_control"/>
      <dl_setting MAX="0.1" MIN="0.01" STEP="0.01" VAR="tl_baro_alpha" module="tl_vfilter"/>
   </dl_settings>

   <dl_settings name="speed">
      <dl_setting MAX="0" MIN="-5000" STEP="1" VAR="tl_control_speed_pgain" shortname="speed_pgain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-3000" STEP="1" VAR="tl_control_speed_dgain" shortname="speed_dgain" module="tl_control"/>
      <dl_setting MAX="0" MIN="-10" STEP="1" VAR="tl_control_speed_igain" shortname="speed_igain" module="tl_control"/>
   </dl_settings>

    <dl_settings name="nav">
      <dl_setting MAX="0" MIN="-9600" STEP="1" VAR="tl_nav_goto_h_pgain" shortname="nav_h_pgain" module="tl_nav"/>
      <dl_setting MAX="0" MIN="-9600" STEP="1" VAR="tl_nav_goto_h_dgain" shortname="nav_h_dgain" module="tl_nav"/>      
   </dl_settings>
 </dl_settings>
</settings>
