<!DOCTYPE UAVSettings>
<settings>
    <versionInfo>
        <Embedded gitcommittag="2f7f920e" fwtag="next-dirty" cpuSerial="51ff6c064886505136072187"/>
        <GCS revision="next:2f7f920e-dirty 20110814 14:25"/>
    </versionInfo>
    <object id="0x9850105C" name="ActuatorSettings">
        <field values="None" name="FixedWingRoll1"/>
        <field values="None" name="FixedWingRoll2"/>
        <field values="None" name="FixedWingPitch1"/>
        <field values="None" name="FixedWingPitch2"/>
        <field values="None" name="FixedWingYaw1"/>
        <field values="None" name="FixedWingYaw2"/>
        <field values="None" name="FixedWingThrottle"/>
        <field values="None" name="VTOLMotorN"/>
        <field values="None" name="VTOLMotorNE"/>
        <field values="None" name="VTOLMotorE"/>
        <field values="None" name="VTOLMotorSE"/>
        <field values="None" name="VTOLMotorS"/>
        <field values="None" name="VTOLMotorSW"/>
        <field values="None" name="VTOLMotorW"/>
        <field values="None" name="VTOLMotorNW"/>
        <field values="100,150,100,100" name="ChannelUpdateFreq"/>
        <field values="1007,1157,1940,1940,1100,1970,1000,1000" name="ChannelMax"/>
        <field values="1505,1527,1150,1520,1100,1520,1000,1000" name="ChannelNeutral"/>
        <field values="1889,1836,1150,1010,1940,1119,1000,1000" name="ChannelMin"/>
        <field values="PWM,PWM,PWM,PWM,PWM,PWM,PWM,PWM" name="ChannelType"/>
        <field values="0,1,2,3,4,5,6,7" name="ChannelAddr"/>
        <field values="FALSE" name="MotorsSpinWhileArmed"/>
    </object>
    <object id="0xBC852CB8" name="AHRSCalibration">
        <field values="SET" name="measure_var"/>
        <field values="-73.5,-73.5,73.5" name="accel_bias"/>
        <field values="0.0359,0.0359,0.0359" name="accel_scale"/>
        <field values="0,0,0" name="accel_ortho"/>
        <field values="0.0005,0.0005,0.0005" name="accel_var"/>
        <field values="28,-28,28" name="gyro_bias"/>
        <field values="-0.017,0.017,-0.017" name="gyro_scale"/>
        <field values="0.0001,0.0001,0.0001" name="gyro_var"/>
        <field values="0,0,0" name="gyro_tempcompfactor"/>
        <field values="0,0,0" name="mag_bias"/>
        <field values="1,1,1" name="mag_scale"/>
        <field values="50,50,50" name="mag_var"/>
        <field values="10" name="vel_var"/>
        <field values="0.04" name="pos_var"/>
    </object>
    <object id="0xA70EF650" name="AHRSSettings">
        <field values="INSGPS_INDOOR_NOMAG" name="Algorithm"/>
        <field values="20" name="Downsampling"/>
        <field values="1" name="UpdatePeriod"/>
        <field values="TRUE" name="BiasCorrectedRaw"/>
        <field values="0" name="YawBias"/>
        <field values="0" name="PitchBias"/>
        <field values="0" name="RollBias"/>
    </object>
    <object id="0x3338B308" name="AttitudeSettings">
        <field values="-2,12,26" name="AccelBias"/>
        <field values="1067,6399,780" name="GyroBias"/>
        <field values="0,0,-90" name="BoardRotation"/>
        <field values="0.42" name="GyroGain"/>
        <field values="0.03" name="AccelKp"/>
        <field values="0.001" name="AccelKi"/>
        <field values="1e-06" name="YawBiasRate"/>
        <field values="TRUE" name="ZeroDuringArming"/>
        <field values="TRUE" name="BiasCorrectGyro"/>
    </object>
    <object id="0x8F3E8B2" name="FlightBatterySettings">
        <field values="LiPo" name="Type"/>
        <field values="3" name="NbCells"/>
        <field values="2200" name="Capacity"/>
        <field values="9.8,9.2" name="VoltageThresholds"/>
        <field values="None" name="SensorType"/>
        <field values="1,1" name="SensorCalibrations"/>
    </object>
    <object id="0x92E9FF76" name="FlightPlanSettings">
        <field values="0" name="Test"/>
    </object>
    <object id="0xBD88FAD2" name="GuidanceSettings">
        <field values="DUAL_LOOP" name="GuidanceMode"/>
        <field values="300" name="HorizontalVelMax"/>
        <field values="150" name="VerticalVelMax"/>
        <field values="0.1,0.001,300" name="HorizontalPosPI"/>
        <field values="0.05,0.002,0,1000" name="HorizontalVelPID"/>
        <field values="0.1,0.001,200" name="VerticalPosPI"/>
        <field values="0.1,0,0,0" name="VerticalVelPID"/>
        <field values="FALSE" name="ThrottleControl"/>
        <field values="10" name="MaxRollPitch"/>
        <field values="100" name="UpdatePeriod"/>
    </object>
    <object id="0x53E8110E" name="HomeLocation">
        <field values="FALSE" name="Set"/>
        <field values="0" name="Latitude"/>
        <field values="0" name="Longitude"/>
        <field values="0" name="Altitude"/>
        <field values="0,0,0" name="ECEF"/>
        <field values="0,0,0,0,0,0,0,0,0" name="RNE"/>
        <field values="0,0,0" name="Be"/>
        <field values="9.81" name="g_e"/>
    </object>
    <object id="0xD3E0D3B8" name="HwSettings">
        <field values="Disabled" name="CC_FlexiPort"/>
        <field values="Disabled" name="CC_MainPort"/>
    </object>
    <object id="0x335AE92" name="ManualControlSettings">
        <field values="PWM" name="InputMode"/>
        <field values="Channel1" name="Roll"/>
        <field values="Channel2" name="Pitch"/>
        <field values="Channel4" name="Yaw"/>
        <field values="Channel3" name="Throttle"/>
        <field values="Channel5" name="FlightMode"/>
        <field values="Channel6" name="Accessory0"/>
        <field values="None" name="Accessory1"/>
        <field values="None" name="Accessory2"/>
        <field values="Yaw Right" name="Arming"/>
        <field values="None,None,AxisLock" name="Stabilization1Settings"/>
        <field values="Rate,Rate,AxisLock" name="Stabilization2Settings"/>
        <field values="Attitude,Attitude,AxisLock" name="Stabilization3Settings"/>
        <field values="Stabilized1,Stabilized2,Stabilized3" name="FlightModePosition"/>
        <field values="1940,1940,1099,2065,1940,870,-1,-1" name="ChannelMax"/>
        <field values="1520,1517,1940,1520,1522,1940,-1,-1" name="ChannelNeutral"/>
        <field values="1100,1100,1944,1010,1100,1940,-1,-1" name="ChannelMin"/>
        <field values="0" name="ArmedTimeout"/>
    </object>
    <object id="0xF613B774" name="MixerSettings">
        <field values="1000" name="MaxAccel"/>
        <field values="0" name="FeedForward"/>
        <field values="0" name="AccelTime"/>
        <field values="0" name="DecelTime"/>
        <field values="0,0.25,0.5,0.75,1" name="ThrottleCurve1"/>
        <field values="Accessory0" name="Curve2Source"/>
        <field values="-1,-0.5,0,0.5,1" name="ThrottleCurve2"/>
        <field values="Servo" name="Mixer1Type"/>
        <field values="0,80,65,38,0" name="Mixer1Vector"/>
        <field values="Servo" name="Mixer2Type"/>
        <field values="0,80,0,-76,0" name="Mixer2Vector"/>
        <field values="Motor" name="Mixer3Type"/>
        <field values="127,0,0,0,0" name="Mixer3Vector"/>
        <field values="Servo" name="Mixer4Type"/>
        <field values="0,0,0,0,127" name="Mixer4Vector"/>
        <field values="Disabled" name="Mixer5Type"/>
        <field values="0,0,0,0,0" name="Mixer5Vector"/>
        <field values="Servo" name="Mixer6Type"/>
        <field values="0,80,-65,38,0" name="Mixer6Vector"/>
        <field values="Disabled" name="Mixer7Type"/>
        <field values="0,0,0,0,0" name="Mixer7Vector"/>
        <field values="Disabled" name="Mixer8Type"/>
        <field values="0,0,0,0,0" name="Mixer8Vector"/>
    </object>
    <object id="0x888AC91E" name="StabilizationSettings">
        <field values="120" name="RollMax"/>
        <field values="120" name="PitchMax"/>
        <field values="120" name="YawMax"/>
        <field values="200,200,720" name="ManualRate"/>
        <field values="300,300,720" name="MaximumRate"/>
        <field values="0.002,1e-05,0,0.3" name="RollRatePID"/>
        <field values="0.002,1e-05,0,0.3" name="PitchRatePID"/>
        <field values="0.005,0.0035,0,0.3" name="YawRatePID"/>
        <field values="2,0,50" name="RollPI"/>
        <field values="2,0,50" name="PitchPI"/>
        <field values="2,0,50" name="YawPI"/>
        <field values="0.005" name="GyroTau"/>
        <field values="5" name="MaxAxisLock"/>
        <field values="2" name="MaxAxisLockRate"/>
        <field values="0.1" name="WeakLevelingKp"/>
        <field values="5" name="MaxWeakLevelingRate"/>
        <field values="TRUE" name="LowThrottleZeroIntegral"/>
    </object>
    <object id="0x3153D1E2" name="SystemSettings">
        <field values="HeliCP" name="AirframeType"/>
        <field values="3824828436,17433329" name="GUIConfigData"/>
    </object>
    <object id="0x6B99FB52" name="TelemetrySettings">
        <field values="57600" name="Speed"/>
    </object>
</settings>