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      <command id="131" name="CONFIG_PARAMETER" type="specific" module="PID" description="Configure PID regulator constants, if message is sent with 0 data bytes, module will respond with current configuration">
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      <command id="131" name="CONFIG_PARAMETER" type="specific" module="PID" description="Configure PID regulator constants, if message is sent with 0 data bytes, module will respond with current configuration">
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    <variables>
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    <variables>
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      <variable name="K_P" type="float" start_bit="0" bit_length="16" unit="" description=""/>
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      <variable name="K_P" type="float" start_bit="0" bit_length="16" unit="" description=""/>
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      <variable name="K_I" type="float" start_bit="16" bit_length="16" unit="" description=""/>
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      <variable name="K_I" type="float" start_bit="16" bit_length="16" unit="" description=""/>
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      <variable name="K_D" type="float" start_bit="32" bit_length="16" unit="" description=""/>
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      <variable name="K_D" type="float" start_bit="32" bit_length="16" unit="" description=""/>
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      <variable name="TimeUnit" type="uint" start_bit="48" bit_length="1" unit="" description="">
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      <variable name="TimeUnit" type="enum" start_bit="48" bit_length="1" unit="" description="">
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        <value id="0" name="Seconds"/>
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        <value id="0" name="Seconds"/>
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        <value id="1" name="Milliseconds"/>
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        <value id="1" name="Milliseconds"/>
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      </variable>
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      </variable>
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      <variable name="RegulatorTime" type="uint" start_bit="49" bit_length="16" unit="" description=""/>
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      <variable name="RegulatorTime" type="uint" start_bit="49" bit_length="16" unit="" description=""/>
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    </variables>
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    </variables>