From 1b55df733d06ab9fa6f8a3550f2f068db894fb52 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Mon, 20 Feb 2012 07:01:10 -0600
Subject: [PATCH] Create virtual flybar setting for stabilization modes

---
 flight/Modules/ManualControl/manualcontrol.c         | 3 +++
 shared/uavobjectdefinition/manualcontrolsettings.xml | 6 +++---
 shared/uavobjectdefinition/stabilizationdesired.xml  | 2 +-
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/ManualControl/manualcontrol.c b/flight/Modules/ManualControl/manualcontrol.c
index 8ffe1a77f..b05623f3a 100644
--- a/flight/Modules/ManualControl/manualcontrol.c
+++ b/flight/Modules/ManualControl/manualcontrol.c
@@ -586,6 +586,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Roll :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@@ -593,6 +594,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Pitch :
 	     0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@@ -600,6 +602,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VBAR) ? cmd->Yaw :
 	     0; // this is an invalid mode
 
 	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
diff --git a/shared/uavobjectdefinition/manualcontrolsettings.xml b/shared/uavobjectdefinition/manualcontrolsettings.xml
index 8ed79dbd0..da0a1e15d 100644
--- a/shared/uavobjectdefinition/manualcontrolsettings.xml
+++ b/shared/uavobjectdefinition/manualcontrolsettings.xml
@@ -18,9 +18,9 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
diff --git a/shared/uavobjectdefinition/stabilizationdesired.xml b/shared/uavobjectdefinition/stabilizationdesired.xml
index 21138c2e3..88a622b76 100644
--- a/shared/uavobjectdefinition/stabilizationdesired.xml
+++ b/shared/uavobjectdefinition/stabilizationdesired.xml
@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VBar"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>