Make the VtolPathFollower an optional module

Note that RTH mode right now checks that throttle control is enabled, but this
should only occur if the system is a VTOL.

flight/Modules/Battery/battery.c

@@ -74,7 +74,6 @@ int32_t BatteryInitialize(void)
 #ifdef MODULE_BATTERY_BUILTIN
 	batteryEnabled = true;
 #else
-	HwSettingsInitialize();
 	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
 
 	HwSettingsOptionalModulesGet(optionalModules);

flight/Modules/ManualControl/manualcontrol.c

@@ -40,7 +40,7 @@
 #include "baroaltitude.h"
 #include "flighttelemetrystats.h"
 #include "flightstatus.h"
-#include "guidancesettings.h"
+#include "vtolpathfollowersettings.h"
 #include "manualcontrol.h"
 #include "manualcontrolsettings.h"
 #include "manualcontrolcommand.h"
@@ -672,8 +672,8 @@ static bool processFailsafe(bool valid_input_detected, ManualControlSettingsData
 				break;
 			case MANUALCONTROLSETTINGS_FAILSAFEBEHAVIOR_RTH: 
 			{
-				GuidanceSettingsData guidanceSettings;
-				GuidanceSettingsGet(&guidanceSettings);
+				VtolPathFollowerSettingsData guidanceSettings;
+				VtolPathFollowerSettingsGet(&guidanceSettings);
 				
 				FlightStatusData flightStatus;
 				FlightStatusGet(&flightStatus);
@@ -682,7 +682,7 @@ static bool processFailsafe(bool valid_input_detected, ManualControlSettingsData
 				// already armed.  It would be _really_ nice to have some indication we are actively
 				// flying to put here.  I would like to check the throttle is engaged but that would
 				// exclude fixed wing.
-				if (guidanceSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_TRUE &&
+				if (guidanceSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_TRUE &&
 					flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
 					setRTH(true);
 					flightStatus.FlightMode = FLIGHTSTATUS_FLIGHTMODE_RTH;

flight/Modules/VtolPathFollower/vtolpathfollower.c

@@ -49,13 +49,14 @@
 #include "vtolpathfollower.h"
 #include "accels.h"
 #include "attitudeactual.h"
+#include "hwsettings.h"
 #include "pathdesired.h"        // object that will be updated by the module
 #include "positionactual.h"
 #include "manualcontrol.h"
 #include "flightstatus.h"
 #include "gpsvelocity.h"
 #include "gpsposition.h"
-#include "guidancesettings.h"
+#include "vtolpathfollowersettings.h"
 #include "nedaccel.h"
 #include "nedposition.h"
 #include "stabilizationdesired.h"
@@ -76,7 +77,7 @@
 // Private variables
 static xTaskHandle pathfollowerTaskHandle;
 static PathDesiredData pathDesired;
-static GuidanceSettingsData guidanceSettings;
+static VtolPathFollowerSettingsData guidanceSettings;
 
 // Private functions
 static void vtolPathFollowerTask(void *parameters);
@@ -86,6 +87,7 @@ static void updatePathVelocity();
 static void updateEndpointVelocity();
 static void updateVtolDesiredAttitude();
 static float bound(float val, float min, float max);
+static bool vtolpathfollower_enabled;
 
 /**
  * Initialise the module, called on startup
@@ -93,9 +95,11 @@ static float bound(float val, float min, float max);
  */
 int32_t VtolPathFollowerStart()
 {
-	// Start main task
-	xTaskCreate(vtolPathFollowerTask, (signed char *)"VtolPathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
-	TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
+	if (vtolpathfollower_enabled) {
+		// Start main task
+		xTaskCreate(vtolPathFollowerTask, (signed char *)"VtolPathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
+		TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
+	}
 
 	return 0;
 }
@@ -106,10 +110,19 @@ int32_t VtolPathFollowerStart()
  */
 int32_t VtolPathFollowerInitialize()
 {
-	GuidanceSettingsInitialize();
-	NedAccelInitialize();
-	PathDesiredInitialize();
-	VelocityDesiredInitialize();
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+	
+	HwSettingsOptionalModulesGet(optionalModules);
+	
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_VTOLPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+		VtolPathFollowerSettingsInitialize();
+		NedAccelInitialize();
+		PathDesiredInitialize();
+		VelocityDesiredInitialize();
+		vtolpathfollower_enabled = true;
+	} else {
+		vtolpathfollower_enabled = false;
+	}
 	
 	return 0;
 }
@@ -135,10 +148,10 @@ static void vtolPathFollowerTask(void *parameters)
 
 	portTickType lastUpdateTime;
 	
-	GuidanceSettingsConnectCallback(SettingsUpdatedCb);
+	VtolPathFollowerSettingsConnectCallback(SettingsUpdatedCb);
 	PathDesiredConnectCallback(SettingsUpdatedCb);
 	
-	GuidanceSettingsGet(&guidanceSettings);
+	VtolPathFollowerSettingsGet(&guidanceSettings);
 	PathDesiredGet(&pathDesired);
 	
 	// Main task loop
@@ -253,7 +266,7 @@ static void updatePathVelocity()
 	velocityDesired.North = progress.path_direction[0] * groundspeed;
 	velocityDesired.East = progress.path_direction[1] * groundspeed;
 	
-	float error_speed = progress.error * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP];
+	float error_speed = progress.error * guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP];
 	float correction_velocity[2] = {progress.correction_direction[0] * error_speed, 
 	    progress.correction_direction[1] * error_speed};
 	
@@ -269,10 +282,10 @@ static void updatePathVelocity()
 	    bound(progress.fractional_progress,0,1);
 
 	float downError = altitudeSetpoint - positionActual.Down;
-	downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI],
-							-guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
-							guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
-	downCommand = (downError * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
+	downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KI],
+							-guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT],
+							guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT]);
+	downCommand = (downError * guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
 	velocityDesired.Down = bound(downCommand,
 								 -guidanceSettings.VerticalVelMax,
 								 guidanceSettings.VerticalVelMax);
@@ -305,12 +318,12 @@ void updateEndpointVelocity()
 	
 	float northPos = 0, eastPos = 0, downPos = 0;
 	switch (guidanceSettings.PositionSource) {
-		case GUIDANCESETTINGS_POSITIONSOURCE_EKF:
+		case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_EKF:
 			northPos = positionActual.North;
 			eastPos = positionActual.East;
 			downPos = positionActual.Down;
 			break;
-		case GUIDANCESETTINGS_POSITIONSOURCE_GPSPOS:
+		case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_GPSPOS:
 		{
 			NEDPositionData nedPosition;
 			NEDPositionGet(&nedPosition);
@@ -326,17 +339,17 @@ void updateEndpointVelocity()
 
 	// Compute desired north command
 	northError = pathDesired.End[PATHDESIRED_END_NORTH] - northPos;
-	northPosIntegral = bound(northPosIntegral + northError * dT * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI], 
-			      -guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
-			      guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
-	northCommand = (northError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
+	northPosIntegral = bound(northPosIntegral + northError * dT * guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI], 
+			      -guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT],
+			      guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT]);
+	northCommand = (northError * guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP] +
 			northPosIntegral);
 	
 	eastError = pathDesired.End[PATHDESIRED_END_EAST] - eastPos;
-	eastPosIntegral = bound(eastPosIntegral + eastError * dT * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI], 
-				 -guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
-				 guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
-	eastCommand = (eastError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
+	eastPosIntegral = bound(eastPosIntegral + eastError * dT * guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI], 
+				 -guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT],
+				 guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT]);
+	eastCommand = (eastError * guidanceSettings.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP] +
 		       eastPosIntegral);
 	
 	// Limit the maximum velocity
@@ -349,10 +362,10 @@ void updateEndpointVelocity()
 	velocityDesired.East = eastCommand * scale;
 
 	downError = pathDesired.End[PATHDESIRED_END_DOWN] - downPos;
-	downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI], 
-				-guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
-				guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
-	downCommand = (downError * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
+	downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KI], 
+				-guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT],
+				guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_ILIMIT]);
+	downCommand = (downError * guidanceSettings.VerticalPosPI[VTOLPATHFOLLOWERSETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
 	velocityDesired.Down = bound(downCommand,
 				     -guidanceSettings.VerticalVelMax, 
 				     guidanceSettings.VerticalVelMax);
@@ -376,7 +389,7 @@ static void updateVtolDesiredAttitude()
 	StabilizationDesiredData stabDesired;
 	AttitudeActualData attitudeActual;
 	NedAccelData nedAccel;
-	GuidanceSettingsData guidanceSettings;
+	VtolPathFollowerSettingsData guidanceSettings;
 	StabilizationSettingsData stabSettings;
 	SystemSettingsData systemSettings;
 
@@ -390,7 +403,7 @@ static void updateVtolDesiredAttitude()
 	float downCommand;
 		
 	SystemSettingsGet(&systemSettings);
-	GuidanceSettingsGet(&guidanceSettings);
+	VtolPathFollowerSettingsGet(&guidanceSettings);
 	
 	VelocityActualGet(&velocityActual);
 	VelocityDesiredGet(&velocityDesired);
@@ -402,12 +415,12 @@ static void updateVtolDesiredAttitude()
 	
 	float northVel = 0, eastVel = 0, downVel = 0;
 	switch (guidanceSettings.VelocitySource) {
-		case GUIDANCESETTINGS_VELOCITYSOURCE_EKF:
+		case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_EKF:
 			northVel = velocityActual.North;
 			eastVel = velocityActual.East;
 			downVel = velocityActual.Down;
 			break;
-		case GUIDANCESETTINGS_VELOCITYSOURCE_NEDVEL:
+		case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_NEDVEL:
 		{
 			GPSVelocityData gpsVelocity;
 			GPSVelocityGet(&gpsVelocity);
@@ -416,7 +429,7 @@ static void updateVtolDesiredAttitude()
 			downVel = gpsVelocity.Down;
 		}
 			break;
-		case GUIDANCESETTINGS_VELOCITYSOURCE_GPSPOS:
+		case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_GPSPOS:
 		{
 			GPSPositionData gpsPosition;
 			GPSPositionGet(&gpsPosition);
@@ -437,34 +450,34 @@ static void updateVtolDesiredAttitude()
 	
 	// Compute desired north command
 	northError = velocityDesired.North - northVel;
-	northVelIntegral = bound(northVelIntegral + northError * dT * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI], 
-			      -guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
-			      guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
-	northCommand = (northError * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] +
+	northVelIntegral = bound(northVelIntegral + northError * dT * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI], 
+			      -guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT],
+			      guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT]);
+	northCommand = (northError * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP] +
 			northVelIntegral -
-			nedAccel.North * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
+			nedAccel.North * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD] +
 			velocityDesired.North * guidanceSettings.VelocityFeedforward);
 	
 	// Compute desired east command
 	eastError = velocityDesired.East - eastVel;
-	eastVelIntegral = bound(eastVelIntegral + eastError * dT * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI], 
-			     -guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
-			     guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
-	eastCommand = (eastError * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] + 
+	eastVelIntegral = bound(eastVelIntegral + eastError * dT * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI], 
+			     -guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT],
+			     guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_ILIMIT]);
+	eastCommand = (eastError * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP] + 
 		       eastVelIntegral - 
-		       nedAccel.East * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
+		       nedAccel.East * guidanceSettings.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD] +
 			   velocityDesired.East * guidanceSettings.VelocityFeedforward);
 	
 	// Compute desired down command
 	downError = velocityDesired.Down - downVel;
 	// Must flip this sign 
 	downError = -downError;
-	downVelIntegral = bound(downVelIntegral + downError * dT * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KI], 
-			      -guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT],
-			      guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT]);	
-	downCommand = (downError * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KP] +
+	downVelIntegral = bound(downVelIntegral + downError * dT * guidanceSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KI], 
+			      -guidanceSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_ILIMIT],
+			      guidanceSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_ILIMIT]);	
+	downCommand = (downError * guidanceSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KP] +
 		       downVelIntegral -
-		       nedAccel.Down * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KD]);
+		       nedAccel.Down * guidanceSettings.VerticalVelPID[VTOLPATHFOLLOWERSETTINGS_VERTICALVELPID_KD]);
 	
 	stabDesired.Throttle = bound(downCommand + throttleOffset, 0, 1);
 	
@@ -477,7 +490,7 @@ static void updateVtolDesiredAttitude()
 				     eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
 				     -guidanceSettings.MaxRollPitch, guidanceSettings.MaxRollPitch);
 	
-	if(guidanceSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_FALSE) {
+	if(guidanceSettings.ThrottleControl == VTOLPATHFOLLOWERSETTINGS_THROTTLECONTROL_FALSE) {
 		// For now override throttle with manual control.  Disable at your risk, quad goes to China.
 		ManualControlCommandData manualControl;
 		ManualControlCommandGet(&manualControl);
@@ -546,7 +559,7 @@ static float bound(float val, float min, float max)
 
 static void SettingsUpdatedCb(UAVObjEvent * ev)
 {
-	GuidanceSettingsGet(&guidanceSettings);
+	VtolPathFollowerSettingsGet(&guidanceSettings);
 	PathDesiredGet(&pathDesired);
 }
 

flight/Revolution/UAVObjects.inc

@@ -50,7 +50,7 @@ UAVOBJSRCFILENAMES += gpsposition
 UAVOBJSRCFILENAMES += gpssatellites
 UAVOBJSRCFILENAMES += gpstime
 UAVOBJSRCFILENAMES += gpsvelocity
-UAVOBJSRCFILENAMES += guidancesettings
+UAVOBJSRCFILENAMES += vtolpathfollowersettings
 UAVOBJSRCFILENAMES += homelocation
 UAVOBJSRCFILENAMES += i2cstats
 UAVOBJSRCFILENAMES += manualcontrolcommand

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -65,7 +65,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/mixerstatus.h \
     $$UAVOBJECT_SYNTHETICS/velocitydesired.h \
     $$UAVOBJECT_SYNTHETICS/velocityactual.h \
-    $$UAVOBJECT_SYNTHETICS/guidancesettings.h \
+    $$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.h \
     $$UAVOBJECT_SYNTHETICS/ratedesired.h \
     $$UAVOBJECT_SYNTHETICS/firmwareiapobj.h \
     $$UAVOBJECT_SYNTHETICS/i2cstats.h \
@@ -133,7 +133,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/mixerstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/velocitydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/velocityactual.cpp \
-    $$UAVOBJECT_SYNTHETICS/guidancesettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.cpp \
     $$UAVOBJECT_SYNTHETICS/ratedesired.cpp \
     $$UAVOBJECT_SYNTHETICS/firmwareiapobj.cpp \
     $$UAVOBJECT_SYNTHETICS/i2cstats.cpp \

shared/uavobjectdefinition/hwsettings.xml

@@ -18,7 +18,7 @@
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,Battery" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,Battery,VtolPathFollower,FixedWingPathFollower" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/vtolpathfollowersettings.xml

@@ -1,6 +1,6 @@
 <xml>
-    <object name="GuidanceSettings" singleinstance="true" settings="true">
-        <description>Settings for the @ref GuidanceModule</description>
+    <object name="VtolPathFollowerSettings" singleinstance="true" settings="true">
+        <description>Settings for the @ref VtolPathFollower module</description>
         <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
 	<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
         <field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>