From 5833e2a7ccf85cdf68aec2c224f8e09f559d7f7c Mon Sep 17 00:00:00 2001
From: Les Newell <les@sheetcam.com>
Date: Wed, 11 Dec 2013 13:34:58 +0000
Subject: [PATCH] OP-984 Added one UAVObject per PID bank

---
 .../stabilizationsettings.xml                 | 14 +++--------
 .../stabilizationsettingsbank1.xml            | 23 +++++++++++++++++++
 .../stabilizationsettingsbank2.xml            | 23 +++++++++++++++++++
 .../stabilizationsettingsbank3.xml            | 23 +++++++++++++++++++
 4 files changed, 72 insertions(+), 11 deletions(-)
 create mode 100644 shared/uavobjectdefinition/stabilizationsettingsbank1.xml
 create mode 100644 shared/uavobjectdefinition/stabilizationsettingsbank2.xml
 create mode 100644 shared/uavobjectdefinition/stabilizationsettingsbank3.xml

diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 6979fb9f4..7e7e026bc 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -1,18 +1,10 @@
 <xml>
+
     <object name="StabilizationSettings" singleinstance="true" settings="true" category="Control">
         <description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
-	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
-	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
-	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
-	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
-	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
-	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
-	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
-	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<!-- Note: The number of elements here must match the number of available flight modes -->
+	<field name="FlightModeMap" units="" type="uint8" elementnames="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"  defaultvalue="0,0,0,0,0,0,0,0,0,0,0,0,0"/>
 
 	<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
 	<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank1.xml b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml
new file mode 100644
index 000000000..f7924c0be
--- /dev/null
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank1.xml
@@ -0,0 +1,23 @@
+<xml>
+    <object name="StabilizationSettingsBank1" singleinstance="true" settings="true" category="Control">
+        <description>Currently selected PID bank</description>
+
+	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+	<telemetryflight acked="true" updatemode="onchange" period="0"/>
+	<logging updatemode="manual" period="0"/>
+</object>
+
+</xml>
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank2.xml b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml
new file mode 100644
index 000000000..381f1a7c6
--- /dev/null
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank2.xml
@@ -0,0 +1,23 @@
+<xml>
+    <object name="StabilizationSettingsBank2" singleinstance="true" settings="true" category="Control">
+        <description>Currently selected PID bank</description>
+
+	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+	<telemetryflight acked="true" updatemode="onchange" period="0"/>
+	<logging updatemode="manual" period="0"/>
+</object>
+
+</xml>
diff --git a/shared/uavobjectdefinition/stabilizationsettingsbank3.xml b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml
new file mode 100644
index 000000000..14c44d626
--- /dev/null
+++ b/shared/uavobjectdefinition/stabilizationsettingsbank3.xml
@@ -0,0 +1,23 @@
+<xml>
+    <object name="StabilizationSettingsBank3" singleinstance="true" settings="true" category="Control">
+        <description>Currently selected PID bank</description>
+
+	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="42" limits="%BE:0:180"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,175" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,50" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
+
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+	<telemetryflight acked="true" updatemode="onchange" period="0"/>
+	<logging updatemode="manual" period="0"/>
+</object>
+
+</xml>