From 63ecf6ad7321f6ad4173587b97b124d40a318949 Mon Sep 17 00:00:00 2001
From: Les Newell <les@sheetcam.com>
Date: Wed, 11 Dec 2013 16:29:20 +0000
Subject: [PATCH] OP-984 txpid can now select which bank it operates on, rather
 than using the flight mode selected bank.

---
 flight/modules/TxPID/txpid.c                 | 39 +++++++++++++++++++-
 shared/uavobjectdefinition/txpidsettings.xml |  3 +-
 2 files changed, 39 insertions(+), 3 deletions(-)

diff --git a/flight/modules/TxPID/txpid.c b/flight/modules/TxPID/txpid.c
index c5865b61e..5a53565cc 100644
--- a/flight/modules/TxPID/txpid.c
+++ b/flight/modules/TxPID/txpid.c
@@ -57,6 +57,9 @@
 #include "manualcontrolcommand.h"
 #include "stabilizationsettings.h"
 #include "stabilizationbank.h"
+#include "stabilizationsettingsbank1.h"
+#include "stabilizationsettingsbank2.h"
+#include "stabilizationsettingsbank3.h"
 #include "flightstatus.h"
 #include "hwsettings.h"
 
@@ -165,7 +168,23 @@ static void updatePIDs(UAVObjEvent *ev)
     }
 
     StabilizationBankData bank;
-    StabilizationBankGet(&bank);
+    switch(inst.UpdateMode)
+    {
+    case 0:
+        StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
+        break;
+
+    case 1:
+        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
+        break;
+
+    case 2:
+        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
+        break;
+
+    default:
+        return;
+    }
     StabilizationSettingsData stab;
     StabilizationSettingsGet(&stab);
     AccessoryDesiredData accessory;
@@ -298,7 +317,23 @@ static void updatePIDs(UAVObjEvent *ev)
         StabilizationSettingsSet(&stab);
     }
     if (needsUpdateBank) {
-        StabilizationBankSet(&bank);
+        switch(inst.UpdateMode)
+        {
+        case 0:
+            StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
+            break;
+
+        case 1:
+            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
+            break;
+
+        case 2:
+            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
+            break;
+
+        default:
+            return;
+        }
     }
 }
 
diff --git a/shared/uavobjectdefinition/txpidsettings.xml b/shared/uavobjectdefinition/txpidsettings.xml
index 41c7d06ca..3276635e0 100644
--- a/shared/uavobjectdefinition/txpidsettings.xml
+++ b/shared/uavobjectdefinition/txpidsettings.xml
@@ -2,6 +2,7 @@
     <object name="TxPIDSettings" singleinstance="true" settings="true" category="Control">
         <description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
         <field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
+	<field name="BankNumber" units="" type="uint8" elements="1" defaultvalue="0" limits="%BE:0:3"/>
         <field name="Inputs" units="channel" type="enum"
 		elementnames="Instance1,Instance2,Instance3"
 		options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
@@ -10,7 +11,7 @@
         <field name="PIDs" units="option" type="enum"
 		elementnames="Instance1,Instance2,Instance3"
 		options="Disabled,
-			Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp, 
+			Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp,
 			Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
 			Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
 			Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,