Merge branch 'LesNewell/OP-984_PID_banks' into next

flight/modules/ManualControl/manualcontrol.c

@@ -46,7 +46,7 @@
 #include "manualcontrolcommand.h"
 #include "positionstate.h"
 #include "pathdesired.h"
-#include "stabilizationsettings.h"
+#include "stabilizationbank.h"
 #include "stabilizationdesired.h"
 #include "receiveractivity.h"
 #include "systemsettings.h"
@@ -668,8 +668,8 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
 
     StabilizationDesiredGet(&stabilization);
 
-    StabilizationSettingsData stabSettings;
+    StabilizationBankData stabSettings;
-    StabilizationSettingsGet(&stabSettings);
+    StabilizationBankGet(&stabSettings);
 
     uint8_t *stab_settings;
     FlightStatusData flightStatus;
@@ -871,8 +871,8 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
         AltitudeHoldSettingsThrottleRateGet(&throttleRate);
     }
 
-    StabilizationSettingsData stabSettings;
+    StabilizationBankData stabSettings;
-    StabilizationSettingsGet(&stabSettings);
+    StabilizationBankGet(&stabSettings);
 
     thisSysTime   = xTaskGetTickCount();
     dT = ((thisSysTime == lastSysTimeAH) ? 0.001f : (thisSysTime - lastSysTimeAH) * portTICK_RATE_MS * 0.001f);

flight/modules/Stabilization/stabilization.c

@@ -35,6 +35,10 @@
 #include <pios_struct_helper.h>
 #include "stabilization.h"
 #include "stabilizationsettings.h"
+#include "stabilizationbank.h"
+#include "stabilizationsettingsbank1.h"
+#include "stabilizationsettingsbank2.h"
+#include "stabilizationsettingsbank3.h"
 #include "actuatordesired.h"
 #include "ratedesired.h"
 #include "relaytuning.h"
@@ -65,13 +69,15 @@
 #if defined(PIOS_STABILIZATION_STACK_SIZE)
 #define STACK_SIZE_BYTES    PIOS_STABILIZATION_STACK_SIZE
 #else
-#define STACK_SIZE_BYTES    724
+#define STACK_SIZE_BYTES    790
 #endif
 
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 4)
 #define FAILSAFE_TIMEOUT_MS 30
 
 enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
+enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
+enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
 
 
 // Private variables
@@ -88,12 +94,15 @@ bool lowThrottleZeroIntegral;
 bool lowThrottleZeroAxis[MAX_AXES];
 float vbar_decay = 0.991f;
 struct pid pids[PID_MAX];
+int flight_mode = -1;
 
 // Private functions
 static void stabilizationTask(void *parameters);
 static float bound(float val, float range);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent *ev);
+static void BankUpdatedCb(UAVObjEvent *ev);
+static void SettingsBankUpdatedCb(UAVObjEvent *ev);
 
 /**
  * Module initialization
@@ -111,6 +120,13 @@ int32_t StabilizationStart()
     StabilizationSettingsConnectCallback(SettingsUpdatedCb);
     SettingsUpdatedCb(StabilizationSettingsHandle());
 
+    StabilizationBankConnectCallback(BankUpdatedCb);
+
+    StabilizationSettingsBank1ConnectCallback(SettingsBankUpdatedCb);
+    StabilizationSettingsBank2ConnectCallback(SettingsBankUpdatedCb);
+    StabilizationSettingsBank3ConnectCallback(SettingsBankUpdatedCb);
+
+
     // Start main task
     xTaskCreate(stabilizationTask, (signed char *)"Stabilization", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
     PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_STABILIZATION, taskHandle);
@@ -127,6 +143,10 @@ int32_t StabilizationInitialize()
 {
     // Initialize variables
     StabilizationSettingsInitialize();
+    StabilizationBankInitialize();
+    StabilizationSettingsBank1Initialize();
+    StabilizationSettingsBank2Initialize();
+    StabilizationSettingsBank3Initialize();
     ActuatorDesiredInitialize();
 #ifdef DIAG_RATEDESIRED
     RateDesiredInitialize();
@@ -159,6 +179,8 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
     AttitudeStateData attitudeState;
     GyroStateData gyroStateData;
     FlightStatusData flightStatus;
+    StabilizationBankData stabBank;
+
 
 #ifdef REVOLUTION
     AirspeedStateData airspeedState;
@@ -188,9 +210,16 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
         StabilizationDesiredGet(&stabDesired);
         AttitudeStateGet(&attitudeState);
         GyroStateGet(&gyroStateData);
+        StabilizationBankGet(&stabBank);
 #ifdef DIAG_RATEDESIRED
         RateDesiredGet(&rateDesired);
 #endif
+
+        if(flight_mode != flightStatus.FlightMode){
+            flight_mode = flightStatus.FlightMode;
+            SettingsBankUpdatedCb(NULL);
+        }
+
 #ifdef REVOLUTION
         float speedScaleFactor;
         // Scale PID coefficients based on current airspeed estimation - needed for fixed wing planes
@@ -288,7 +317,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
 
                 // Store to rate desired variable for storing to UAVO
                 rateDesiredAxis[i] =
-                    bound(attitudeDesiredAxis[i], cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
+                    bound(attitudeDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
 
                 // Compute the inner loop
                 actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
@@ -305,7 +334,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                 // Compute the outer loop
                 rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
                 rateDesiredAxis[i] = bound(rateDesiredAxis[i],
-                                           cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
+                                           cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
 
                 // Compute the inner loop
                 actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
@@ -357,7 +386,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                 }
 
                 rateDesiredAxis[i]     = bound(rateDesiredAxis[i],
-                                               cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
+                                               cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
 
                 actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
                 actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
@@ -367,7 +396,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
             case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
                 // Store to rate desired variable for storing to UAVO
                 rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
-                                           cast_struct_to_array(settings.ManualRate, settings.ManualRate.Roll)[i]);
+                                           cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
 
                 // Run the relay controller which also estimates the oscillation parameters
                 stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
@@ -383,7 +412,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
                 // Compute the outer loop like attitude mode
                 rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], local_error[i], dT);
                 rateDesiredAxis[i] = bound(rateDesiredAxis[i],
-                                           cast_struct_to_array(settings.MaximumRate, settings.MaximumRate.Roll)[i]);
+                                           cast_struct_to_array(stabBank.MaximumRate, stabBank.MaximumRate.Roll)[i]);
 
                 // Run the relay controller which also estimates the oscillation parameters
                 stabilization_relay_rate(rateDesiredAxis[i] - gyro_filtered[i], &actuatorDesiredAxis[i], i, reinit);
@@ -484,43 +513,125 @@ static float bound(float val, float range)
     return val;
 }
 
+
+
+static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    StabilizationBankData bank, oldBank;
+    StabilizationBankGet(&oldBank);
+
+    if(flight_mode < 0) return;
+
+    switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode])
+    {
+    case 0:
+        StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &bank);
+        break;
+
+    case 1:
+        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &bank);
+        break;
+
+    case 2:
+        StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &bank);
+        break;
+
+    default:
+        memset(&bank, 0, sizeof(StabilizationBankDataPacked));
+//        return; //bank number is invalid. All we can do is ignore it.
+    }
+
+//Need to do this to prevent an infinite loop
+    if(memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
+    {
+        StabilizationBankSet(&bank);
+    }
+}
+
+static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    StabilizationBankData bank;
+    StabilizationBankGet(&bank);
+
+//this code will be needed if any other modules alter stabilizationbank
+/*
+    StabilizationBankData curBank;
+    if(flight_mode < 0) return;
+
+    switch(cast_struct_to_array(settings.FlightModeMap, settings.FlightModeMap.Stabilized1)[flight_mode])
+    {
+    case 0:
+        StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *) &curBank);
+        if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
+        {
+            StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
+        }
+        break;
+
+    case 1:
+        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *) &curBank);
+        if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
+        {
+            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
+        }
+        break;
+
+    case 2:
+        StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *) &curBank);
+        if(memcmp(&curBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
+        {
+            StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *) &bank);
+        }
+        break;
+
+    default:
+        return; //invalid bank number
+    }
+*/
+
+
+    // Set the roll rate PID constants
+    pid_configure(&pids[PID_RATE_ROLL], bank.RollRatePID.Kp,
+                  bank.RollRatePID.Ki,
+                  bank.RollRatePID.Kd,
+                  bank.RollRatePID.ILimit);
+
+    // Set the pitch rate PID constants
+    pid_configure(&pids[PID_RATE_PITCH], bank.PitchRatePID.Kp,
+                  bank.PitchRatePID.Ki,
+                  bank.PitchRatePID.Kd,
+                  bank.PitchRatePID.ILimit);
+
+    // Set the yaw rate PID constants
+    pid_configure(&pids[PID_RATE_YAW], bank.YawRatePID.Kp,
+                  bank.YawRatePID.Ki,
+                  bank.YawRatePID.Kd,
+                  bank.YawRatePID.ILimit);
+
+    // Set the roll attitude PI constants
+    pid_configure(&pids[PID_ROLL], bank.RollPI.Kp,
+                  bank.RollPI.Ki,
+                  0,
+                  bank.RollPI.ILimit);
+
+    // Set the pitch attitude PI constants
+    pid_configure(&pids[PID_PITCH], bank.PitchPI.Kp,
+                  bank.PitchPI.Ki,
+                  0,
+                  bank.PitchPI.ILimit);
+
+    // Set the yaw attitude PI constants
+    pid_configure(&pids[PID_YAW], bank.YawPI.Kp,
+                  bank.YawPI.Ki,
+                  0,
+                  bank.YawPI.ILimit);
+}
+
+
 static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
     StabilizationSettingsGet(&settings);
 
-    // Set the roll rate PID constants
-    pid_configure(&pids[PID_RATE_ROLL], settings.RollRatePID.Kp,
-                  settings.RollRatePID.Ki,
-                  pids[PID_RATE_ROLL].d = settings.RollRatePID.Kd,
-                  pids[PID_RATE_ROLL].iLim = settings.RollRatePID.ILimit);
-
-    // Set the pitch rate PID constants
-    pid_configure(&pids[PID_RATE_PITCH], settings.PitchRatePID.Kp,
-                  pids[PID_RATE_PITCH].i = settings.PitchRatePID.Ki,
-                  pids[PID_RATE_PITCH].d = settings.PitchRatePID.Kd,
-                  pids[PID_RATE_PITCH].iLim = settings.PitchRatePID.ILimit);
-
-    // Set the yaw rate PID constants
-    pid_configure(&pids[PID_RATE_YAW], settings.YawRatePID.Kp,
-                  pids[PID_RATE_YAW].i = settings.YawRatePID.Ki,
-                  pids[PID_RATE_YAW].d = settings.YawRatePID.Kd,
-                  pids[PID_RATE_YAW].iLim = settings.YawRatePID.ILimit);
-
-    // Set the roll attitude PI constants
-    pid_configure(&pids[PID_ROLL], settings.RollPI.Kp,
-                  settings.RollPI.Ki, 0,
-                  pids[PID_ROLL].iLim = settings.RollPI.ILimit);
-
-    // Set the pitch attitude PI constants
-    pid_configure(&pids[PID_PITCH], settings.PitchPI.Kp,
-                  pids[PID_PITCH].i = settings.PitchPI.Ki, 0,
-                  settings.PitchPI.ILimit);
-
-    // Set the yaw attitude PI constants
-    pid_configure(&pids[PID_YAW], settings.YawPI.Kp,
-                  settings.YawPI.Ki, 0,
-                  settings.YawPI.ILimit);
-
     // Set up the derivative term
     pid_configure_derivative(settings.DerivativeCutoff, settings.DerivativeGamma);
 
@@ -554,6 +665,8 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 
     // Compute time constant for vbar decay term based on a tau
     vbar_decay = expf(-fakeDt / settings.VbarTau);
+
+    flight_mode = -1; //force flight mode update
 }
 
 

flight/modules/TxPID/txpid.c

@@ -56,6 +56,10 @@
 #include "accessorydesired.h"
 #include "manualcontrolcommand.h"
 #include "stabilizationsettings.h"
+#include "stabilizationbank.h"
+#include "stabilizationsettingsbank1.h"
+#include "stabilizationsettingsbank2.h"
+#include "stabilizationsettingsbank3.h"
 #include "flightstatus.h"
 #include "hwsettings.h"
 
@@ -163,11 +167,30 @@ static void updatePIDs(UAVObjEvent *ev)
         return;
     }
 
+    StabilizationBankData bank;
+    switch(inst.BankNumber)
+    {
+    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;
 
-    uint8_t needsUpdate = 0;
+    uint8_t needsUpdateBank = 0;
+    uint8_t needsUpdateStab = 0;
 
     // Loop through every enabled instance
     for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
@@ -192,107 +215,126 @@ static void updatePIDs(UAVObjEvent *ev)
 
             switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) {
             case TXPIDSETTINGS_PIDS_ROLLRATEKP:
-                needsUpdate |= update(&stab.RollRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLRATEKI:
-                needsUpdate |= update(&stab.RollRatePID.Ki, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLRATEKD:
-                needsUpdate |= update(&stab.RollRatePID.Kd, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
-                needsUpdate |= update(&stab.RollRatePID.ILimit, value);
+                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
-                needsUpdate |= update(&stab.RollPI.Kp, value);
+                needsUpdateBank |= update(&bank.RollPI.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
-                needsUpdate |= update(&stab.RollPI.Ki, value);
+                needsUpdateBank |= update(&bank.RollPI.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
-                needsUpdate |= update(&stab.RollPI.ILimit, value);
+                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHRATEKP:
-                needsUpdate |= update(&stab.PitchRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHRATEKI:
-                needsUpdate |= update(&stab.PitchRatePID.Ki, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHRATEKD:
-                needsUpdate |= update(&stab.PitchRatePID.Kd, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
-                needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
-                needsUpdate |= update(&stab.PitchPI.Kp, value);
+                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
-                needsUpdate |= update(&stab.PitchPI.Ki, value);
+                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
-                needsUpdate |= update(&stab.PitchPI.ILimit, value);
+                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
-                needsUpdate |= update(&stab.RollRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
-                needsUpdate |= update(&stab.PitchRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
-                needsUpdate |= update(&stab.RollRatePID.Ki, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
-                needsUpdate |= update(&stab.PitchRatePID.Ki, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
-                needsUpdate |= update(&stab.RollRatePID.Kd, value);
+                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
-                needsUpdate |= update(&stab.PitchRatePID.Kd, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
-                needsUpdate |= update(&stab.RollRatePID.ILimit, value);
+                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
-                needsUpdate |= update(&stab.PitchRatePID.ILimit, value);
+                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
-                needsUpdate |= update(&stab.RollPI.Kp, value);
+                needsUpdateBank |= update(&bank.RollPI.Kp, value);
-                needsUpdate |= update(&stab.PitchPI.Kp, value);
+                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
-                needsUpdate |= update(&stab.RollPI.Ki, value);
+                needsUpdateBank |= update(&bank.RollPI.Ki, value);
-                needsUpdate |= update(&stab.PitchPI.Ki, value);
+                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
-                needsUpdate |= update(&stab.RollPI.ILimit, value);
+                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
-                needsUpdate |= update(&stab.PitchPI.ILimit, value);
+                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWRATEKP:
-                needsUpdate |= update(&stab.YawRatePID.Kp, value);
+                needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWRATEKI:
-                needsUpdate |= update(&stab.YawRatePID.Ki, value);
+                needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWRATEKD:
-                needsUpdate |= update(&stab.YawRatePID.Kd, value);
+                needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
-                needsUpdate |= update(&stab.YawRatePID.ILimit, value);
+                needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
-                needsUpdate |= update(&stab.YawPI.Kp, value);
+                needsUpdateBank |= update(&bank.YawPI.Kp, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
-                needsUpdate |= update(&stab.YawPI.Ki, value);
+                needsUpdateBank |= update(&bank.YawPI.Ki, value);
                 break;
             case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
-                needsUpdate |= update(&stab.YawPI.ILimit, value);
+                needsUpdateBank |= update(&bank.YawPI.ILimit, value);
                 break;
             case TXPIDSETTINGS_PIDS_GYROTAU:
-                needsUpdate |= update(&stab.GyroTau, value);
+                needsUpdateStab |= update(&stab.GyroTau, value);
                 break;
             default:
                 PIOS_Assert(0);
             }
         }
     }
-    if (needsUpdate) {
+    if (needsUpdateStab) {
         StabilizationSettingsSet(&stab);
     }
+    if (needsUpdateBank) {
+        switch(inst.BankNumber)
+        {
+        case 0:
+            StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *) &bank);
+            break;
+
+        case 1:
+            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
+            break;
+
+        case 2:
+            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *) &bank);
+            break;
+
+        default:
+            return;
+        }
+    }
 }
 
 /**

flight/modules/VtolPathFollower/vtolpathfollower.c

@@ -65,6 +65,7 @@
 #include "nedaccel.h"
 #include "stabilizationdesired.h"
 #include "stabilizationsettings.h"
+#include "stabilizationbank.h"
 #include "systemsettings.h"
 #include "velocitydesired.h"
 #include "velocitystate.h"
@@ -575,7 +576,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
     StabilizationDesiredData stabDesired;
     AttitudeStateData attitudeState;
     NedAccelData nedAccel;
-    StabilizationSettingsData stabSettings;
+    StabilizationBankData stabSettings;
     SystemSettingsData systemSettings;
 
     float northError;
@@ -593,7 +594,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
     StabilizationDesiredGet(&stabDesired);
     VelocityDesiredGet(&velocityDesired);
     AttitudeStateGet(&attitudeState);
-    StabilizationSettingsGet(&stabSettings);
+    StabilizationBankGet(&stabSettings);
     NedAccelGet(&nedAccel);
 
     float northVel = 0, eastVel = 0, downVel = 0;

flight/targets/boards/coptercontrol/firmware/Makefile

@@ -84,6 +84,10 @@ ifndef TESTAPP
     SRC += $(OPUAVSYNTHDIR)/systemsettings.c
     SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
     SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
     SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
     SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
     SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -156,7 +156,7 @@
 #define PIOS_ACTUATOR_STACK_SIZE        1020
 #define PIOS_MANUAL_STACK_SIZE          800
 #define PIOS_SYSTEM_STACK_SIZE          660
-#define PIOS_STABILIZATION_STACK_SIZE   524
+#define PIOS_STABILIZATION_STACK_SIZE   790
 #define PIOS_TELEM_STACK_SIZE           800
 #define PIOS_EVENTDISPATCHER_STACK_SIZE 130
 

flight/targets/boards/revolution/firmware/UAVObjects.inc

@@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += revosettings
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
 UAVOBJSRCFILENAMES += stabilizationsettings
+UAVOBJSRCFILENAMES += stabilizationsettingsbank1
+UAVOBJSRCFILENAMES += stabilizationsettingsbank2
+UAVOBJSRCFILENAMES += stabilizationsettingsbank3
+UAVOBJSRCFILENAMES += stabilizationbank
 UAVOBJSRCFILENAMES += systemalarms
 UAVOBJSRCFILENAMES += systemsettings
 UAVOBJSRCFILENAMES += systemstats

flight/targets/boards/revoproto/firmware/UAVObjects.inc

@@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += revosettings
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
 UAVOBJSRCFILENAMES += stabilizationsettings
+UAVOBJSRCFILENAMES += stabilizationsettingsbank1
+UAVOBJSRCFILENAMES += stabilizationsettingsbank2
+UAVOBJSRCFILENAMES += stabilizationsettingsbank3
+UAVOBJSRCFILENAMES += stabilizationbank
 UAVOBJSRCFILENAMES += systemalarms
 UAVOBJSRCFILENAMES += systemsettings
 UAVOBJSRCFILENAMES += systemstats

flight/targets/boards/simposix/firmware/UAVObjects.inc

@@ -82,6 +82,10 @@ UAVOBJSRCFILENAMES += relaytuningsettings
 UAVOBJSRCFILENAMES += sonaraltitude
 UAVOBJSRCFILENAMES += stabilizationdesired
 UAVOBJSRCFILENAMES += stabilizationsettings
+UAVOBJSRCFILENAMES += stabilizationsettingsbank1
+UAVOBJSRCFILENAMES += stabilizationsettingsbank2
+UAVOBJSRCFILENAMES += stabilizationsettingsbank3
+UAVOBJSRCFILENAMES += stabilizationbank
 UAVOBJSRCFILENAMES += systemalarms
 UAVOBJSRCFILENAMES += systemsettings
 UAVOBJSRCFILENAMES += systemstats

ground/openpilotgcs/src/plugins/config/stabilization.ui

@@ -1312,7 +1312,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollMax</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -1346,7 +1346,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Roll</string>
                      <string>haslimits:no</string>
@@ -1394,7 +1394,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Roll</string>
                      <string>haslimits:no</string>
@@ -2583,7 +2583,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollMax</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -2617,7 +2617,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Yaw</string>
                      <string>haslimits:no</string>
@@ -2668,7 +2668,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Yaw</string>
                      <string>haslimits:no</string>
@@ -4448,7 +4448,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4487,7 +4487,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4562,7 +4562,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4612,7 +4612,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4651,7 +4651,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4690,7 +4690,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:yes</string>
@@ -4740,7 +4740,7 @@ Then lower the value by 5 or so.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -4798,7 +4798,7 @@ value as the Kp.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -4837,7 +4837,7 @@ value as the Kp.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -4887,7 +4887,7 @@ value as the Kp.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -4937,7 +4937,7 @@ value as the Kp.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -4976,7 +4976,7 @@ value as the Kp.</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:yes</string>
@@ -8349,7 +8349,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -8384,7 +8384,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -8434,7 +8434,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -8469,7 +8469,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -8519,7 +8519,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -8554,7 +8554,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawPI</string>
                      <string>element:Kp</string>
                      <string>scale:0.1</string>
@@ -9989,7 +9989,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchMax</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -10072,7 +10072,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:MaximumRate</string>
                      <string>element:Roll</string>
                      <string>haslimits:no</string>
@@ -10141,7 +10141,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Yaw</string>
                      <string>haslimits:no</string>
@@ -10194,7 +10194,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawMax</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -10246,7 +10246,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:MaximumRate</string>
                      <string>element:Pitch</string>
                      <string>haslimits:no</string>
@@ -11456,7 +11456,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Pitch</string>
                      <string>haslimits:no</string>
@@ -12075,7 +12075,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:ManualRate</string>
                      <string>element:Roll</string>
                      <string>haslimits:no</string>
@@ -12131,7 +12131,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollMax</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
@@ -12183,7 +12183,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:MaximumRate</string>
                      <string>element:Yaw</string>
                      <string>haslimits:no</string>
@@ -13352,7 +13352,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Kd</string>
                      <string>haslimits:no</string>
@@ -13971,7 +13971,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -14021,7 +14021,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -14071,7 +14071,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -14121,7 +14121,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:Kd</string>
                      <string>haslimits:no</string>
@@ -15328,7 +15328,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -15394,7 +15394,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -15475,7 +15475,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -15525,7 +15525,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:Kd</string>
                      <string>haslimits:no</string>
@@ -18378,7 +18378,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollPI</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -18428,7 +18428,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchPI</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -18478,7 +18478,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawPI</string>
                      <string>element:Kp</string>
                      <string>haslimits:no</string>
@@ -18563,7 +18563,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollPI</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -18629,7 +18629,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchPI</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -18695,7 +18695,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawPI</string>
                      <string>element:Ki</string>
                      <string>haslimits:no</string>
@@ -21937,7 +21937,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchRatePID</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
@@ -21990,7 +21990,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollRatePID</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
@@ -23140,7 +23140,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawPI</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
@@ -23221,7 +23221,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:PitchPI</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
@@ -23331,7 +23331,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:RollPI</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>
@@ -23947,7 +23947,7 @@ border-radius: 5;</string>
                    </property>
                    <property name="objrelation" stdset="0">
                     <stringlist>
-                     <string>objname:StabilizationSettings</string>
+                     <string>objname:StabilizationSettingsBank1</string>
                      <string>fieldname:YawRatePID</string>
                      <string>element:ILimit</string>
                      <string>haslimits:no</string>

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

@@ -60,6 +60,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/overosyncsettings.h \
     $$UAVOBJECT_SYNTHETICS/systemsettings.h \
     $$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.h \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.h \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.h \
+    $$UAVOBJECT_SYNTHETICS/stabilizationbank.h \
     $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \
     $$UAVOBJECT_SYNTHETICS/manualcontrolcommand.h \
     $$UAVOBJECT_SYNTHETICS/stabilizationdesired.h \
@@ -151,6 +155,10 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/overosyncsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.cpp \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.cpp \
+    $$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank3.cpp \
+    $$UAVOBJECT_SYNTHETICS/stabilizationbank.cpp \
     $$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/manualcontrolcommand.cpp \
     $$UAVOBJECT_SYNTHETICS/stabilizationdesired.cpp \

shared/uavobjectdefinition/stabilizationbank.xml

@@ -0,0 +1,23 @@
+<xml>
+    <object name="StabilizationBank" singleinstance="true" settings="false" 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"/>
+	<access gcs="readwrite" flight="readwrite"/>
+	<telemetrygcs acked="false" updatemode="manual" period="0"/>
+	<telemetryflight acked="false" updatemode="periodic" period="1000"/>
+	<logging updatemode="manual" period="0"/>
+</object>
+
+</xml>

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; ; "/>
+	<!-- Note: The number of elements here must match the number of available flight modes -->
-	<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="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="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; "/>
 
 	<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"/>

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>

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>

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>

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"