Flight/ManualControl: Implemented settings to change what the Mode switch does

so it can also change parameters of Stabilization.  Please check your aircraft
behavior with this patch, but default behavior should be unchanged.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1878 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Modules/ManualControl/manualcontrol.c

@@ -166,12 +166,52 @@ static void manualControlTask(void *parameters)
 			// Update flight mode
 			flightMode = scaleChannel(cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
 						  settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode]);
-			if (flightMode < -FLIGHT_MODE_LIMIT) {
+
+			if (flightMode < -FLIGHT_MODE_LIMIT) {       // Position 1
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos1StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL)
 					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
-			} else if (flightMode > FLIGHT_MODE_LIMIT) {
+				else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED)
-				cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
-			} else {
 					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos1FlightMode == MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
+			} else if (flightMode > FLIGHT_MODE_LIMIT) { // Position 3
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos3StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+				else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos3FlightMode == MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
+			} else {                                     // Position 2
+				for(int i = 0; i < 3; i++) {
+					if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE;
+					else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE;
+					else if(settings.Pos2StabilizationSettings[i] == MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION)
+						cmd.StabilizationSettings[i] = MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION;
+				}
+				if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
+				else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
+				else if(settings.Pos2FlightMode == MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO)
+					cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;				
 			}
 			// Update the ManualControlCommand object
 			ManualControlCommandSet(&cmd);

flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h

@@ -41,7 +41,7 @@
 #define MANUALCONTROLCOMMAND_H
 
 // Object constants
-#define MANUALCONTROLCOMMAND_OBJID 9594768U
+#define MANUALCONTROLCOMMAND_OBJID 2841592332U
 #define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
 #define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
 #define MANUALCONTROLCOMMAND_ISSINGLEINST 1
@@ -78,6 +78,7 @@ typedef struct {
     float Yaw;
     float Throttle;
     uint8_t FlightMode;
+    uint8_t StabilizationSettings[3];
     float Accessory1;
     float Accessory2;
     float Accessory3;
@@ -99,6 +100,13 @@ typedef enum { MANUALCONTROLCOMMAND_ARMED_FALSE=0, MANUALCONTROLCOMMAND_ARMED_TR
 // Field FlightMode information
 /* Enumeration options for field FlightMode */
 typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2 } ManualControlCommandFlightModeOptions;
+// Field StabilizationSettings information
+/* Enumeration options for field StabilizationSettings */
+typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION=2 } ManualControlCommandStabilizationSettingsOptions;
+/* Array element names for field StabilizationSettings */
+typedef enum { MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_YAW=2 } ManualControlCommandStabilizationSettingsElem;
+/* Number of elements for field StabilizationSettings */
+#define MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_NUMELEM 3
 // Field Accessory1 information
 // Field Accessory2 information
 // Field Accessory3 information

flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h

@@ -41,7 +41,7 @@
 #define MANUALCONTROLSETTINGS_H
 
 // Object constants
-#define MANUALCONTROLSETTINGS_OBJID 1845767664U
+#define MANUALCONTROLSETTINGS_OBJID 3505967188U
 #define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
 #define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
 #define MANUALCONTROLSETTINGS_ISSINGLEINST 1
@@ -80,6 +80,12 @@ typedef struct {
     uint8_t Accessory1;
     uint8_t Accessory2;
     uint8_t Accessory3;
+    uint8_t Pos1StabilizationSettings[3];
+    uint8_t Pos2StabilizationSettings[3];
+    uint8_t Pos3StabilizationSettings[3];
+    uint8_t Pos1FlightMode;
+    uint8_t Pos2FlightMode;
+    uint8_t Pos3FlightMode;
     int16_t ChannelMax[8];
     int16_t ChannelNeutral[8];
     int16_t ChannelMin[8];
@@ -114,6 +120,36 @@ typedef enum { MANUALCONTROLSETTINGS_ACCESSORY2_CHANNEL0=0, MANUALCONTROLSETTING
 // Field Accessory3 information
 /* Enumeration options for field Accessory3 */
 typedef enum { MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL0=0, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL1=1, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL2=2, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL3=3, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL4=4, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL5=5, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL6=6, MANUALCONTROLSETTINGS_ACCESSORY3_CHANNEL7=7, MANUALCONTROLSETTINGS_ACCESSORY3_NONE=8 } ManualControlSettingsAccessory3Options;
+// Field Pos1StabilizationSettings information
+/* Enumeration options for field Pos1StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos1StabilizationSettingsOptions;
+/* Array element names for field Pos1StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos1StabilizationSettingsElem;
+/* Number of elements for field Pos1StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS1STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos2StabilizationSettings information
+/* Enumeration options for field Pos2StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos2StabilizationSettingsOptions;
+/* Array element names for field Pos2StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos2StabilizationSettingsElem;
+/* Number of elements for field Pos2StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS2STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos3StabilizationSettings information
+/* Enumeration options for field Pos3StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NONE=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_RATE=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_POSITION=2 } ManualControlSettingsPos3StabilizationSettingsOptions;
+/* Array element names for field Pos3StabilizationSettings */
+typedef enum { MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_ROLL=0, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_PITCH=1, MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_YAW=2 } ManualControlSettingsPos3StabilizationSettingsElem;
+/* Number of elements for field Pos3StabilizationSettings */
+#define MANUALCONTROLSETTINGS_POS3STABILIZATIONSETTINGS_NUMELEM 3
+// Field Pos1FlightMode information
+/* Enumeration options for field Pos1FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS1FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS1FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS1FLIGHTMODE_AUTO=2 } ManualControlSettingsPos1FlightModeOptions;
+// Field Pos2FlightMode information
+/* Enumeration options for field Pos2FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS2FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS2FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS2FLIGHTMODE_AUTO=2 } ManualControlSettingsPos2FlightModeOptions;
+// Field Pos3FlightMode information
+/* Enumeration options for field Pos3FlightMode */
+typedef enum { MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTINGS_POS3FLIGHTMODE_STABILIZED=1, MANUALCONTROLSETTINGS_POS3FLIGHTMODE_AUTO=2 } ManualControlSettingsPos3FlightModeOptions;
 // Field ChannelMax information
 /* Number of elements for field ChannelMax */
 #define MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM 8

flight/OpenPilot/UAVObjects/manualcontrolsettings.c

@@ -89,6 +89,18 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
 	data.Accessory1 = 8;
 	data.Accessory2 = 8;
 	data.Accessory3 = 8;
+	data.Pos1StabilizationSettings[0] = 2;
+	data.Pos1StabilizationSettings[1] = 2;
+	data.Pos1StabilizationSettings[2] = 2;
+	data.Pos2StabilizationSettings[0] = 2;
+	data.Pos2StabilizationSettings[1] = 2;
+	data.Pos2StabilizationSettings[2] = 2;
+	data.Pos3StabilizationSettings[0] = 2;
+	data.Pos3StabilizationSettings[1] = 2;
+	data.Pos3StabilizationSettings[2] = 2;
+	data.Pos1FlightMode = 0;
+	data.Pos2FlightMode = 1;
+	data.Pos3FlightMode = 2;
 	data.ChannelMax[0] = 2000;
 	data.ChannelMax[1] = 2000;
 	data.ChannelMax[2] = 2000;

ground/src/plugins/uavobjects/manualcontrolcommand.cpp

@@ -73,6 +73,15 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
     FlightModeEnumOptions.append("Stabilized");
     FlightModeEnumOptions.append("Auto");
     fields.append( new UAVObjectField(QString("FlightMode"), QString(""), UAVObjectField::ENUM, FlightModeElemNames, FlightModeEnumOptions) );
+    QStringList StabilizationSettingsElemNames;
+    StabilizationSettingsElemNames.append("Roll");
+    StabilizationSettingsElemNames.append("Pitch");
+    StabilizationSettingsElemNames.append("Yaw");
+    QStringList StabilizationSettingsEnumOptions;
+    StabilizationSettingsEnumOptions.append("None");
+    StabilizationSettingsEnumOptions.append("Rate");
+    StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("StabilizationSettings"), QString(""), UAVObjectField::ENUM, StabilizationSettingsElemNames, StabilizationSettingsEnumOptions) );
     QStringList Accessory1ElemNames;
     Accessory1ElemNames.append("0");
     fields.append( new UAVObjectField(QString("Accessory1"), QString("%"), UAVObjectField::FLOAT32, Accessory1ElemNames, QStringList()) );

ground/src/plugins/uavobjects/manualcontrolcommand.h

@@ -50,6 +50,7 @@ public:
         float Yaw;
         float Throttle;
         quint8 FlightMode;
+        quint8 StabilizationSettings[3];
         float Accessory1;
         float Accessory2;
         float Accessory3;
@@ -71,6 +72,13 @@ public:
     // Field FlightMode information
     /* Enumeration options for field FlightMode */
     typedef enum { FLIGHTMODE_MANUAL=0, FLIGHTMODE_STABILIZED=1, FLIGHTMODE_AUTO=2 } FlightModeOptions;
+    // Field StabilizationSettings information
+    /* Enumeration options for field StabilizationSettings */
+    typedef enum { STABILIZATIONSETTINGS_NONE=0, STABILIZATIONSETTINGS_RATE=1, STABILIZATIONSETTINGS_POSITION=2 } StabilizationSettingsOptions;
+    /* Array element names for field StabilizationSettings */
+    typedef enum { STABILIZATIONSETTINGS_ROLL=0, STABILIZATIONSETTINGS_PITCH=1, STABILIZATIONSETTINGS_YAW=2 } StabilizationSettingsElem;
+    /* Number of elements for field StabilizationSettings */
+    static const quint32 STABILIZATIONSETTINGS_NUMELEM = 3;
     // Field Accessory1 information
     // Field Accessory2 information
     // Field Accessory3 information
@@ -80,7 +88,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 9594768U;
+    static const quint32 OBJID = 2841592332U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 0;

ground/src/plugins/uavobjects/manualcontrolcommand.py

@@ -114,6 +114,21 @@ _fields = [ \
 			'2' : 'Auto',
 		}
 	),
+	uavobject.UAVObjectField(
+		'StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
 	uavobject.UAVObjectField(
 		'Accessory1',
 		'f',
@@ -166,7 +181,7 @@ _fields = [ \
 
 class ManualControlCommand(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 9594768
+    OBJID        = 2841592332
     NAME         = "ManualControlCommand"
     METANAME     = "ManualControlCommandMeta"
     ISSINGLEINST = 1

ground/src/plugins/uavobjects/manualcontrolsettings.cpp

@@ -153,6 +153,54 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
     Accessory3EnumOptions.append("Channel7");
     Accessory3EnumOptions.append("None");
     fields.append( new UAVObjectField(QString("Accessory3"), QString("channel"), UAVObjectField::ENUM, Accessory3ElemNames, Accessory3EnumOptions) );
+    QStringList Pos1StabilizationSettingsElemNames;
+    Pos1StabilizationSettingsElemNames.append("Roll");
+    Pos1StabilizationSettingsElemNames.append("Pitch");
+    Pos1StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos1StabilizationSettingsEnumOptions;
+    Pos1StabilizationSettingsEnumOptions.append("None");
+    Pos1StabilizationSettingsEnumOptions.append("Rate");
+    Pos1StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos1StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos1StabilizationSettingsElemNames, Pos1StabilizationSettingsEnumOptions) );
+    QStringList Pos2StabilizationSettingsElemNames;
+    Pos2StabilizationSettingsElemNames.append("Roll");
+    Pos2StabilizationSettingsElemNames.append("Pitch");
+    Pos2StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos2StabilizationSettingsEnumOptions;
+    Pos2StabilizationSettingsEnumOptions.append("None");
+    Pos2StabilizationSettingsEnumOptions.append("Rate");
+    Pos2StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos2StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos2StabilizationSettingsElemNames, Pos2StabilizationSettingsEnumOptions) );
+    QStringList Pos3StabilizationSettingsElemNames;
+    Pos3StabilizationSettingsElemNames.append("Roll");
+    Pos3StabilizationSettingsElemNames.append("Pitch");
+    Pos3StabilizationSettingsElemNames.append("Yaw");
+    QStringList Pos3StabilizationSettingsEnumOptions;
+    Pos3StabilizationSettingsEnumOptions.append("None");
+    Pos3StabilizationSettingsEnumOptions.append("Rate");
+    Pos3StabilizationSettingsEnumOptions.append("Position");
+    fields.append( new UAVObjectField(QString("Pos3StabilizationSettings"), QString(""), UAVObjectField::ENUM, Pos3StabilizationSettingsElemNames, Pos3StabilizationSettingsEnumOptions) );
+    QStringList Pos1FlightModeElemNames;
+    Pos1FlightModeElemNames.append("0");
+    QStringList Pos1FlightModeEnumOptions;
+    Pos1FlightModeEnumOptions.append("Manual");
+    Pos1FlightModeEnumOptions.append("Stabilized");
+    Pos1FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos1FlightMode"), QString(""), UAVObjectField::ENUM, Pos1FlightModeElemNames, Pos1FlightModeEnumOptions) );
+    QStringList Pos2FlightModeElemNames;
+    Pos2FlightModeElemNames.append("0");
+    QStringList Pos2FlightModeEnumOptions;
+    Pos2FlightModeEnumOptions.append("Manual");
+    Pos2FlightModeEnumOptions.append("Stabilized");
+    Pos2FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos2FlightMode"), QString(""), UAVObjectField::ENUM, Pos2FlightModeElemNames, Pos2FlightModeEnumOptions) );
+    QStringList Pos3FlightModeElemNames;
+    Pos3FlightModeElemNames.append("0");
+    QStringList Pos3FlightModeEnumOptions;
+    Pos3FlightModeEnumOptions.append("Manual");
+    Pos3FlightModeEnumOptions.append("Stabilized");
+    Pos3FlightModeEnumOptions.append("Auto");
+    fields.append( new UAVObjectField(QString("Pos3FlightMode"), QString(""), UAVObjectField::ENUM, Pos3FlightModeElemNames, Pos3FlightModeEnumOptions) );
     QStringList ChannelMaxElemNames;
     ChannelMaxElemNames.append("0");
     ChannelMaxElemNames.append("1");
@@ -225,6 +273,18 @@ void ManualControlSettings::setDefaultFieldValues()
     data.Accessory1 = 8;
     data.Accessory2 = 8;
     data.Accessory3 = 8;
+    data.Pos1StabilizationSettings[0] = 2;
+    data.Pos1StabilizationSettings[1] = 2;
+    data.Pos1StabilizationSettings[2] = 2;
+    data.Pos2StabilizationSettings[0] = 2;
+    data.Pos2StabilizationSettings[1] = 2;
+    data.Pos2StabilizationSettings[2] = 2;
+    data.Pos3StabilizationSettings[0] = 2;
+    data.Pos3StabilizationSettings[1] = 2;
+    data.Pos3StabilizationSettings[2] = 2;
+    data.Pos1FlightMode = 0;
+    data.Pos2FlightMode = 1;
+    data.Pos3FlightMode = 2;
     data.ChannelMax[0] = 2000;
     data.ChannelMax[1] = 2000;
     data.ChannelMax[2] = 2000;

ground/src/plugins/uavobjects/manualcontrolsettings.h

@@ -52,6 +52,12 @@ public:
         quint8 Accessory1;
         quint8 Accessory2;
         quint8 Accessory3;
+        quint8 Pos1StabilizationSettings[3];
+        quint8 Pos2StabilizationSettings[3];
+        quint8 Pos3StabilizationSettings[3];
+        quint8 Pos1FlightMode;
+        quint8 Pos2FlightMode;
+        quint8 Pos3FlightMode;
         qint16 ChannelMax[8];
         qint16 ChannelNeutral[8];
         qint16 ChannelMin[8];
@@ -86,6 +92,36 @@ public:
     // Field Accessory3 information
     /* Enumeration options for field Accessory3 */
     typedef enum { ACCESSORY3_CHANNEL0=0, ACCESSORY3_CHANNEL1=1, ACCESSORY3_CHANNEL2=2, ACCESSORY3_CHANNEL3=3, ACCESSORY3_CHANNEL4=4, ACCESSORY3_CHANNEL5=5, ACCESSORY3_CHANNEL6=6, ACCESSORY3_CHANNEL7=7, ACCESSORY3_NONE=8 } Accessory3Options;
+    // Field Pos1StabilizationSettings information
+    /* Enumeration options for field Pos1StabilizationSettings */
+    typedef enum { POS1STABILIZATIONSETTINGS_NONE=0, POS1STABILIZATIONSETTINGS_RATE=1, POS1STABILIZATIONSETTINGS_POSITION=2 } Pos1StabilizationSettingsOptions;
+    /* Array element names for field Pos1StabilizationSettings */
+    typedef enum { POS1STABILIZATIONSETTINGS_ROLL=0, POS1STABILIZATIONSETTINGS_PITCH=1, POS1STABILIZATIONSETTINGS_YAW=2 } Pos1StabilizationSettingsElem;
+    /* Number of elements for field Pos1StabilizationSettings */
+    static const quint32 POS1STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos2StabilizationSettings information
+    /* Enumeration options for field Pos2StabilizationSettings */
+    typedef enum { POS2STABILIZATIONSETTINGS_NONE=0, POS2STABILIZATIONSETTINGS_RATE=1, POS2STABILIZATIONSETTINGS_POSITION=2 } Pos2StabilizationSettingsOptions;
+    /* Array element names for field Pos2StabilizationSettings */
+    typedef enum { POS2STABILIZATIONSETTINGS_ROLL=0, POS2STABILIZATIONSETTINGS_PITCH=1, POS2STABILIZATIONSETTINGS_YAW=2 } Pos2StabilizationSettingsElem;
+    /* Number of elements for field Pos2StabilizationSettings */
+    static const quint32 POS2STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos3StabilizationSettings information
+    /* Enumeration options for field Pos3StabilizationSettings */
+    typedef enum { POS3STABILIZATIONSETTINGS_NONE=0, POS3STABILIZATIONSETTINGS_RATE=1, POS3STABILIZATIONSETTINGS_POSITION=2 } Pos3StabilizationSettingsOptions;
+    /* Array element names for field Pos3StabilizationSettings */
+    typedef enum { POS3STABILIZATIONSETTINGS_ROLL=0, POS3STABILIZATIONSETTINGS_PITCH=1, POS3STABILIZATIONSETTINGS_YAW=2 } Pos3StabilizationSettingsElem;
+    /* Number of elements for field Pos3StabilizationSettings */
+    static const quint32 POS3STABILIZATIONSETTINGS_NUMELEM = 3;
+    // Field Pos1FlightMode information
+    /* Enumeration options for field Pos1FlightMode */
+    typedef enum { POS1FLIGHTMODE_MANUAL=0, POS1FLIGHTMODE_STABILIZED=1, POS1FLIGHTMODE_AUTO=2 } Pos1FlightModeOptions;
+    // Field Pos2FlightMode information
+    /* Enumeration options for field Pos2FlightMode */
+    typedef enum { POS2FLIGHTMODE_MANUAL=0, POS2FLIGHTMODE_STABILIZED=1, POS2FLIGHTMODE_AUTO=2 } Pos2FlightModeOptions;
+    // Field Pos3FlightMode information
+    /* Enumeration options for field Pos3FlightMode */
+    typedef enum { POS3FLIGHTMODE_MANUAL=0, POS3FLIGHTMODE_STABILIZED=1, POS3FLIGHTMODE_AUTO=2 } Pos3FlightModeOptions;
     // Field ChannelMax information
     /* Number of elements for field ChannelMax */
     static const quint32 CHANNELMAX_NUMELEM = 8;
@@ -98,7 +134,7 @@ public:
 
   
     // Constants
-    static const quint32 OBJID = 1845767664U;
+    static const quint32 OBJID = 3505967188U;
     static const QString NAME;
     static const bool ISSINGLEINST = 1;
     static const bool ISSETTINGS = 1;

ground/src/plugins/uavobjects/manualcontrolsettings.py

@@ -202,6 +202,90 @@ _fields = [ \
 			'8' : 'None',
 		}
 	),
+	uavobject.UAVObjectField(
+		'Pos1StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos2StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos3StabilizationSettings',
+		'b',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+			'0' : 'None',
+			'1' : 'Rate',
+			'2' : 'Position',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos1FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos2FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
+	uavobject.UAVObjectField(
+		'Pos3FlightMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'Manual',
+			'1' : 'Stabilized',
+			'2' : 'Auto',
+		}
+	),
 	uavobject.UAVObjectField(
 		'ChannelMax',
 		'h',
@@ -258,7 +342,7 @@ _fields = [ \
 
 class ManualControlSettings(uavobject.UAVObject):
     ## Object constants
-    OBJID        = 1845767664
+    OBJID        = 3505967188
     NAME         = "ManualControlSettings"
     METANAME     = "ManualControlSettingsMeta"
     ISSINGLEINST = 1

ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml

@@ -8,6 +8,7 @@
         <field name="Yaw" units="%" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
         <field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto"/>
+        <field name="StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position"/>
         <field name="Accessory1" units="%" type="float" elements="1"/>
         <field name="Accessory2" units="%" type="float" elements="1"/>
         <field name="Accessory3" units="%" type="float" elements="1"/>

ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -10,6 +10,12 @@
         <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
         <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
         <field name="Accessory3" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
+        <field name="Pos1StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos2StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos3StabilizationSettings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Position" defaultvalue="Position"/>
+        <field name="Pos1FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Manual"/>
+        <field name="Pos2FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Stabilized"/>
+        <field name="Pos3FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized,Auto" defaultvalue="Auto"/>
         <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
         <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
         <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>