From bdbe875a909fa5c6af3cdde34f76c263b2965243 Mon Sep 17 00:00:00 2001
From: Stefan Karlsson <stefan.karlsson@gmail.com>
Date: Sun, 14 Sep 2014 16:08:21 +0200
Subject: [PATCH] OP-1474 Use ActuatorDesiredThrust as default source for TPS

---
 flight/modules/Stabilization/innerloop.c             | 4 ++--
 shared/uavobjectdefinition/stabilizationsettings.xml | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index 4311ea8b4..db367e0c1 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -108,11 +108,11 @@ static float get_pid_scale_source_value()
     case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_STABILIZATIONDESIREDTHRUST:
         StabilizationDesiredThrustGet(&value);
         break;
-    case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIRETHRUST:
+    case STABILIZATIONSETTINGS_THRUSTPIDSCALESOURCE_ACTUATORDESIREDTHRUST:
         ActuatorDesiredThrustGet(&value);
         break;
     default:
-        ManualControlCommandThrottleGet(&value);
+        ActuatorDesiredThrustGet(&value);
         break;
     }
 
diff --git a/shared/uavobjectdefinition/stabilizationsettings.xml b/shared/uavobjectdefinition/stabilizationsettings.xml
index 4156cef76..be805b737 100644
--- a/shared/uavobjectdefinition/stabilizationsettings.xml
+++ b/shared/uavobjectdefinition/stabilizationsettings.xml
@@ -49,7 +49,7 @@
 
 	<field name="EnableThrustPIDScaling" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
 	<field name="ThrustPIDScaleCurve" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0.3,0.15,0,-0.15,-0.3"/>
-	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesireThrust" defaultvalue="ManualControlThrottle" />
+	<field name="ThrustPIDScaleSource" units="" type="enum" elements="1" options="ManualControlThrottle,StabilizationDesiredThrust,ActuatorDesiredThrust" defaultvalue="ActuatorDesiredThrust" />
 
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>