From d625242a45473ba33e1d3338396cc5d3b411d743 Mon Sep 17 00:00:00 2001
From: Les Newell <les@sheetcam.com>
Date: Wed, 11 Dec 2013 12:05:05 +0000
Subject: [PATCH] OP-984 Updated vtolpathfollower to handle PID banks

---
 flight/modules/Stabilization/stabilization.c       | 1 +
 flight/modules/VtolPathFollower/vtolpathfollower.c | 5 +++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/flight/modules/Stabilization/stabilization.c b/flight/modules/Stabilization/stabilization.c
index fd23680f3..c4bc13518 100644
--- a/flight/modules/Stabilization/stabilization.c
+++ b/flight/modules/Stabilization/stabilization.c
@@ -135,6 +135,7 @@ int32_t StabilizationInitialize()
 {
     // Initialize variables
     StabilizationSettingsInitialize();
+    StabilizationBankInitialize();
     ActuatorDesiredInitialize();
 #ifdef DIAG_RATEDESIRED
     RateDesiredInitialize();
diff --git a/flight/modules/VtolPathFollower/vtolpathfollower.c b/flight/modules/VtolPathFollower/vtolpathfollower.c
index fad0b7b31..225a93967 100644
--- a/flight/modules/VtolPathFollower/vtolpathfollower.c
+++ b/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;