From 5aa128634487f958e8adcae1900ae6e2df20d94a Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 8 Aug 2018 13:15:07 +0900
Subject: [PATCH] Rover: report left and right wheel control PID

---
 APMrover2/GCS_Mavlink.cpp | 30 ++++++++++++++++++++++++++++++
 APMrover2/Parameters.cpp  |  4 ++--
 2 files changed, 32 insertions(+), 2 deletions(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 80fb7ea19e..3346bbb6cc 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -227,6 +227,36 @@ void Rover::send_pid_tuning(mavlink_channel_t chan)
             return;
         }
     }
+
+    // left wheel rate control pid
+    if (g.gcs_pid_mask & 8) {
+        pid_info = &g2.wheel_rate_control.get_pid(0).get_pid_info();
+        mavlink_msg_pid_tuning_send(chan, 7,
+                                    pid_info->desired,
+                                    pid_info->actual,
+                                    pid_info->FF,
+                                    pid_info->P,
+                                    pid_info->I,
+                                    pid_info->D);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
+
+    // right wheel rate control pid
+    if (g.gcs_pid_mask & 16) {
+        pid_info = &g2.wheel_rate_control.get_pid(1).get_pid_info();
+        mavlink_msg_pid_tuning_send(chan, 8,
+                                    pid_info->desired,
+                                    pid_info->actual,
+                                    pid_info->FF,
+                                    pid_info->P,
+                                    pid_info->I,
+                                    pid_info->D);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
 }
 
 void Rover::send_fence_status(mavlink_channel_t chan)
diff --git a/APMrover2/Parameters.cpp b/APMrover2/Parameters.cpp
index 4aa8e8bf5b..773ee7eec0 100644
--- a/APMrover2/Parameters.cpp
+++ b/APMrover2/Parameters.cpp
@@ -64,8 +64,8 @@ const AP_Param::Info Rover::var_info[] = {
     // @DisplayName: GCS PID tuning mask
     // @Description: bitmask of PIDs to send MAVLink PID_TUNING messages for
     // @User: Advanced
-    // @Values: 0:None,1:Steering,2:Throttle,4:Pitch
-    // @Bitmask: 0:Steering,1:Throttle,2:Pitch
+    // @Values: 0:None,1:Steering,2:Throttle,4:Pitch,8:Left Wheel,16:Right Wheel
+    // @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
     // @Param: MAG_ENABLE