From 6b9854457d19452d287b6367771f295bd9191f56 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Mon, 8 Jun 2015 21:08:34 +1000
Subject: [PATCH] Plane: added PID tuning logging for ground steering

---
 ArduPlane/GCS_Mavlink.cpp | 17 +++++++++++++++--
 ArduPlane/Log.cpp         |  1 +
 2 files changed, 16 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 58735c0501..c15172bb0d 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -466,7 +466,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
     const Vector3f &gyro = ahrs.get_gyro();
     if (g.gcs_pid_mask & 1) {
         const DataFlash_Class::PID_Info &pid_info = rollController.get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, 1, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_ROLL, 
                                     pid_info.desired,
                                     degrees(gyro.x),
                                     pid_info.FF,
@@ -479,7 +479,7 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
     }
     if (g.gcs_pid_mask & 2) {
         const DataFlash_Class::PID_Info &pid_info = pitchController.get_pid_info();
-        mavlink_msg_pid_tuning_send(chan, 2, 
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_PITCH, 
                                     pid_info.desired,
                                     degrees(gyro.y),
                                     pid_info.FF,
@@ -490,6 +490,19 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
             return;
         }
     }
+    if (g.gcs_pid_mask & 8) {
+        const DataFlash_Class::PID_Info &pid_info = steerController.get_pid_info();
+        mavlink_msg_pid_tuning_send(chan, PID_TUNING_STEER, 
+                                    pid_info.desired,
+                                    degrees(gyro.z),
+                                    pid_info.FF,
+                                    pid_info.P,
+                                    pid_info.I,
+                                    pid_info.D);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
 }
 
 void Plane::send_rangefinder(mavlink_channel_t chan)
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 640590f42e..0150118c2b 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -171,6 +171,7 @@ void Plane::Log_Write_Attitude(void)
 #if HAL_CPU_CLASS > HAL_CPU_CLASS_16
     DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
     DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
+    DataFlash.Log_Write_PID(LOG_PIDY_MSG, steerController.get_pid_info());
 #endif
 
 #if AP_AHRS_NAVEKF_AVAILABLE