From 315c5fb7d74becf54cbaf333e659ca648a4a4b68 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 26 Nov 2021 13:02:20 +0900
Subject: [PATCH] Rover: GCS_PID_MASK supports Velocity North and East

---
 Rover/GCS_Mavlink.cpp | 34 ++++++++++++++++++++++++++++++++++
 Rover/Parameters.cpp  |  4 ++--
 2 files changed, 36 insertions(+), 2 deletions(-)

diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index 35790deb80..ff2a1e6fc4 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -288,6 +288,40 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
             return;
         }
     }
+
+    // Position Controller Velocity North PID
+    if (g.gcs_pid_mask & 64) {
+        pid_info = &g2.pos_control.get_vel_pid().get_pid_info_x();
+        mavlink_msg_pid_tuning_send(chan, 10,
+                                    pid_info->target,
+                                    pid_info->actual,
+                                    pid_info->FF,
+                                    pid_info->P,
+                                    pid_info->I,
+                                    pid_info->D,
+                                    pid_info->slew_rate,
+                                    pid_info->Dmod);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
+
+    // Position Controller Velocity East PID
+    if (g.gcs_pid_mask & 128) {
+        pid_info = &g2.pos_control.get_vel_pid().get_pid_info_y();
+        mavlink_msg_pid_tuning_send(chan, 11,
+                                    pid_info->target,
+                                    pid_info->actual,
+                                    pid_info->FF,
+                                    pid_info->P,
+                                    pid_info->I,
+                                    pid_info->D,
+                                    pid_info->slew_rate,
+                                    pid_info->Dmod);
+        if (!HAVE_PAYLOAD_SPACE(chan, PID_TUNING)) {
+            return;
+        }
+    }
 }
 
 void Rover::send_wheel_encoder_distance(const mavlink_channel_t chan)
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index d4a4f61b64..b67981597e 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -63,8 +63,8 @@ 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,8:Left Wheel,16:Right Wheel,32:Sailboat Heel
-    // @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel
+    // @Values: 0:None,1:Steering,2:Throttle,4:Pitch,8:Left Wheel,16:Right Wheel,32:Sailboat Heel,64:Velocity North,128:Velocity East
+    // @Bitmask: 0:Steering,1:Throttle,2:Pitch,3:Left Wheel,4:Right Wheel,5:Sailboat Heel,6:Velocity North,7:Velocity East
     GSCALAR(gcs_pid_mask,           "GCS_PID_MASK",     0),
 
     // @Param: AUTO_TRIGGER_PIN