From cc80fdf593a5c2c23f28ac29e1415089e013c473 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 23 May 2015 08:14:52 +1000
Subject: [PATCH] GCS_MAVLink: added PID_TUNING message

---
 libraries/GCS_MAVLink/GCS.h                    |  1 +
 .../message_definitions/ardupilotmega.xml      | 18 ++++++++++++++++++
 2 files changed, 19 insertions(+)

diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index ad72d50f4a..2124571911 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -58,6 +58,7 @@ enum ap_message {
     MSG_GIMBAL_REPORT,
     MSG_EKF_STATUS_REPORT,
     MSG_LOCAL_POSITION,
+    MSG_PID_TUNING,
     MSG_RETRY_DEFERRED // this must be last
 };
 
diff --git a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
index fef192082f..043a3c7697 100644
--- a/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
+++ b/libraries/GCS_MAVLink/message_definitions/ardupilotmega.xml
@@ -258,6 +258,12 @@
         <entry name="EKF_PRED_POS_HORIZ_ABS" value="512"> <description>set if EKF's predicted horizontal position (absolute) estimate is good</description></entry>
 	</enum>
 
+        <enum name="PID_TUNING_AXIS">
+          <entry name="PID_TUNING_ROLL"  value="1"></entry>
+          <entry name="PID_TUNING_PITCH" value="2"></entry>
+          <entry name="PID_TUNING_YAW"   value="3"></entry>
+        </enum>
+
       </enums>
 
      <messages>
@@ -651,6 +657,18 @@
         <field name="terrain_alt_variance" type="float">Terrain Altitude variance</field>
     </message>
 
+    <!-- realtime PID tuning message -->
+    <message name="PID_TUNING" id="194">
+        <description>PID tuning information</description>
+        <field name="axis" type="uint8_t" enum="PID_TUNING_AXIS">axis</field>
+        <field name="desired" type="float">desired rate (degrees/s)</field>
+        <field name="achieved" type="float">achieved rate (degrees/s)</field>
+        <field name="FF" type="float">FF component</field>
+        <field name="P" type="float">P component</field>
+        <field name="I" type="float">I component</field>
+        <field name="D" type="float">D component</field>
+    </message>
+
     <message name="GIMBAL_REPORT" id="200">
         <description>3 axis gimbal mesuraments</description>
         <field type="uint8_t" name="target_system">System ID</field>