From 8340f82d0269c3198e1b56fe863e247ca9fc3b74 Mon Sep 17 00:00:00 2001
From: Ewoud Smeur <ewoud_smeur@msn.com>
Date: Thu, 9 Feb 2017 10:23:34 +0100
Subject: [PATCH] some settings for indi full (#2002)

---
 conf/modules/stabilization_indi.xml                 | 13 +++++++++++++
 .../rotorcraft/stabilization/stabilization_indi.h   |  2 ++
 2 files changed, 15 insertions(+)

diff --git a/conf/modules/stabilization_indi.xml b/conf/modules/stabilization_indi.xml
index 0a66b6c4d7..6a66ba2921 100644
--- a/conf/modules/stabilization_indi.xml
+++ b/conf/modules/stabilization_indi.xml
@@ -46,6 +46,19 @@
       <define name="ADAPTIVE_MU" value="0.0001" description="adaptation parameter"/>
     </section>
   </doc>
+  <settings>
+    <dl_settings>
+      <dl_settings NAME="indi">
+        <dl_setting var="reference_acceleration.err_p" min="0" step="1" max="2500" shortname="kp_p" param="STABILIZATION_INDI_REF_ERR_P" persistent="true"/>
+        <dl_setting var="reference_acceleration.rate_p" min="0" step="0.1" max="100" shortname="kd_p" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
+        <dl_setting var="reference_acceleration.err_q" min="0" step="1" max="2500" shortname="kp_q" param="STABILIZATION_INDI_REF_ERR_Q" persistent="true"/>
+        <dl_setting var="reference_acceleration.rate_q" min="0" step="0.1" max="100" shortname="kd_q" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
+        <dl_setting var="reference_acceleration.err_r" min="0" step="1" max="2500" shortname="kp_r" param="STABILIZATION_INDI_REF_ERR_R" persistent="true"/>
+        <dl_setting var="reference_acceleration.rate_r" min="0" step="0.1" max="100" shortname="kd_r" param="STABILIZATION_INDI_REF_RATE_P" persistent="true"/>
+        <dl_setting var="indi_use_adaptive" min="0" step="1" max="1" shortname="use_adaptive" values="FALSE|TRUE" param="STABILIZATION_INDI_USE_ADAPTIVE" type="uint8" persistent="true"/>
+      </dl_settings>
+    </dl_settings>
+  </settings>
   <autoload name="stabilization" type="rotorcraft"/>
   <header>
     <file name="stabilization_indi.h"/>
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
index 846e888e8f..3267ef5947 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_indi.h
@@ -29,6 +29,8 @@
 extern struct Int32Quat   stab_att_sp_quat;  ///< with #INT32_QUAT_FRAC
 extern struct Int32Eulers stab_att_sp_euler; ///< with #INT32_ANGLE_FRAC
 
+extern bool indi_use_adaptive;
+
 struct ReferenceSystem {
   float err_p;
   float err_q;