Support for all coefficients in frontend

groundStation/src/cli/cli_setpid.c

@@ -63,19 +63,19 @@ int cli_setpid(struct backend_conn * conn,	int argc, char **argv) {
 	} else if (setPitch) {
 		pid_data.controller = PID_PITCH;
 	} else if (setRollV) {
-		pid_data.controller = PID_ROLL_VELOCITY;
+		pid_data.controller = PID_ROLL_RATE;
 	} else if (setPitchV) {
-		pid_data.controller = PID_PITCH_VELOCITY;
+		pid_data.controller = PID_PITCH_RATE;
 	} else if (setYawV) {
-		pid_data.controller = PID_YAW_VELOCITY;
+		pid_data.controller = PID_YAW_RATE;
 	} else if (setHeight) {
 		pid_data.controller = PID_HEIGHT;
 	} else if (setLong) {
-		pid_data.controller = PID_LONG;
-	} else if (setLat) {
 		pid_data.controller = PID_LAT;
+	} else if (setLat) {
+		pid_data.controller = PID_LONG;
 	}
 
 	frontend_setpid(conn, &pid_data, mask);
 	return 0;
-}
\ No newline at end of file
+}

groundStation/src/frontend/frontend_setpid.c

@@ -25,7 +25,24 @@ int frontend_setpid(
 		case PID_YAW:
 			controller = "yaw";
 			break;
-			/* What is the "throttle" pid constant? */
+		case PID_PITCH_RATE:
+			controller = "pitchrate";
+			break;
+		case PID_ROLL_RATE:
+			controller = "rollrate";
+			break;
+		case PID_YAW_RATE:
+			controller = "yawrate";
+			break;
+		case PID_HEIGHT:
+			controller = "height";
+			break;
+		case PID_LAT:
+			controller = "lat";
+			break;
+		case PID_LONG:
+			controller = "long";
+			break;
 		default:
 			warnx("Unsupported PID constant");
 			return -1;

groundStation/src/frontend/pid_common.h

@@ -5,9 +5,9 @@ enum pid_controller {
 	PID_PITCH,
 	PID_ROLL,
 	PID_YAW,
-	PID_PITCH_VELOCITY,
-	PID_ROLL_VELOCITY,
-	PID_YAW_VELOCITY,
+	PID_PITCH_RATE,
+	PID_ROLL_RATE,
+	PID_YAW_RATE,
 	PID_HEIGHT, /* Z */
 	PID_LAT, /* X */
 	PID_LONG, /* Y */