typedef		enum {
    MEIFilterGainPIDCoeffGAIN_PROPORTIONAL, /* Kp */
    MEIFilterGainPIDCoeffGAIN_INTEGRAL,     /* Ki */
    MEIFilterGainPIDCoeffGAIN_DERIVATIVE,   /* Kd */

    MEIFilterGainPIDCoeffFEEDFORWARD_POSITION,     /* Kpff */
    MEIFilterGainPIDCoeffFEEDFORWARD_VELOCITY,     /* Kvff */
    MEIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION, /* Kaff */
    MEIFilterGainPIDCoeffFEEDFORWARD_FRICTION,     /* Kfff */

    MEIFilterGainPIDCoeffINTEGRATIONMAX_MOVING, /* MovingIMax */
    MEIFilterGainPIDCoeffINTEGRATIONMAX_REST,   /* RestIMax */

    MEIFilterGainPIDCoeffDRATE,             /* DRate */

    MEIFilterGainPIDCoeffOUTPUT_LIMIT,      /* OutputLimit */
    MEIFilterGainPIDCoeffOUTPUT_LIMITHIGH,  /* OutputLimitHigh */
    MEIFilterGainPIDCoeffOUTPUT_LIMITLOW,   /* OutputLimitLow */
    MEIFilterGainPIDCoeffOUTPUT_OFFSET,     /* OutputOffset */

    MEIFilterGainPIDCoeffNOISE_POSITIONFFT, /* Ka0 */
    MEIFilterGainPIDCoeffNOISE_FILTERFFT,   /* Ka1 */
    MEIFilterGainPIDCoeffNOISE_VELOCITYFFT, /* Ka2 */
} MEIFilterGainPIDCoeff;

/* Sets reasonable tuning parameters for a Trust TA9000 test stand */
void setPIDs(MPIFilter filter)
{
   MPIFilterGain gain;
   long returnValue;

   returnValue = mpiFilterGainGet(filter, 0, &gain);
   msgCHECK(returnValue);

   gain.coeff[MEIFilterGainPIDCoeffGAIN_PROPORTIONAL].f = (float)100;
   gain.coeff[MEIFilterGainPIDCoeffGAIN_INTEGRAL].f = (float)0.2;
   gain.coeff[MEIFilterGainPIDCoeffGAIN_DERIVATIVE].f = (float)1000;
   gain.coeff[MEIFilterGainPIDCoeffFEEDFORWARD_POSITION].f = (float)0;
   gain.coeff[MEIFilterGainPIDCoeffFEEDFORWARD_VELOCITY].f = (float)45;
   gain.coeff[MEIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION].f = (float)101000;
   gain.coeff[MEIFilterGainPIDCoeffFEEDFORWARD_FRICTION].f = (float)450;
   gain.coeff[MEIFilterGainPIDCoeffINTEGRATIONMAX_MOVING].f = (float)15000;
   gain.coeff[MEIFilterGainPIDCoeffINTEGRATIONMAX_REST].f = (float)15000;
   gain.coeff[MEIFilterGainPIDCoeffDRATE].f = (float)0;
   gain.coeff[MEIFilterGainPIDCoeffOUTPUT_LIMIT].f = (float)32767;
   gain.coeff[MEIFilterGainPIDCoeffOUTPUT_LIMITHIGH].f = (float)32767;
   gain.coeff[MEIFilterGainPIDCoeffOUTPUT_LIMITLOW].f = (float)-32767;
   gain.coeff[MEIFilterGainPIDCoeffOUTPUT_OFFSET].f = (float)0;
   gain.coeff[MEIFilterGainPIDCoeffNOISE_POSITIONFFT].f = (float)0;
   gain.coeff[MEIFilterGainPIDCoeffNOISE_FILTERFFT].f = (float)0;
   gain.coeff[MEIFilterGainPIDCoeffNOISE_VELOCITYFFT].f = (float)0;

   returnValue = mpiFilterGainSet(filter, 0, &gain);
   msgCHECK(returnValue);
}