typedef		enum {
    MPIFilterGainPIDCoeffGAIN_PROPORTIONAL, /* Kp */
    MPIFilterGainPIDCoeffGAIN_INTEGRAL,     /* Ki */
    MPIFilterGainPIDCoeffGAIN_DERIVATIVE,   /* Kd */

    MPIFilterGainPIDCoeffFEEDFORWARD_POSITION,     /* Kpff */
    MPIFilterGainPIDCoeffFEEDFORWARD_VELOCITY,     /* Kvff */
    MPIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION, /* Kaff */
    MPIFilterGainPIDCoeffFEEDFORWARD_FRICTION,     /* Kfff */

    MPIFilterGainPIDCoeffINTEGRATIONMAX_MOVING, /* MovingIMax */
    MPIFilterGainPIDCoeffINTEGRATIONMAX_REST,   /* RestIMax */

    MPIFilterGainPIDCoeffDRATE,             /* DRate */

    MPIFilterGainPIDCoeffOUTPUT_LIMIT,      /* OutputLimit */
    MPIFilterGainPIDCoeffOUTPUT_LIMITHIGH,  /* OutputLimitHigh */
    MPIFilterGainPIDCoeffOUTPUT_LIMITLOW,   /* OutputLimitLow */
    MPIFilterGainPIDCoeffOUTPUT_OFFSET,     /* OutputOffset */

    MPIFilterGainPIDCoeffNOISE_POSITIONFFT, /* Ka0 */
    MPIFilterGainPIDCoeffNOISE_FILTERFFT,   /* Ka1 */
    MPIFilterGainPIDCoeffNOISE_VELOCITYFFT, /* Ka2 */
} MPIFilterGainPIDCoeff;

/* Sets reasonable tuning parameters for a Trust TA9000 test stand */
void setPIDs(MPIFilter filter)
{
   MPIFilterGain gain;
   int32_t returnValue;

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

   gain.coeff[MPIFilterGainPIDCoeffGAIN_PROPORTIONAL].f = (float)100;
   gain.coeff[MPIFilterGainPIDCoeffGAIN_INTEGRAL].f = (float)0.2;
   gain.coeff[MPIFilterGainPIDCoeffGAIN_DERIVATIVE].f = (float)1000;
   gain.coeff[MPIFilterGainPIDCoeffFEEDFORWARD_POSITION].f = (float)0;
   gain.coeff[MPIFilterGainPIDCoeffFEEDFORWARD_VELOCITY].f = (float)45;
   gain.coeff[MPIFilterGainPIDCoeffFEEDFORWARD_ACCELERATION].f = (float)101000;
   gain.coeff[MPIFilterGainPIDCoeffFEEDFORWARD_FRICTION].f = (float)450;
   gain.coeff[MPIFilterGainPIDCoeffINTEGRATIONMAX_MOVING].f = (float)15000;
   gain.coeff[MPIFilterGainPIDCoeffINTEGRATIONMAX_REST].f = (float)15000;
   gain.coeff[MPIFilterGainPIDCoeffDRATE].f = (float)0;
   gain.coeff[MPIFilterGainPIDCoeffOUTPUT_LIMIT].f = (float)32767;
   gain.coeff[MPIFilterGainPIDCoeffOUTPUT_LIMITHIGH].f = (float)32767;
   gain.coeff[MPIFilterGainPIDCoeffOUTPUT_LIMITLOW].f = (float)-32767;
   gain.coeff[MPIFilterGainPIDCoeffOUTPUT_OFFSET].f = (float)0;
   gain.coeff[MPIFilterGainPIDCoeffNOISE_POSITIONFFT].f = (float)0;
   gain.coeff[MPIFilterGainPIDCoeffNOISE_FILTERFFT].f = (float)0;
   gain.coeff[MPIFilterGainPIDCoeffNOISE_VELOCITYFFT].f = (float)0;

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