typedef		enum {
    MPIFilterGainPIVCoeffGAINPOSITION_PROPORTIONAL,	/* Kpp */
    MPIFilterGainPIVCoeffGAINPOSITION_INTEGRAL,		/* Kip */


    MPIFilterGainPIVCoeffGAINVELOCITY_PROPORTIONAL,	/* Kpv */


    MPIFilterGainPIVCoeffFEEDFORWARD_POSITION,		/* Kpff */
    MPIFilterGainPIVCoeffFEEDFORWARD_VELOCITY,		/* Kvff */
    MPIFilterGainPIVCoeffFEEDFORWARD_ACCELERATION,	/* Kaff */
    MPIFilterGainPIVCoeffFEEDFORWARD_FRICTION,		/* Kfff */


    MPIFilterGainPIVCoeffINTEGRATIONMAX_MOVING,		/* MovingIMax */
    MPIFilterGainPIVCoeffINTEGRATIONMAX_REST,		/* RestIMax */


    MPIFilterGainPIVCoeffGAINVELOCITY_FEEDBACK,		/* Kdv */


    MPIFilterGainPIVCoeffOUTPUT_LIMIT,		/* OutputLimit */
    MPIFilterGainPIVCoeffOUTPUT_LIMITHIGH,	/* OutputLimitHigh */
    MPIFilterGainPIVCoeffOUTPUT_LIMITLOW,	/* OutputLimitLow */
    MPIFilterGainPIVCoeffOUTPUT_OFFSET,		/* OutputOffset */


    MPIFilterGainPIVCoeffGAINVELOCITY_INTEGRAL,		/* Kiv */
    MPIFilterGainPIVCoeffGAINVELOCITY_INTEGRATIONMAX,	/* Vintmax */


    MPIFilterGainPIVCoeffNOISE_POSITIONFFT,      /* Ka0 */
    MPIFilterGainPIVCoeffSMOOTHINGFILTER_GAIN,   /* Ka1 */
    MPIFilterGainPIVCoeffNOISE_FILTERFFT,        /* Ka2 */
} MPIFilterGainPIVCoeff;

/* 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);
}