New stabilization module based on PI-P algorithm used in FlightOS

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1864 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Modules/Stabilization/les/Stabilization/inc/stabilization.h

@@ -0,0 +1,43 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Stabilization PID loops in an airframe type independent manner
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the 
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{ 
+ *
+ * @file       stabilization.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef STABILIZATION_H
+#define STABILIZATION_H
+
+int32_t StabilizationInitialize();
+
+#endif // STABILIZATION_H
+
+/**
+  * @}
+  * @}
+  */

flight/OpenPilot/Modules/Stabilization/les/Stabilization/stabilization.c

@@ -0,0 +1,281 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup StabilizationModule Stabilization Module
+ * @brief Stabilization PID loops in an airframe type independent manner
+ * @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
+ * PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
+ * @{
+ *
+ * @file       stabilization.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Attitude stabilization module.
+ *
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "openpilot.h"
+#include "stabilization.h"
+#include "lesstabilizationsettings.h"
+#include "actuatordesired.h"
+#include "attitudedesired.h"
+#include "attitudeactual.h"
+#include "attituderaw.h"
+#include "manualcontrolcommand.h"
+#include "systemsettings.h"
+#include "ahrssettings.h"
+
+
+// Private constants
+#define MAX_QUEUE_SIZE 2
+#define STACK_SIZE configMINIMAL_STACK_SIZE
+#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
+#define FAILSAFE_TIMEOUT_MS 100
+
+enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
+
+enum {ROLL,PITCH,YAW,MAX_AXES};
+
+
+// Private types
+typedef struct {
+	float p;
+	float i;
+	float d;
+	float iLim;
+	float iAccumulator;
+	float lastErr;
+} pid_type;
+
+// Private variables
+static xTaskHandle taskHandle;
+static LesStabilizationSettingsData settings;
+static xQueueHandle queue;
+float dT = 1;
+pid_type pids[PID_MAX];
+
+
+
+// Private functions
+static void stabilizationTask(void* parameters);
+static float ApplyPid(pid_type * pid, const float desired, const float actual, const bool angular);
+static float bound(float val);
+static void ZeroPids(void);
+static void SettingsUpdatedCb(UAVObjEvent * ev);
+
+/**
+ * Module initialization
+ */
+int32_t StabilizationInitialize()
+{
+	// Initialize variables
+
+	// Create object queue
+	queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
+
+	// Listen for updates.
+	AttitudeActualConnectQueue(queue);
+	AttitudeRawConnectQueue(queue);
+
+	LesStabilizationSettingsConnectCallback(SettingsUpdatedCb);
+	SettingsUpdatedCb(LesStabilizationSettingsHandle());
+	// Start main task
+	xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
+
+	return 0;
+}
+
+/**
+ * Module task
+ */
+static void stabilizationTask(void* parameters)
+{
+	portTickType lastSysTime;
+	portTickType thisSysTime;
+	UAVObjEvent ev;
+
+
+	ActuatorDesiredData actuatorDesired;
+	AttitudeDesiredData attitudeDesired;
+	AttitudeActualData attitudeActual;
+	AttitudeRawData attitudeRaw;
+	SystemSettingsData systemSettings;
+	ManualControlCommandData manualControl;
+
+	// Main task loop
+	lastSysTime = xTaskGetTickCount();
+	ZeroPids();
+	while(1) {
+		// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
+		if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
+		{
+			AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
+		}
+
+		// Check how long since last update
+		thisSysTime = xTaskGetTickCount();
+		if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
+			dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
+		lastSysTime = thisSysTime;
+
+		ManualControlCommandGet(&manualControl);
+		AttitudeDesiredGet(&attitudeDesired);
+		AttitudeActualGet(&attitudeActual);
+		AttitudeRawGet(&attitudeRaw);
+		SystemSettingsGet(&systemSettings);
+
+
+		float rates[MAX_AXES]= {0,0,0};
+		rates[ROLL]  = ApplyPid(&pids[PID_ROLL],  attitudeDesired.Roll,  attitudeActual.Roll ,false);
+		rates[PITCH] = ApplyPid(&pids[PID_PITCH], attitudeDesired.Pitch, attitudeActual.Pitch,false);
+		if(settings.YawMode == LESSTABILIZATIONSETTINGS_YAWMODE_RATE) {  // rate stabilization on yaw
+			rates[YAW] = manualControl.Yaw * settings.ManualYawRate;
+		}else{
+			rates[YAW] = ApplyPid(&pids[PID_YAW], attitudeDesired.Yaw, attitudeActual.Yaw,true);
+		}
+
+		for(int ct=0; ct< MAX_AXES; ct++)
+		{
+			if(fabs(rates[ct]) > settings.MaximumRate[ct])
+			{
+				if(rates[ct] > 0)
+				{
+					rates[ct] = settings.MaximumRate[ct];
+				}else
+				{
+					rates[ct] = -settings.MaximumRate[ct];
+				}
+
+			}
+		}
+
+		float commands[MAX_AXES];
+		commands[ROLL] = ApplyPid(&pids[PID_RATE_ROLL], attitudeRaw.gyros_filtered[ROLL], rates[ROLL],false);
+		commands[PITCH] = ApplyPid(&pids[PID_RATE_PITCH], attitudeRaw.gyros_filtered[PITCH], rates[PITCH],false);
+		commands[YAW] = ApplyPid(&pids[PID_RATE_YAW], attitudeRaw.gyros_filtered[YAW], rates[YAW],false);
+
+
+		// On fixed wing we don't try to stabilizew yaw
+		if ( systemSettings.AirframeType < SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)
+		{
+			commands[YAW] = -manualControl.Yaw;
+		}
+
+		actuatorDesired.Pitch = bound(-commands[PITCH]);
+		actuatorDesired.Roll = bound(-commands[ROLL]);
+		actuatorDesired.Yaw = bound(-commands[YAW]);
+		// Setup throttle
+		actuatorDesired.Throttle = attitudeDesired.Throttle;
+
+		// Save dT
+		actuatorDesired.UpdateTime = dT * 1000;
+
+		// Write actuator desired (if not in manual mode)
+		if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
+		{
+			ActuatorDesiredSet(&actuatorDesired);
+		}
+		else
+		{
+			ZeroPids();
+		}
+
+		// Clear alarms
+		AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
+	}
+}
+
+float ApplyPid(pid_type * pid, const float desired, const float actual, const bool angular)
+{
+	float err = desired - actual;
+	if(angular) //take shortest route to desired position
+	{
+		if(err > 180)
+		{
+			err -= 360;
+		}
+		if(err < -180)
+		{
+			err += 360;
+		}
+	}
+
+	float diff = (err - pid->lastErr);
+	pid->lastErr = err;
+	pid->iAccumulator += err * pid->i * dT;
+	if(fabs(pid->iAccumulator) > pid->iLim) {
+		if(pid->iAccumulator >0) {
+			pid->iAccumulator = pid->iLim;
+		} else {
+			pid->iAccumulator = -pid->iLim;
+		}
+	}
+	return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
+}
+
+
+static void ZeroPids(void)
+{
+	for(int ct = 0; ct < PID_MAX; ct++) {
+		pids[ct].iAccumulator = 0;
+		pids[ct].lastErr = 0;
+	}
+}
+
+
+/**
+ * Bound input value between limits
+ */
+static float bound(float val)
+{
+	if(val < -1) {
+		val = -1;
+	} else if(val > 1) {
+		val = 1;
+	}
+	return val;
+}
+
+
+static void SettingsUpdatedCb(UAVObjEvent * ev)
+{
+	memset(pids,0,sizeof (pid_type) * PID_MAX);
+	LesStabilizationSettingsGet(&settings);
+	pids[PID_RATE_ROLL].p = settings.RollRateP;
+	pids[PID_RATE_PITCH].p = settings.PitchRateP;
+	pids[PID_RATE_YAW].p = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_KP];
+	pids[PID_RATE_YAW].i = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_KI];
+	pids[PID_RATE_YAW].iLim = settings.YawRatePI[LESSTABILIZATIONSETTINGS_YAWRATEPI_ILIMIT];
+
+
+	float * data = settings.RollPI;
+	for(int pid=PID_ROLL; pid < PID_MAX; pid++)
+	{
+		pids[pid].p = *data++;
+		pids[pid].i = *data++;
+		pids[pid].iLim = *data++;
+	}
+}
+
+
+/**
+  * @}
+  * @}
+  */

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -49,6 +49,7 @@
 #include "gpstime.h"
 #include "guidancesettings.h"
 #include "homelocation.h"
+#include "lesstabilizationsettings.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "mixersettings.h"
@@ -92,6 +93,7 @@ void UAVObjectsInitializeAll()
     GPSTimeInitialize();
     GuidanceSettingsInitialize();
     HomeLocationInitialize();
+    LesStabilizationSettingsInitialize();
     ManualControlCommandInitialize();
     ManualControlSettingsInitialize();
     MixerSettingsInitialize();

ground/src/plugins/uavobjects/lesstabilizationsettings.cpp

@@ -0,0 +1,200 @@
+/**
+ ******************************************************************************
+ *
+ * @file       lesstabilizationsettings.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectsPlugin UAVObjects Plugin
+ * @{
+ *   
+ * @note       Object definition file: lesstabilizationsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @brief      The UAVUObjects GCS plugin
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "lesstabilizationsettings.h"
+#include "uavobjectfield.h"
+
+const QString LesStabilizationSettings::NAME = QString("LesStabilizationSettings");
+
+/**
+ * Constructor
+ */
+LesStabilizationSettings::LesStabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    QStringList UpdatePeriodElemNames;
+    UpdatePeriodElemNames.append("0");
+    fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
+    QStringList RollMaxElemNames;
+    RollMaxElemNames.append("0");
+    fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
+    QStringList PitchMaxElemNames;
+    PitchMaxElemNames.append("0");
+    fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
+    QStringList YawMaxElemNames;
+    YawMaxElemNames.append("0");
+    fields.append( new UAVObjectField(QString("YawMax"), QString("degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
+    QStringList YawModeElemNames;
+    YawModeElemNames.append("0");
+    QStringList YawModeEnumOptions;
+    YawModeEnumOptions.append("rate");
+    YawModeEnumOptions.append("heading");
+    fields.append( new UAVObjectField(QString("YawMode"), QString(""), UAVObjectField::ENUM, YawModeElemNames, YawModeEnumOptions) );
+    QStringList ManualYawRateElemNames;
+    ManualYawRateElemNames.append("0");
+    fields.append( new UAVObjectField(QString("ManualYawRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, ManualYawRateElemNames, QStringList()) );
+    QStringList MaximumRateElemNames;
+    MaximumRateElemNames.append("Roll");
+    MaximumRateElemNames.append("Pitch");
+    MaximumRateElemNames.append("Yaw");
+    fields.append( new UAVObjectField(QString("MaximumRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, MaximumRateElemNames, QStringList()) );
+    QStringList RollRatePElemNames;
+    RollRatePElemNames.append("0");
+    fields.append( new UAVObjectField(QString("RollRateP"), QString(""), UAVObjectField::FLOAT32, RollRatePElemNames, QStringList()) );
+    QStringList PitchRatePElemNames;
+    PitchRatePElemNames.append("0");
+    fields.append( new UAVObjectField(QString("PitchRateP"), QString(""), UAVObjectField::FLOAT32, PitchRatePElemNames, QStringList()) );
+    QStringList YawRatePIElemNames;
+    YawRatePIElemNames.append("Kp");
+    YawRatePIElemNames.append("Ki");
+    YawRatePIElemNames.append("ILimit");
+    fields.append( new UAVObjectField(QString("YawRatePI"), QString(""), UAVObjectField::FLOAT32, YawRatePIElemNames, QStringList()) );
+    QStringList RollPIElemNames;
+    RollPIElemNames.append("Kp");
+    RollPIElemNames.append("Ki");
+    RollPIElemNames.append("ILimit");
+    fields.append( new UAVObjectField(QString("RollPI"), QString(""), UAVObjectField::FLOAT32, RollPIElemNames, QStringList()) );
+    QStringList PitchPIElemNames;
+    PitchPIElemNames.append("Kp");
+    PitchPIElemNames.append("Ki");
+    PitchPIElemNames.append("ILimit");
+    fields.append( new UAVObjectField(QString("PitchPI"), QString(""), UAVObjectField::FLOAT32, PitchPIElemNames, QStringList()) );
+    QStringList YawPIElemNames;
+    YawPIElemNames.append("Kp");
+    YawPIElemNames.append("Ki");
+    YawPIElemNames.append("ILimit");
+    fields.append( new UAVObjectField(QString("YawPI"), QString(""), UAVObjectField::FLOAT32, YawPIElemNames, QStringList()) );
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+    // Set the default field values
+    setDefaultFieldValues();
+}
+
+/**
+ * Get the default metadata for this object
+ */
+UAVObject::Metadata LesStabilizationSettings::getDefaultMetadata()
+{
+    UAVObject::Metadata metadata;
+    metadata.flightAccess = ACCESS_READWRITE;
+    metadata.gcsAccess = ACCESS_READWRITE;
+    metadata.gcsTelemetryAcked = 1;
+    metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.gcsTelemetryUpdatePeriod = 0;
+    metadata.flightTelemetryAcked = 1;
+    metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
+    metadata.flightTelemetryUpdatePeriod = 0;
+    metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
+    metadata.loggingUpdatePeriod = 0;
+    return metadata;
+}
+
+/**
+ * Initialize object fields with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+void LesStabilizationSettings::setDefaultFieldValues()
+{
+    data.UpdatePeriod = 10;
+    data.RollMax = 35;
+    data.PitchMax = 35;
+    data.YawMax = 35;
+    data.YawMode = 0;
+    data.ManualYawRate = 200;
+    data.MaximumRate[0] = 300;
+    data.MaximumRate[1] = 300;
+    data.MaximumRate[2] = 300;
+    data.RollRateP = 0.0015;
+    data.PitchRateP = 0.0015;
+    data.YawRatePI[0] = 0.003;
+    data.YawRatePI[1] = 0.003;
+    data.YawRatePI[2] = 0.003;
+    data.RollPI[0] = 0;
+    data.RollPI[1] = 0;
+    data.RollPI[2] = 0;
+    data.PitchPI[0] = 0;
+    data.PitchPI[1] = 0;
+    data.PitchPI[2] = 0;
+    data.YawPI[0] = 0;
+    data.YawPI[1] = 0;
+    data.YawPI[2] = 0;
+
+}
+
+/**
+ * Get the object data fields
+ */
+LesStabilizationSettings::DataFields LesStabilizationSettings::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+/**
+ * Set the object data fields
+ */
+void LesStabilizationSettings::setData(const DataFields& data)
+{
+    QMutexLocker locker(mutex);
+    // Get metadata
+    Metadata mdata = getMetadata();
+    // Update object if the access mode permits
+    if ( mdata.gcsAccess == ACCESS_READWRITE )
+    {
+        this->data = data;
+        emit objectUpdatedAuto(this); // trigger object updated event
+        emit objectUpdated(this);
+    }
+}
+
+/**
+ * Create a clone of this object, a new instance ID must be specified.
+ * Do not use this function directly to create new instances, the
+ * UAVObjectManager should be used instead.
+ */
+UAVDataObject* LesStabilizationSettings::clone(quint32 instID)
+{
+    LesStabilizationSettings* obj = new LesStabilizationSettings();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}
+
+/**
+ * Static function to retrieve an instance of the object.
+ */
+LesStabilizationSettings* LesStabilizationSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
+{
+    return dynamic_cast<LesStabilizationSettings*>(objMngr->getObject(LesStabilizationSettings::OBJID, instID));
+}

ground/src/plugins/uavobjects/lesstabilizationsettings.h

@@ -0,0 +1,124 @@
+/**
+ ******************************************************************************
+ *
+ * @file       lesstabilizationsettings.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @see        The GNU Public License (GPL) Version 3
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup UAVObjectsPlugin UAVObjects Plugin
+ * @{
+ *   
+ * @note       Object definition file: lesstabilizationsettings.xml. 
+ *             This is an automatically generated file.
+ *             DO NOT modify manually.
+ *
+ * @brief      The UAVUObjects GCS plugin 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef LESSTABILIZATIONSETTINGS_H
+#define LESSTABILIZATIONSETTINGS_H
+
+#include "uavdataobject.h"
+#include "uavobjectmanager.h"
+
+class UAVOBJECTS_EXPORT LesStabilizationSettings: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        quint8 UpdatePeriod;
+        quint8 RollMax;
+        quint8 PitchMax;
+        quint8 YawMax;
+        quint8 YawMode;
+        float ManualYawRate;
+        float MaximumRate[3];
+        float RollRateP;
+        float PitchRateP;
+        float YawRatePI[3];
+        float RollPI[3];
+        float PitchPI[3];
+        float YawPI[3];
+
+    } __attribute__((packed)) DataFields;
+
+    // Field information
+    // Field UpdatePeriod information
+    // Field RollMax information
+    // Field PitchMax information
+    // Field YawMax information
+    // Field YawMode information
+    /* Enumeration options for field YawMode */
+    typedef enum { YAWMODE_RATE=0, YAWMODE_HEADING=1 } YawModeOptions;
+    // Field ManualYawRate information
+    // Field MaximumRate information
+    /* Array element names for field MaximumRate */
+    typedef enum { MAXIMUMRATE_ROLL=0, MAXIMUMRATE_PITCH=1, MAXIMUMRATE_YAW=2 } MaximumRateElem;
+    /* Number of elements for field MaximumRate */
+    static const quint32 MAXIMUMRATE_NUMELEM = 3;
+    // Field RollRateP information
+    // Field PitchRateP information
+    // Field YawRatePI information
+    /* Array element names for field YawRatePI */
+    typedef enum { YAWRATEPI_KP=0, YAWRATEPI_KI=1, YAWRATEPI_ILIMIT=2 } YawRatePIElem;
+    /* Number of elements for field YawRatePI */
+    static const quint32 YAWRATEPI_NUMELEM = 3;
+    // Field RollPI information
+    /* Array element names for field RollPI */
+    typedef enum { ROLLPI_KP=0, ROLLPI_KI=1, ROLLPI_ILIMIT=2 } RollPIElem;
+    /* Number of elements for field RollPI */
+    static const quint32 ROLLPI_NUMELEM = 3;
+    // Field PitchPI information
+    /* Array element names for field PitchPI */
+    typedef enum { PITCHPI_KP=0, PITCHPI_KI=1, PITCHPI_ILIMIT=2 } PitchPIElem;
+    /* Number of elements for field PitchPI */
+    static const quint32 PITCHPI_NUMELEM = 3;
+    // Field YawPI information
+    /* Array element names for field YawPI */
+    typedef enum { YAWPI_KP=0, YAWPI_KI=1, YAWPI_ILIMIT=2 } YawPIElem;
+    /* Number of elements for field YawPI */
+    static const quint32 YAWPI_NUMELEM = 3;
+
+  
+    // Constants
+    static const quint32 OBJID = 2839831188U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+    static const bool ISSETTINGS = 1;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    LesStabilizationSettings();
+
+    DataFields getData();
+    void setData(const DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+
+    static LesStabilizationSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
+	
+private:
+    DataFields data;
+
+    void setDefaultFieldValues();
+
+};
+
+#endif // LESSTABILIZATIONSETTINGS_H

ground/src/plugins/uavobjects/lesstabilizationsettings.py

@@ -0,0 +1,218 @@
+##
+##############################################################################
+#
+# @file       lesstabilizationsettings.py
+# @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+# @brief      Implementation of the LesStabilizationSettings object. This file has been 
+#             automatically generated by the UAVObjectGenerator.
+# 
+# @note       Object definition file: lesstabilizationsettings.xml. 
+#             This is an automatically generated file.
+#             DO NOT modify manually.
+#
+# @see        The GNU Public License (GPL) Version 3
+#
+#############################################################################/
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+
+import uavobject
+
+import struct
+from collections import namedtuple
+
+# This is a list of instances of the data fields contained in this object
+_fields = [ \
+	uavobject.UAVObjectField(
+		'UpdatePeriod',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'RollMax',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'PitchMax',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'YawMax',
+		'B',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'YawMode',
+		'b',
+		1,
+		[
+			'0',
+		],
+		{
+			'0' : 'rate',
+			'1' : 'heading',
+		}
+	),
+	uavobject.UAVObjectField(
+		'ManualYawRate',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'MaximumRate',
+		'f',
+		3,
+		[
+			'Roll',
+			'Pitch',
+			'Yaw',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'RollRateP',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'PitchRateP',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'YawRatePI',
+		'f',
+		3,
+		[
+			'Kp',
+			'Ki',
+			'ILimit',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'RollPI',
+		'f',
+		3,
+		[
+			'Kp',
+			'Ki',
+			'ILimit',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'PitchPI',
+		'f',
+		3,
+		[
+			'Kp',
+			'Ki',
+			'ILimit',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'YawPI',
+		'f',
+		3,
+		[
+			'Kp',
+			'Ki',
+			'ILimit',
+		],
+		{
+		}
+	),
+]
+
+
+class LesStabilizationSettings(uavobject.UAVObject):
+    ## Object constants
+    OBJID        = 2839831188
+    NAME         = "LesStabilizationSettings"
+    METANAME     = "LesStabilizationSettingsMeta"
+    ISSINGLEINST = 1
+    ISSETTINGS   = 1
+
+    def __init__(self):
+        uavobject.UAVObject.__init__(self,
+                                     self.OBJID, 
+                                     self.NAME,
+                                     self.METANAME,
+                                     0,
+                                     self.ISSINGLEINST)
+
+        for f in _fields:
+            self.add_field(f)
+        
+    def __str__(self):
+        s  = ("0x%08X (%10u)  %-30s  %3u bytes  format '%s'\n"
+                 % (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
+        for f in self.get_tuple()._fields:
+            s += ("\t%s\n" % f)
+        return (s)
+
+def main():
+    # Instantiate the object and dump out some interesting info
+    x = LesStabilizationSettings()
+    print (x)
+
+if __name__ == "__main__":
+    #import pdb ; pdb.run('main()')
+    main()

ground/src/plugins/uavobjects/uavobjects.pro

@@ -40,12 +40,15 @@ HEADERS += uavobjects_global.h \
     positionactual.h \
     flightbatterystate.h \
     homelocation.h \
+    vtolsettings.h \
     mixersettings.h \
     mixerstatus.h \
     velocitydesired.h \
     velocityactual.h \
     guidancesettings.h \
-    positiondesired.h
+    positiondesired.h \
+    attitudesettings.h \
+    lesstabilizationsettings.h
 
 SOURCES += uavobject.cpp \
     uavmetaobject.cpp \
@@ -83,10 +86,13 @@ SOURCES += uavobject.cpp \
     positionactual.cpp \
     flightbatterystate.cpp \
     homelocation.cpp \
+    vtolsettings.cpp \
     mixersettings.cpp \
     mixerstatus.cpp \
     velocitydesired.cpp \
     velocityactual.cpp \
     guidancesettings.cpp \
-    positiondesired.cpp
+    positiondesired.cpp \
+    attitudesettings.cpp \
+    lesstabilizationsettings.cpp
 OTHER_FILES += UAVObjects.pluginspec

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -51,6 +51,7 @@
 #include "gpstime.h"
 #include "guidancesettings.h"
 #include "homelocation.h"
+#include "lesstabilizationsettings.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "mixersettings.h"
@@ -94,6 +95,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new GPSTime() );
     objMngr->registerObject( new GuidanceSettings() );
     objMngr->registerObject( new HomeLocation() );
+    objMngr->registerObject( new LesStabilizationSettings() );
     objMngr->registerObject( new ManualControlCommand() );
     objMngr->registerObject( new ManualControlSettings() );
     objMngr->registerObject( new MixerSettings() );

ground/src/shared/uavobjectdefinition/lesstabilizationsettings.xml

@@ -0,0 +1,24 @@
+<xml>
+	<object name="LesStabilizationSettings" singleinstance="true" settings="true">
+        <description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
+        <field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="10"/>
+        <field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+        <field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+        <field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
+        <field name="YawMode" units="" type="enum" elements="1" options="rate,heading" defaultvalue="rate"/>
+        <field name="ManualYawRate" units="Degrees/sec" type="float" elements="1" defaultvalue="200"/>
+        <field name="MaximumRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300"/>
+
+        <field name="RollRateP" units="" type="float" elements="1" defaultvalue="0.0015"/>
+        <field name="PitchRateP" units="" type="float" elements="1" defaultvalue="0.0015"/>
+        <field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003"/>
+        <field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
+        <field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
+        <field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="0"/>
+
+		<access gcs="readwrite" flight="readwrite"/>
+		<telemetrygcs acked="true" updatemode="onchange" period="0"/>
+		<telemetryflight acked="true" updatemode="onchange" period="0"/>
+		<logging updatemode="never" period="0"/>
+	</object>
+</xml>