From 0999c1ce5824fe7b4a863ca9c427326ab4c3df76 Mon Sep 17 00:00:00 2001
From: vassilis <vassilis>
Date: Fri, 30 Apr 2010 02:28:16 +0000
Subject: [PATCH] Flight/Objects Metaobjects are now also stored in CF and
 retrieved on power-up. At this time settings and meta objects are
 automatically loaded on startup if they have been saved in the CF card (to
 test use Save button in the object browser), if a file is not found in the CF
 card then the defaults specified in the XML file will be used.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@561 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Makefile                     |   2 +-
 flight/OpenPilot/Modules/System/systemmod.c   |  34 +++--
 flight/OpenPilot/UAVObjects/exampleobject1.c  |  57 ++++----
 flight/OpenPilot/UAVObjects/exampleobject2.c  |  57 ++++----
 flight/OpenPilot/UAVObjects/examplesettings.c |  63 +++++----
 .../UAVObjects/flighttelemetrystats.c         |  57 ++++----
 .../OpenPilot/UAVObjects/gcstelemetrystats.c  |  57 ++++----
 flight/OpenPilot/UAVObjects/gpsobject.c       |  57 ++++----
 .../UAVObjects/inc/objectpersistence.h        |  78 +++++++++++
 .../UAVObjects/inc/settingspersistence.h      |  74 ----------
 .../UAVObjects/inc/uavobjectmanager.h         |  11 +-
 ...tingspersistence.c => objectpersistence.c} |  69 +++++-----
 flight/OpenPilot/UAVObjects/systemalarms.c    |  57 ++++----
 flight/OpenPilot/UAVObjects/systemstats.c     |  57 ++++----
 .../OpenPilot/UAVObjects/uavobjectmanager.c   | 126 +++++++++++++++++-
 flight/OpenPilot/UAVObjects/uavobjectsinit.c  |   4 +-
 .../OpenPilot/UAVObjects/uavobjecttemplate.c  |  57 ++++----
 17 files changed, 552 insertions(+), 365 deletions(-)
 create mode 100644 flight/OpenPilot/UAVObjects/inc/objectpersistence.h
 delete mode 100644 flight/OpenPilot/UAVObjects/inc/settingspersistence.h
 rename flight/OpenPilot/UAVObjects/{settingspersistence.c => objectpersistence.c} (62%)

diff --git a/flight/OpenPilot/Makefile b/flight/OpenPilot/Makefile
index a06fdbbd0..e7a0ef82c 100644
--- a/flight/OpenPilot/Makefile
+++ b/flight/OpenPilot/Makefile
@@ -135,7 +135,7 @@ SRC += $(OPUAVOBJ)/eventdispatcher.c
 SRC += $(OPUAVOBJ)/exampleobject1.c
 SRC += $(OPUAVOBJ)/exampleobject2.c
 SRC += $(OPUAVOBJ)/examplesettings.c
-SRC += $(OPUAVOBJ)/settingspersistence.c
+SRC += $(OPUAVOBJ)/objectpersistence.c
 SRC += $(OPUAVOBJ)/gpsobject.c
 SRC += $(OPUAVOBJ)/gcstelemetrystats.c
 SRC += $(OPUAVOBJ)/flighttelemetrystats.c
diff --git a/flight/OpenPilot/Modules/System/systemmod.c b/flight/OpenPilot/Modules/System/systemmod.c
index b5c88c2e3..79d9e3f23 100644
--- a/flight/OpenPilot/Modules/System/systemmod.c
+++ b/flight/OpenPilot/Modules/System/systemmod.c
@@ -26,7 +26,7 @@
 
 #include "openpilot.h"
 #include "systemmod.h"
-#include "settingspersistence.h"
+#include "objectpersistence.h"
 #include "systemstats.h"
 
 // Private constants
@@ -85,7 +85,7 @@ static void systemTask(void* parameters)
 	lastSysTime = xTaskGetTickCount();
 
 	// Listen for SettingPersistance object updates, connect a callback function
-	SettingsPersistenceConnectCallback(&objectUpdatedCb);
+	ObjectPersistenceConnectCallback(&objectUpdatedCb);
 
 	// Main system loop
 	while (1)
@@ -119,22 +119,36 @@ static void systemTask(void* parameters)
  */
 static void objectUpdatedCb(UAVObjEvent* ev)
 {
-	SettingsPersistenceData setper;
+	ObjectPersistenceData objper;
 
-	// If the object updated was the SettingsPersistence execute requested action
-	if ( ev->obj == SettingsPersistenceHandle() )
+	// If the object updated was the ObjectPersistence execute requested action
+	if ( ev->obj == ObjectPersistenceHandle() )
 	{
 		// Get object data
-		SettingsPersistenceGet(&setper);
+		ObjectPersistenceGet(&objper);
 
 		// Execute action
-		if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_LOAD)
+		if ( objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD)
 		{
-			UAVObjLoadSettings();
+			if ( objper.Objects == OBJECTPERSISTENCE_OBJECTS_SETTINGS || objper.Objects == OBJECTPERSISTENCE_OBJECTS_ALL)
+			{
+				UAVObjLoadSettings();
+			}
+			if ( objper.Objects == OBJECTPERSISTENCE_OBJECTS_METAOBJECTS || objper.Objects == OBJECTPERSISTENCE_OBJECTS_ALL)
+			{
+				UAVObjLoadMetaobjects();
+			}
 		}
-		else if ( setper.Operation == SETTINGSPERSISTENCE_OPERATION_SAVE)
+		else if ( objper.Operation == OBJECTPERSISTENCE_OPERATION_SAVE)
 		{
-			UAVObjSaveSettings();
+			if ( objper.Objects == OBJECTPERSISTENCE_OBJECTS_SETTINGS || objper.Objects == OBJECTPERSISTENCE_OBJECTS_ALL)
+			{
+				UAVObjSaveSettings();
+			}
+			if ( objper.Objects == OBJECTPERSISTENCE_OBJECTS_METAOBJECTS || objper.Objects == OBJECTPERSISTENCE_OBJECTS_ALL)
+			{
+				UAVObjSaveMetaobjects();
+			}
 		}
 	}
 }
diff --git a/flight/OpenPilot/UAVObjects/exampleobject1.c b/flight/OpenPilot/UAVObjects/exampleobject1.c
index 843cc8ea1..a60fe05e9 100644
--- a/flight/OpenPilot/UAVObjects/exampleobject1.c
+++ b/flight/OpenPilot/UAVObjects/exampleobject1.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t ExampleObject1Initialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT1_OBJID, EXAMPLEOBJECT1_NAME, EXAMPLEOBJECT1_METANAME, 0,
+			EXAMPLEOBJECT1_ISSINGLEINST, EXAMPLEOBJECT1_ISSETTINGS, EXAMPLEOBJECT1_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleObject1Data data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(EXAMPLEOBJECT1_OBJID, EXAMPLEOBJECT1_NAME, 0, EXAMPLEOBJECT1_ISSINGLEINST, EXAMPLEOBJECT1_ISSETTINGS, EXAMPLEOBJECT1_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleObject1Data));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
 	metadata.telemetryUpdatePeriod = 0;
@@ -60,27 +85,7 @@ int32_t ExampleObject1Initialize()
 	metadata.gcsTelemetryUpdatePeriod = 200;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	ExampleObject1Data data;
-	ExampleObject1Get(&data);
-	memset(&data, 0, sizeof(ExampleObject1Data));
-
-	ExampleObject1Set(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/exampleobject2.c b/flight/OpenPilot/UAVObjects/exampleobject2.c
index e68000fbf..a532a6ed8 100644
--- a/flight/OpenPilot/UAVObjects/exampleobject2.c
+++ b/flight/OpenPilot/UAVObjects/exampleobject2.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t ExampleObject2Initialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLEOBJECT2_OBJID, EXAMPLEOBJECT2_NAME, EXAMPLEOBJECT2_METANAME, 0,
+			EXAMPLEOBJECT2_ISSINGLEINST, EXAMPLEOBJECT2_ISSETTINGS, EXAMPLEOBJECT2_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleObject2Data data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(EXAMPLEOBJECT2_OBJID, EXAMPLEOBJECT2_NAME, 0, EXAMPLEOBJECT2_ISSINGLEINST, EXAMPLEOBJECT2_ISSETTINGS, EXAMPLEOBJECT2_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleObject2Data));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 100;
@@ -60,27 +85,7 @@ int32_t ExampleObject2Initialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	ExampleObject2Data data;
-	ExampleObject2Get(&data);
-	memset(&data, 0, sizeof(ExampleObject2Data));
-
-	ExampleObject2Set(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/examplesettings.c b/flight/OpenPilot/UAVObjects/examplesettings.c
index 2363ae01f..86d6921e7 100644
--- a/flight/OpenPilot/UAVObjects/examplesettings.c
+++ b/flight/OpenPilot/UAVObjects/examplesettings.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,41 @@ static void setDefaultFieldValues();
  */
 int32_t ExampleSettingsInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(EXAMPLESETTINGS_OBJID, EXAMPLESETTINGS_NAME, EXAMPLESETTINGS_METANAME, 0,
+			EXAMPLESETTINGS_ISSINGLEINST, EXAMPLESETTINGS_ISSETTINGS, EXAMPLESETTINGS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ExampleSettingsData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(EXAMPLESETTINGS_OBJID, EXAMPLESETTINGS_NAME, 0, EXAMPLESETTINGS_ISSINGLEINST, EXAMPLESETTINGS_ISSETTINGS, EXAMPLESETTINGS_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ExampleSettingsData));
+    data.UpdatePeriod = 10;
+    data.StepSize = 1;
+    data.StepDirection = 0;
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
 	metadata.telemetryUpdatePeriod = 0;
@@ -60,30 +88,7 @@ int32_t ExampleSettingsInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	ExampleSettingsData data;
-	ExampleSettingsGet(&data);
-	memset(&data, 0, sizeof(ExampleSettingsData));
-    data.UpdatePeriod = 10;
-    data.StepSize = 1;
-    data.StepDirection = 0;
-
-	ExampleSettingsSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/flighttelemetrystats.c b/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
index 11737109b..455faac17 100644
--- a/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
+++ b/flight/OpenPilot/UAVObjects/flighttelemetrystats.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t FlightTelemetryStatsInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID, FLIGHTTELEMETRYSTATS_NAME, FLIGHTTELEMETRYSTATS_METANAME, 0,
+			FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	FlightTelemetryStatsData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(FLIGHTTELEMETRYSTATS_OBJID, FLIGHTTELEMETRYSTATS_NAME, 0, FLIGHTTELEMETRYSTATS_ISSINGLEINST, FLIGHTTELEMETRYSTATS_ISSETTINGS, FLIGHTTELEMETRYSTATS_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(FlightTelemetryStatsData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 5000;
@@ -60,27 +85,7 @@ int32_t FlightTelemetryStatsInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.loggingUpdatePeriod = 5000;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	FlightTelemetryStatsData data;
-	FlightTelemetryStatsGet(&data);
-	memset(&data, 0, sizeof(FlightTelemetryStatsData));
-
-	FlightTelemetryStatsSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/gcstelemetrystats.c b/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
index 920baba5e..b0c9926b9 100644
--- a/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
+++ b/flight/OpenPilot/UAVObjects/gcstelemetrystats.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t GCSTelemetryStatsInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID, GCSTELEMETRYSTATS_NAME, GCSTELEMETRYSTATS_METANAME, 0,
+			GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	GCSTelemetryStatsData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(GCSTELEMETRYSTATS_OBJID, GCSTELEMETRYSTATS_NAME, 0, GCSTELEMETRYSTATS_ISSINGLEINST, GCSTELEMETRYSTATS_ISSETTINGS, GCSTELEMETRYSTATS_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(GCSTelemetryStatsData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_NEVER;
 	metadata.telemetryUpdatePeriod = 0;
@@ -60,27 +85,7 @@ int32_t GCSTelemetryStatsInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	GCSTelemetryStatsData data;
-	GCSTelemetryStatsGet(&data);
-	memset(&data, 0, sizeof(GCSTelemetryStatsData));
-
-	GCSTelemetryStatsSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/gpsobject.c b/flight/OpenPilot/UAVObjects/gpsobject.c
index 3a7adfd40..53cbb6ec9 100644
--- a/flight/OpenPilot/UAVObjects/gpsobject.c
+++ b/flight/OpenPilot/UAVObjects/gpsobject.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t GpsObjectInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(GPSOBJECT_OBJID, GPSOBJECT_NAME, GPSOBJECT_METANAME, 0,
+			GPSOBJECT_ISSINGLEINST, GPSOBJECT_ISSETTINGS, GPSOBJECT_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	GpsObjectData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(GPSOBJECT_OBJID, GPSOBJECT_NAME, 0, GPSOBJECT_ISSINGLEINST, GPSOBJECT_ISSETTINGS, GPSOBJECT_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(GpsObjectData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 1000;
@@ -60,27 +85,7 @@ int32_t GpsObjectInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.loggingUpdatePeriod = 1000;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	GpsObjectData data;
-	GpsObjectGet(&data);
-	memset(&data, 0, sizeof(GpsObjectData));
-
-	GpsObjectSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/inc/objectpersistence.h b/flight/OpenPilot/UAVObjects/inc/objectpersistence.h
new file mode 100644
index 000000000..3d9b046f9
--- /dev/null
+++ b/flight/OpenPilot/UAVObjects/inc/objectpersistence.h
@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       objectpersistence.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the ObjectPersistence object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: objectpersistence.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
+ */
+
+#ifndef OBJECTPERSISTENCE_H
+#define OBJECTPERSISTENCE_H
+
+// Object constants
+#define OBJECTPERSISTENCE_OBJID 2407027612U
+#define OBJECTPERSISTENCE_NAME "ObjectPersistence"
+#define OBJECTPERSISTENCE_METANAME "ObjectPersistenceMeta"
+#define OBJECTPERSISTENCE_ISSINGLEINST 1
+#define OBJECTPERSISTENCE_ISSETTINGS 0
+#define OBJECTPERSISTENCE_NUMBYTES sizeof(ObjectPersistenceData)
+
+// Object access macros
+#define ObjectPersistenceGet(dataOut) UAVObjGetData(ObjectPersistenceHandle(), dataOut)
+#define ObjectPersistenceSet(dataIn) UAVObjSetData(ObjectPersistenceHandle(), dataIn)
+#define ObjectPersistenceInstGet(instId, dataOut) UAVObjGetInstanceData(ObjectPersistenceHandle(), instId, dataOut)
+#define ObjectPersistenceInstSet(instId, dataIn) UAVObjSetInstanceData(ObjectPersistenceHandle(), instId, dataIn)
+#define ObjectPersistenceConnectQueue(queue) UAVObjConnectQueue(ObjectPersistenceHandle(), queue, EV_MASK_ALL_UPDATES)
+#define ObjectPersistenceConnectCallback(cb) UAVObjConnectCallback(ObjectPersistenceHandle(), cb, EV_MASK_ALL_UPDATES)
+#define ObjectPersistenceCreateInstance() UAVObjCreateInstance(ObjectPersistenceHandle())
+#define ObjectPersistenceRequestUpdate() UAVObjRequestUpdate(ObjectPersistenceHandle())
+#define ObjectPersistenceRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ObjectPersistenceHandle(), instId)
+#define ObjectPersistenceUpdated() UAVObjUpdated(ObjectPersistenceHandle())
+#define ObjectPersistenceInstUpdated(instId) UAVObjUpdated(ObjectPersistenceHandle(), instId)
+#define ObjectPersistenceGetMetadata(dataOut) UAVObjGetMetadata(ObjectPersistenceHandle(), dataOut)
+#define ObjectPersistenceSetMetadata(dataIn) UAVObjSetMetadata(ObjectPersistenceHandle(), dataIn)
+
+// Object data
+typedef struct {
+    uint8_t Operation;
+    uint8_t Objects;
+
+} __attribute__((packed)) ObjectPersistenceData;
+
+// Field information
+// Field Operation information
+/* Enumeration options for field Operation */
+typedef enum { OBJECTPERSISTENCE_OPERATION_LOAD=0, OBJECTPERSISTENCE_OPERATION_SAVE=1,  } ObjectPersistenceOperationOptions;
+// Field Objects information
+/* Enumeration options for field Objects */
+typedef enum { OBJECTPERSISTENCE_OBJECTS_ALL=0, OBJECTPERSISTENCE_OBJECTS_SETTINGS=1, OBJECTPERSISTENCE_OBJECTS_METAOBJECTS=2,  } ObjectPersistenceObjectsOptions;
+
+
+// Generic interface functions
+int32_t ObjectPersistenceInitialize();
+UAVObjHandle ObjectPersistenceHandle();
+
+#endif // OBJECTPERSISTENCE_H
diff --git a/flight/OpenPilot/UAVObjects/inc/settingspersistence.h b/flight/OpenPilot/UAVObjects/inc/settingspersistence.h
deleted file mode 100644
index 2b6b67e4a..000000000
--- a/flight/OpenPilot/UAVObjects/inc/settingspersistence.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       settingspersistence.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the SettingsPersistence object. This file has been 
- *             automatically generated by the UAVObjectGenerator.
- * 
- * @note       Object definition file: settingspersistence.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
- */
-
-#ifndef SETTINGSPERSISTENCE_H
-#define SETTINGSPERSISTENCE_H
-
-// Object constants
-#define SETTINGSPERSISTENCE_OBJID 3652432370U
-#define SETTINGSPERSISTENCE_NAME "SettingsPersistence"
-#define SETTINGSPERSISTENCE_METANAME "SettingsPersistenceMeta"
-#define SETTINGSPERSISTENCE_ISSINGLEINST 1
-#define SETTINGSPERSISTENCE_ISSETTINGS 0
-#define SETTINGSPERSISTENCE_NUMBYTES sizeof(SettingsPersistenceData)
-
-// Object access macros
-#define SettingsPersistenceGet(dataOut) UAVObjGetData(SettingsPersistenceHandle(), dataOut)
-#define SettingsPersistenceSet(dataIn) UAVObjSetData(SettingsPersistenceHandle(), dataIn)
-#define SettingsPersistenceInstGet(instId, dataOut) UAVObjGetInstanceData(SettingsPersistenceHandle(), instId, dataOut)
-#define SettingsPersistenceInstSet(instId, dataIn) UAVObjSetInstanceData(SettingsPersistenceHandle(), instId, dataIn)
-#define SettingsPersistenceConnectQueue(queue) UAVObjConnectQueue(SettingsPersistenceHandle(), queue, EV_MASK_ALL_UPDATES)
-#define SettingsPersistenceConnectCallback(cb) UAVObjConnectCallback(SettingsPersistenceHandle(), cb, EV_MASK_ALL_UPDATES)
-#define SettingsPersistenceCreateInstance() UAVObjCreateInstance(SettingsPersistenceHandle())
-#define SettingsPersistenceRequestUpdate() UAVObjRequestUpdate(SettingsPersistenceHandle())
-#define SettingsPersistenceRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SettingsPersistenceHandle(), instId)
-#define SettingsPersistenceUpdated() UAVObjUpdated(SettingsPersistenceHandle())
-#define SettingsPersistenceInstUpdated(instId) UAVObjUpdated(SettingsPersistenceHandle(), instId)
-#define SettingsPersistenceGetMetadata(dataOut) UAVObjGetMetadata(SettingsPersistenceHandle(), dataOut)
-#define SettingsPersistenceSetMetadata(dataIn) UAVObjSetMetadata(SettingsPersistenceHandle(), dataIn)
-
-// Object data
-typedef struct {
-    uint8_t Operation;
-
-} __attribute__((packed)) SettingsPersistenceData;
-
-// Field information
-// Field Operation information
-/* Enumeration options for field Operation */
-typedef enum { SETTINGSPERSISTENCE_OPERATION_LOAD=0, SETTINGSPERSISTENCE_OPERATION_SAVE=1,  } SettingsPersistenceOperationOptions;
-
-
-// Generic interface functions
-int32_t SettingsPersistenceInitialize();
-UAVObjHandle SettingsPersistenceHandle();
-
-#endif // SETTINGSPERSISTENCE_H
diff --git a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
index afc0d7832..24ea46331 100644
--- a/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
+++ b/flight/OpenPilot/UAVObjects/inc/uavobjectmanager.h
@@ -88,6 +88,11 @@ typedef struct {
  */
 typedef void (*UAVObjEventCallback)(UAVObjEvent* ev);
 
+/**
+ * Callback used to initialize the object fields to their default values.
+ */
+typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
+
 /**
  * Event manager statistics
  */
@@ -98,8 +103,8 @@ typedef struct {
 int32_t UAVObjInitialize();
 void UAVObjGetStats(UAVObjStats* statsOut);
 void UAVObjClearStats();
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject, int32_t isSingleInstance,
-		int32_t isSettings, uint32_t numBytes);
+UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
+		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb);
 UAVObjHandle UAVObjGetByID(uint32_t id);
 UAVObjHandle UAVObjGetByName(char* name);
 uint32_t UAVObjGetID(UAVObjHandle obj);
@@ -119,6 +124,8 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file);
 UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
 int32_t UAVObjSaveSettings();
 int32_t UAVObjLoadSettings();
+int32_t UAVObjSaveMetaobjects();
+int32_t UAVObjLoadMetaobjects();
 int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn);
 int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut);
 int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn);
diff --git a/flight/OpenPilot/UAVObjects/settingspersistence.c b/flight/OpenPilot/UAVObjects/objectpersistence.c
similarity index 62%
rename from flight/OpenPilot/UAVObjects/settingspersistence.c
rename to flight/OpenPilot/UAVObjects/objectpersistence.c
index 6141d0f86..5f5d158b9 100644
--- a/flight/OpenPilot/UAVObjects/settingspersistence.c
+++ b/flight/OpenPilot/UAVObjects/objectpersistence.c
@@ -1,12 +1,12 @@
 /**
  ******************************************************************************
  *
- * @file       settingspersistence.c
+ * @file       objectpersistence.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Implementation of the SettingsPersistence object. This file has been 
+ * @brief      Implementation of the ObjectPersistence object. This file has been 
  *             automatically generated by the UAVObjectGenerator.
  * 
- * @note       Object definition file: settingspersistence.xml. 
+ * @note       Object definition file: objectpersistence.xml. 
  *             This is an automatically generated file.
  *             DO NOT modify manually.
  *
@@ -30,28 +30,53 @@
  */
 
 #include "openpilot.h"
-#include "settingspersistence.h"
+#include "objectpersistence.h"
 
 // Private variables
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
  * \return 0 Success
  * \return -1 Failure
  */
-int32_t SettingsPersistenceInitialize()
+int32_t ObjectPersistenceInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(OBJECTPERSISTENCE_OBJID, OBJECTPERSISTENCE_NAME, OBJECTPERSISTENCE_METANAME, 0,
+			OBJECTPERSISTENCE_ISSINGLEINST, OBJECTPERSISTENCE_ISSETTINGS, OBJECTPERSISTENCE_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	ObjectPersistenceData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(SETTINGSPERSISTENCE_OBJID, SETTINGSPERSISTENCE_NAME, 0, SETTINGSPERSISTENCE_ISSINGLEINST, SETTINGSPERSISTENCE_ISSETTINGS, SETTINGSPERSISTENCE_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(ObjectPersistenceData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_MANUAL;
 	metadata.telemetryUpdatePeriod = 0;
@@ -60,33 +85,13 @@ int32_t SettingsPersistenceInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
 	metadata.loggingUpdatePeriod = 0;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	SettingsPersistenceData data;
-	SettingsPersistenceGet(&data);
-	memset(&data, 0, sizeof(SettingsPersistenceData));
-
-	SettingsPersistenceSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
  * Get object handle
  */
-UAVObjHandle SettingsPersistenceHandle()
+UAVObjHandle ObjectPersistenceHandle()
 {
 	return handle;
 }
diff --git a/flight/OpenPilot/UAVObjects/systemalarms.c b/flight/OpenPilot/UAVObjects/systemalarms.c
index 9a9dd4b9a..de87c0ade 100644
--- a/flight/OpenPilot/UAVObjects/systemalarms.c
+++ b/flight/OpenPilot/UAVObjects/systemalarms.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t SystemAlarmsInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(SYSTEMALARMS_OBJID, SYSTEMALARMS_NAME, SYSTEMALARMS_METANAME, 0,
+			SYSTEMALARMS_ISSINGLEINST, SYSTEMALARMS_ISSETTINGS, SYSTEMALARMS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	SystemAlarmsData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(SYSTEMALARMS_OBJID, SYSTEMALARMS_NAME, 0, SYSTEMALARMS_ISSINGLEINST, SYSTEMALARMS_ISSETTINGS, SYSTEMALARMS_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(SystemAlarmsData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 4000;
@@ -60,27 +85,7 @@ int32_t SystemAlarmsInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.loggingUpdatePeriod = 1000;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	SystemAlarmsData data;
-	SystemAlarmsGet(&data);
-	memset(&data, 0, sizeof(SystemAlarmsData));
-
-	SystemAlarmsSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/systemstats.c b/flight/OpenPilot/UAVObjects/systemstats.c
index 158b194a6..16b5d6ff6 100644
--- a/flight/OpenPilot/UAVObjects/systemstats.c
+++ b/flight/OpenPilot/UAVObjects/systemstats.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t SystemStatsInitialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister(SYSTEMSTATS_OBJID, SYSTEMSTATS_NAME, SYSTEMSTATS_METANAME, 0,
+			SYSTEMSTATS_ISSINGLEINST, SYSTEMSTATS_ISSETTINGS, SYSTEMSTATS_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	SystemStatsData data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister(SYSTEMSTATS_OBJID, SYSTEMSTATS_NAME, 0, SYSTEMSTATS_ISSINGLEINST, SYSTEMSTATS_ISSETTINGS, SYSTEMSTATS_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(SystemStatsData));
 
-	// Initialize metadata
+	UAVObjSetInstanceData(obj, instId, &data);
+
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = 1;
 	metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.telemetryUpdatePeriod = 1000;
@@ -60,27 +85,7 @@ int32_t SystemStatsInitialize()
 	metadata.gcsTelemetryUpdatePeriod = 0;
 	metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
 	metadata.loggingUpdatePeriod = 1000;
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	SystemStatsData data;
-	SystemStatsGet(&data);
-	memset(&data, 0, sizeof(SystemStatsData));
-
-	SystemStatsSet(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**
diff --git a/flight/OpenPilot/UAVObjects/uavobjectmanager.c b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
index 856cb9a1a..2a787be73 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectmanager.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectmanager.c
@@ -62,6 +62,7 @@ struct ObjectListStruct {
 	int8_t isSettings; /** Set to 1 if this object is a settings object */
 	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
 	uint16_t numInstances; /** Number of instances */
+	UAVObjInitializeCallback initCb; /** Object field and metadata initialization callback */
 	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
 	ObjectInstList* instances; /** List of object instances, instance 0 always exists */
 	ObjectEventList* events; /** Event queues registered on the object */
@@ -75,6 +76,8 @@ static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
 static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
 static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
 static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
+static void objectFilename(ObjectList* obj, uint8_t* filename);
+static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
 
 // Private variables
 static ObjectList* objList;
@@ -137,15 +140,17 @@ void UAVObjClearStats()
  * Register and new object in the object manager.
  * \param[in] id Unique object ID
  * \param[in] name Object name
+ * \param[in] nameName Metaobject name
  * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
  * \param[in] isSingleInstance Is this a single instance or multi-instance object
  * \param[in] isSettings Is this a settings object
  * \param[in] numBytes Number of bytes of object data (for one instance)
+ * \param[in] initCb Default field and metadata initialization function
  * \return Object handle, or 0 if failure.
  * \return
  */
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject,
-		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes)
+UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
+		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
 {
 	ObjectList* objEntry;
 	ObjectInstList* instEntry;
@@ -180,12 +185,13 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject,
 	objEntry->numBytes = numBytes;
 	objEntry->events = NULL;
 	objEntry->numInstances = 0;
+	objEntry->initCb = initCb;
 	objEntry->instances = NULL;
 	objEntry->linkedObj = NULL; // will be set later
 	LL_APPEND(objList, objEntry);
 
 	// Create instance zero
-	instEntry = createInstance(objEntry, objEntry->numInstances);
+	instEntry = createInstance(objEntry, 0);
 	if ( instEntry == NULL )
 	{
 		xSemaphoreGiveRecursive(mutex);
@@ -200,13 +206,25 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char* name, int32_t isMetaobject,
 	else
 	{
 		// Create metaobject
-		metaObj = (ObjectList*)UAVObjRegister(id+1, NULL, 1, 1, 0, sizeof(UAVObjMetadata));
+		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
 		// Link two objects
 		objEntry->linkedObj = metaObj;
 		metaObj->linkedObj = objEntry;
 	}
 
-	// If this is a settings object attempt to load its data from the file system
+	// Initialize object fields and metadata to default values
+	if ( objEntry->initCb != NULL )
+	{
+		objEntry->initCb((UAVObjHandle)objEntry, 0);
+	}
+
+	// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
+	if ( !objEntry->isMetaobject )
+	{
+		UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
+	}
+
+	// If this is a settings object, attempt to load from SD card
 	if ( objEntry->isSettings )
 	{
 		UAVObjLoad( (UAVObjHandle)objEntry, 0 );
@@ -353,6 +371,12 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj)
 		return -1;
 	}
 
+	// Initialize instance data
+	if ( objEntry->initCb != NULL )
+	{
+		objEntry->initCb(obj, instEntry->instId);
+	}
+
 	// Unlock
 	xSemaphoreGiveRecursive(mutex);
 	return instEntry->instId;
@@ -538,6 +562,7 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 {
 	FILEINFO file;
 	ObjectList* objEntry;
+	uint8_t filename[14];
 
 	// Check for file system availability
 	if ( POIS_SDCARD_IsMounted() == 0 )
@@ -551,8 +576,11 @@ int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
 	// Cast to object
 	objEntry = (ObjectList*)obj;
 
+	// Get filename
+	objectFilename(objEntry, filename);
+
 	// Open file
-	if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)objEntry->name, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
+	if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
 	{
 		xSemaphoreGiveRecursive(mutex);
 		return -1;
@@ -666,6 +694,7 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	ObjectList* objEntry;
 	UAVObjHandle loadedObj;
 	ObjectList* loadedObjEntry;
+	uint8_t filename[14];
 
 	// Check for file system availability
 	if ( POIS_SDCARD_IsMounted() == 0 )
@@ -679,8 +708,11 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 	// Cast to object
 	objEntry = (ObjectList*)obj;
 
+	// Get filename
+	objectFilename(objEntry, filename);
+
 	// Open file
-	if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)objEntry->name, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
+	if ( DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t *)filename, DFS_WRITE, PIOS_SDCARD_Sector, &file) != DFS_OK )
 	{
 		xSemaphoreGiveRecursive(mutex);
 		return -1;
@@ -772,6 +804,68 @@ int32_t UAVObjLoadSettings()
 	return 0;
 }
 
+/**
+ * Save all metaobjects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveMetaobjects()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Save all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isMetaobject )
+		{
+			// Save object
+			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
+/**
+ * Load all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadMetaobjects()
+{
+	ObjectList* objEntry;
+
+	// Get lock
+	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	// Load all settings objects
+	LL_FOREACH(objList, objEntry)
+	{
+		// Check if this is a settings object
+		if ( objEntry->isMetaobject )
+		{
+			// Load object
+			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
+			{
+				xSemaphoreGiveRecursive(mutex);
+				return -1;
+			}
+		}
+	}
+
+	// Done
+	xSemaphoreGiveRecursive(mutex);
+	return 0;
+}
+
 /**
  * Set the object data
  * \param[in] obj The object handle
@@ -1236,6 +1330,24 @@ static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCa
 	return -1;
 }
 
+/**
+ * Wrapper for the sprintf function
+ */
+static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
+{
+	va_list args;
+	va_start(args, format);
+	vsprintf((char *)buffer, (char *)format, args);
+}
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ */
+static void objectFilename(ObjectList* obj, uint8_t* filename)
+{
+	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
+}
+
 
 
 
diff --git a/flight/OpenPilot/UAVObjects/uavobjectsinit.c b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
index e6bdd0476..7107426fa 100644
--- a/flight/OpenPilot/UAVObjects/uavobjectsinit.c
+++ b/flight/OpenPilot/UAVObjects/uavobjectsinit.c
@@ -34,7 +34,7 @@
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
 #include "gpsobject.h"
-#include "settingspersistence.h"
+#include "objectpersistence.h"
 #include "systemalarms.h"
 #include "systemstats.h"
 
@@ -51,7 +51,7 @@ void UAVObjectsInitializeAll()
     FlightTelemetryStatsInitialize();
     GCSTelemetryStatsInitialize();
     GpsObjectInitialize();
-    SettingsPersistenceInitialize();
+    ObjectPersistenceInitialize();
     SystemAlarmsInitialize();
     SystemStatsInitialize();
 
diff --git a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
index 81d91b814..a14aa3e85 100644
--- a/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
+++ b/flight/OpenPilot/UAVObjects/uavobjecttemplate.c
@@ -36,7 +36,7 @@
 static UAVObjHandle handle;
 
 // Private functions
-static void setDefaultFieldValues();
+static void setDefaults(UAVObjHandle obj, uint16_t instId);
 
 /**
  * Initialize object.
@@ -45,13 +45,38 @@ static void setDefaultFieldValues();
  */
 int32_t $(NAME)Initialize()
 {
+	// Register object with the object manager
+	handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, $(NAMEUC)_METANAME, 0,
+			$(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES, &setDefaults);
+
+	// Done
+	if (handle != 0)
+	{
+		return 0;
+	}
+	else
+	{
+		return -1;
+	}
+}
+
+/**
+ * Initialize object fields and metadata with the default values.
+ * If a default value is not specified the object fields
+ * will be initialized to zero.
+ */
+static void setDefaults(UAVObjHandle obj, uint16_t instId)
+{
+	$(NAME)Data data;
 	UAVObjMetadata metadata;
 
-	// Register object with the object manager
-	handle = UAVObjRegister($(NAMEUC)_OBJID, $(NAMEUC)_NAME, 0, $(NAMEUC)_ISSINGLEINST, $(NAMEUC)_ISSETTINGS, $(NAMEUC)_NUMBYTES);
-	if (handle == 0) return -1;
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof($(NAME)Data));
+$(INITFIELDS)
+	UAVObjSetInstanceData(obj, instId, &data);
 
-	// Initialize metadata
+	// Initialize object metadata to their default values
 	metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
 	metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
 	metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
@@ -60,27 +85,7 @@ int32_t $(NAME)Initialize()
 	metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
 	metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
 	metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
-	UAVObjSetMetadata(handle, &metadata);
-
-    // Initialize field values
-    setDefaultFieldValues();
-
-	// Done
-	return 0;
-}
-
-/**
- * Initialize object fields with the default values.
- * If a default value is not specified the object fields
- * will be initialized to zero.
- */
-static void setDefaultFieldValues()
-{
-	$(NAME)Data data;
-	$(NAME)Get(&data);
-	memset(&data, 0, sizeof($(NAME)Data));
-$(INITFIELDS)
-	$(NAME)Set(&data);
+	UAVObjSetMetadata(obj, &metadata);
 }
 
 /**