AndroidGCS: Update objects to match next

androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java

@@ -123,12 +123,12 @@ public class AltitudeHoldSettings extends UAVDataObject {
 	 */
 	public void setDefaultFieldValues()
 	{
-		getField("Kp").setValue(0.03);
+		getField("Kp").setValue(0.025);
-		getField("Ki").setValue(0);
+		getField("Ki").setValue(0.025);
-		getField("Kd").setValue(0.03);
+		getField("Kd").setValue(0.25);
-		getField("Ka").setValue(0.005);
+		getField("Ka").setValue(0);
-		getField("PressureNoise").setValue(0.4);
+		getField("PressureNoise").setValue(0.01);
-		getField("AccelNoise").setValue(5);
+		getField("AccelNoise").setValue(10);
 		getField("AccelDrift").setValue(0.001);
 
 	}

androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java

@@ -157,7 +157,7 @@ public class FirmwareIAPObj extends UAVDataObject {
 		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
 		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
 		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
-		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
 		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
     	metadata.flightTelemetryUpdatePeriod = 0;
     	metadata.gcsTelemetryUpdatePeriod = 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java

@@ -80,12 +80,9 @@ public class FlightBatterySettings extends UAVDataObject {
 		fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) );
 
 		List<String> SensorTypeElemNames = new ArrayList<String>();
-		SensorTypeElemNames.add("BatteryCurrent");
+		SensorTypeElemNames.add("0");
-		SensorTypeElemNames.add("BatteryVoltage");
-		SensorTypeElemNames.add("BoardVoltage");
 		List<String> SensorTypeEnumOptions = new ArrayList<String>();
-		SensorTypeEnumOptions.add("Disabled");
+		SensorTypeEnumOptions.add("None");
-		SensorTypeEnumOptions.add("Enabled");
 		fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) );
 
 
@@ -139,9 +136,7 @@ public class FlightBatterySettings extends UAVDataObject {
 		getField("SensorCalibrations").setValue(1,1);
 		getField("Type").setValue("LiPo");
 		getField("NbCells").setValue(3);
-		getField("SensorType").setValue("Disabled",0);
+		getField("SensorType").setValue("None");
-		getField("SensorType").setValue("Disabled",1);
-		getField("SensorType").setValue("Disabled",2);
 
 	}
 
@@ -170,7 +165,7 @@ public class FlightBatterySettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x94AC6AD2l;
+	protected static final long OBJID = 0xF172BB18l;
 	protected static final String NAME = "FlightBatterySettings";
 	protected static String DESCRIPTION = "Flight Battery configuration.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java

@@ -59,10 +59,6 @@ public class FlightBatteryState extends UAVDataObject {
 		CurrentElemNames.add("0");
 		fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) );
 
-		List<String> BoardSupplyVoltageElemNames = new ArrayList<String>();
-		BoardSupplyVoltageElemNames.add("0");
-		fields.add( new UAVObjectField("BoardSupplyVoltage", "V", UAVObjectField.FieldType.FLOAT32, BoardSupplyVoltageElemNames, null) );
-
 		List<String> PeakCurrentElemNames = new ArrayList<String>();
 		PeakCurrentElemNames.add("0");
 		fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) );
@@ -125,7 +121,6 @@ public class FlightBatteryState extends UAVDataObject {
 	{
 		getField("Voltage").setValue(0);
 		getField("Current").setValue(0);
-		getField("BoardSupplyVoltage").setValue(0);
 		getField("PeakCurrent").setValue(0);
 		getField("AvgCurrent").setValue(0);
 		getField("ConsumedEnergy").setValue(0);
@@ -158,7 +153,7 @@ public class FlightBatteryState extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2083596l;
+	protected static final long OBJID = 0x8C0D756l;
 	protected static final String NAME = "FlightBatteryState";
 	protected static String DESCRIPTION = "Battery status information.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java

@@ -69,8 +69,6 @@ public class FlightStatus extends UAVDataObject {
 		FlightModeEnumOptions.add("AltitudeHold");
 		FlightModeEnumOptions.add("VelocityControl");
 		FlightModeEnumOptions.add("PositionHold");
-		FlightModeEnumOptions.add("PathPlanner");
-		FlightModeEnumOptions.add("RTH");
 		fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
 
 
@@ -146,7 +144,7 @@ public class FlightStatus extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x884FEF66l;
+	protected static final long OBJID = 0xE7A476DAl;
 	protected static final String NAME = "FlightStatus";
 	protected static String DESCRIPTION = "Contains major flight status information for other modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java

@@ -0,0 +1,210 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             Settings for the @ref GuidanceModule
+ *
+ * @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
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+Settings for the @ref GuidanceModule
+
+generated from guidancesettings.xml
+ **/
+public class GuidanceSettings extends UAVDataObject {
+
+	public GuidanceSettings() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> HorizontalPosPIElemNames = new ArrayList<String>();
+		HorizontalPosPIElemNames.add("Kp");
+		HorizontalPosPIElemNames.add("Ki");
+		HorizontalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
+
+		List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
+		HorizontalVelPIDElemNames.add("Kp");
+		HorizontalVelPIDElemNames.add("Ki");
+		HorizontalVelPIDElemNames.add("Kd");
+		HorizontalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
+
+		List<String> VerticalPosPIElemNames = new ArrayList<String>();
+		VerticalPosPIElemNames.add("Kp");
+		VerticalPosPIElemNames.add("Ki");
+		VerticalPosPIElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
+
+		List<String> VerticalVelPIDElemNames = new ArrayList<String>();
+		VerticalVelPIDElemNames.add("Kp");
+		VerticalVelPIDElemNames.add("Ki");
+		VerticalVelPIDElemNames.add("Kd");
+		VerticalVelPIDElemNames.add("ILimit");
+		fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
+
+		List<String> MaxRollPitchElemNames = new ArrayList<String>();
+		MaxRollPitchElemNames.add("0");
+		fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
+
+		List<String> UpdatePeriodElemNames = new ArrayList<String>();
+		UpdatePeriodElemNames.add("0");
+		fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
+
+		List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
+		HorizontalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
+
+		List<String> VerticalVelMaxElemNames = new ArrayList<String>();
+		VerticalVelMaxElemNames.add("0");
+		fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
+
+		List<String> GuidanceModeElemNames = new ArrayList<String>();
+		GuidanceModeElemNames.add("0");
+		List<String> GuidanceModeEnumOptions = new ArrayList<String>();
+		GuidanceModeEnumOptions.add("DUAL_LOOP");
+		GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
+		fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
+
+		List<String> ThrottleControlElemNames = new ArrayList<String>();
+		ThrottleControlElemNames.add("0");
+		List<String> ThrottleControlEnumOptions = new ArrayList<String>();
+		ThrottleControlEnumOptions.add("FALSE");
+		ThrottleControlEnumOptions.add("TRUE");
+		fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	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.
+	 */
+	public void setDefaultFieldValues()
+	{
+		getField("HorizontalPosPI").setValue(0.1,0);
+		getField("HorizontalPosPI").setValue(0.001,1);
+		getField("HorizontalPosPI").setValue(300,2);
+		getField("HorizontalVelPID").setValue(0.05,0);
+		getField("HorizontalVelPID").setValue(0.002,1);
+		getField("HorizontalVelPID").setValue(0,2);
+		getField("HorizontalVelPID").setValue(1000,3);
+		getField("VerticalPosPI").setValue(0.1,0);
+		getField("VerticalPosPI").setValue(0.001,1);
+		getField("VerticalPosPI").setValue(200,2);
+		getField("VerticalVelPID").setValue(0.1,0);
+		getField("VerticalVelPID").setValue(0,1);
+		getField("VerticalVelPID").setValue(0,2);
+		getField("VerticalVelPID").setValue(0,3);
+		getField("MaxRollPitch").setValue(10);
+		getField("UpdatePeriod").setValue(100);
+		getField("HorizontalVelMax").setValue(300);
+		getField("VerticalVelMax").setValue(150);
+		getField("GuidanceMode").setValue("DUAL_LOOP");
+		getField("ThrottleControl").setValue("FALSE");
+
+	}
+
+	/**
+	 * 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.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			GuidanceSettings obj = new GuidanceSettings();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public GuidanceSettings GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0x6EA79FB4l;
+	protected static final String NAME = "GuidanceSettings";
+	protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 1 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}

androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java

@@ -63,6 +63,24 @@ public class HomeLocation extends UAVDataObject {
 		AltitudeElemNames.add("0");
 		fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
 
+		List<String> ECEFElemNames = new ArrayList<String>();
+		ECEFElemNames.add("0");
+		ECEFElemNames.add("1");
+		ECEFElemNames.add("2");
+		fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) );
+
+		List<String> RNEElemNames = new ArrayList<String>();
+		RNEElemNames.add("0");
+		RNEElemNames.add("1");
+		RNEElemNames.add("2");
+		RNEElemNames.add("3");
+		RNEElemNames.add("4");
+		RNEElemNames.add("5");
+		RNEElemNames.add("6");
+		RNEElemNames.add("7");
+		RNEElemNames.add("8");
+		fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) );
+
 		List<String> BeElemNames = new ArrayList<String>();
 		BeElemNames.add("0");
 		BeElemNames.add("1");
@@ -127,6 +145,18 @@ public class HomeLocation extends UAVDataObject {
 		getField("Latitude").setValue(0);
 		getField("Longitude").setValue(0);
 		getField("Altitude").setValue(0);
+		getField("ECEF").setValue(0,0);
+		getField("ECEF").setValue(0,1);
+		getField("ECEF").setValue(0,2);
+		getField("RNE").setValue(0,0);
+		getField("RNE").setValue(0,1);
+		getField("RNE").setValue(0,2);
+		getField("RNE").setValue(0,3);
+		getField("RNE").setValue(0,4);
+		getField("RNE").setValue(0,5);
+		getField("RNE").setValue(0,6);
+		getField("RNE").setValue(0,7);
+		getField("RNE").setValue(0,8);
 		getField("Be").setValue(0,0);
 		getField("Be").setValue(0,1);
 		getField("Be").setValue(0,2);
@@ -160,7 +190,7 @@ public class HomeLocation extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6185DC6El;
+	protected static final long OBJID = 0x5BB3AEFCl;
 	protected static final String NAME = "HomeLocation";
 	protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java

@@ -211,12 +211,7 @@ public class HwSettings extends UAVDataObject {
 		OptionalModulesElemNames.add("ComUsbBridge");
 		OptionalModulesElemNames.add("Fault");
 		OptionalModulesElemNames.add("Altitude");
-		OptionalModulesElemNames.add("Airspeed");
 		OptionalModulesElemNames.add("TxPID");
-		OptionalModulesElemNames.add("VtolPathFollower");
-		OptionalModulesElemNames.add("FixedWingPathFollower");
-		OptionalModulesElemNames.add("Battery");
-		OptionalModulesElemNames.add("Overo");
 		List<String> OptionalModulesEnumOptions = new ArrayList<String>();
 		OptionalModulesEnumOptions.add("Disabled");
 		OptionalModulesEnumOptions.add("Enabled");
@@ -290,11 +285,6 @@ public class HwSettings extends UAVDataObject {
 		getField("OptionalModules").setValue("Disabled",3);
 		getField("OptionalModules").setValue("Disabled",4);
 		getField("OptionalModules").setValue("Disabled",5);
-		getField("OptionalModules").setValue("Disabled",6);
-		getField("OptionalModules").setValue("Disabled",7);
-		getField("OptionalModules").setValue("Disabled",8);
-		getField("OptionalModules").setValue("Disabled",9);
-		getField("OptionalModules").setValue("Disabled",10);
 		getField("DSMxBind").setValue(0);
 
 	}
@@ -324,7 +314,7 @@ public class HwSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x5D950E50l;
+	protected static final long OBJID = 0x9408E9F0l;
 	protected static final String NAME = "HwSettings";
 	protected static String DESCRIPTION = "Selection of optional hardware configurations.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java

@@ -179,10 +179,17 @@ public class ManualControlSettings extends UAVDataObject {
 		Stabilization3SettingsEnumOptions.add("VirtualBar");
 		fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
 
+		List<String> FlightModeNumberElemNames = new ArrayList<String>();
+		FlightModeNumberElemNames.add("0");
+		fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
+
 		List<String> FlightModePositionElemNames = new ArrayList<String>();
 		FlightModePositionElemNames.add("0");
 		FlightModePositionElemNames.add("1");
 		FlightModePositionElemNames.add("2");
+		FlightModePositionElemNames.add("3");
+		FlightModePositionElemNames.add("4");
+		FlightModePositionElemNames.add("5");
 		List<String> FlightModePositionEnumOptions = new ArrayList<String>();
 		FlightModePositionEnumOptions.add("Manual");
 		FlightModePositionEnumOptions.add("Stabilized1");
@@ -191,22 +198,8 @@ public class ManualControlSettings extends UAVDataObject {
 		FlightModePositionEnumOptions.add("AltitudeHold");
 		FlightModePositionEnumOptions.add("VelocityControl");
 		FlightModePositionEnumOptions.add("PositionHold");
-		FlightModePositionEnumOptions.add("PathPlanner");
-		FlightModePositionEnumOptions.add("RTH");
-		FlightModePositionEnumOptions.add("Land");
 		fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
 
-		List<String> FlightModeNumberElemNames = new ArrayList<String>();
-		FlightModeNumberElemNames.add("0");
-		fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
-
-		List<String> FailsafeBehaviorElemNames = new ArrayList<String>();
-		FailsafeBehaviorElemNames.add("0");
-		List<String> FailsafeBehaviorEnumOptions = new ArrayList<String>();
-		FailsafeBehaviorEnumOptions.add("None");
-		FailsafeBehaviorEnumOptions.add("RTH");
-		fields.add( new UAVObjectField("FailsafeBehavior", "", UAVObjectField.FieldType.ENUM, FailsafeBehaviorElemNames, FailsafeBehaviorEnumOptions) );
-
 
 		// Compute the number of bytes for this object
 		int numBytes = 0;
@@ -308,11 +301,13 @@ public class ManualControlSettings extends UAVDataObject {
 		getField("Stabilization3Settings").setValue("Attitude",0);
 		getField("Stabilization3Settings").setValue("Attitude",1);
 		getField("Stabilization3Settings").setValue("Rate",2);
+		getField("FlightModeNumber").setValue(3);
 		getField("FlightModePosition").setValue("Manual",0);
 		getField("FlightModePosition").setValue("Stabilized1",1);
 		getField("FlightModePosition").setValue("Stabilized2",2);
-		getField("FlightModeNumber").setValue(3);
+		getField("FlightModePosition").setValue("Stabilized3",3);
-		getField("FailsafeBehavior").setValue("None");
+		getField("FlightModePosition").setValue("AltitudeHold",4);
+		getField("FlightModePosition").setValue("PositionHold",5);
 
 	}
 
@@ -341,7 +336,7 @@ public class ManualControlSettings extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x6C188320l;
+	protected static final long OBJID = 0x7672339El;
 	protected static final String NAME = "ManualControlSettings";
 	protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java

@@ -59,22 +59,10 @@ public class OveroSyncStats extends UAVDataObject {
 		ReceivedElemNames.add("0");
 		fields.add( new UAVObjectField("Received", "B/s", UAVObjectField.FieldType.UINT32, ReceivedElemNames, null) );
 
-		List<String> FramesyncErrorsElemNames = new ArrayList<String>();
-		FramesyncErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("FramesyncErrors", "count", UAVObjectField.FieldType.UINT32, FramesyncErrorsElemNames, null) );
-
-		List<String> UnderrunErrorsElemNames = new ArrayList<String>();
-		UnderrunErrorsElemNames.add("0");
-		fields.add( new UAVObjectField("UnderrunErrors", "count", UAVObjectField.FieldType.UINT32, UnderrunErrorsElemNames, null) );
-
 		List<String> DroppedUpdatesElemNames = new ArrayList<String>();
 		DroppedUpdatesElemNames.add("0");
 		fields.add( new UAVObjectField("DroppedUpdates", "", UAVObjectField.FieldType.UINT32, DroppedUpdatesElemNames, null) );
 
-		List<String> PacketsElemNames = new ArrayList<String>();
-		PacketsElemNames.add("0");
-		fields.add( new UAVObjectField("Packets", "", UAVObjectField.FieldType.UINT32, PacketsElemNames, null) );
-
 		List<String> ConnectedElemNames = new ArrayList<String>();
 		ConnectedElemNames.add("0");
 		List<String> ConnectedEnumOptions = new ArrayList<String>();
@@ -154,7 +142,7 @@ public class OveroSyncStats extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xD2085FACl;
+	protected static final long OBJID = 0x388468B8l;
 	protected static final String NAME = "OveroSyncStats";
 	protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java

@@ -92,9 +92,9 @@ public class PositionActual extends UAVDataObject {
 		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
 		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
 		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
-		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
     	metadata.flightTelemetryUpdatePeriod = 1000;
-    	metadata.gcsTelemetryUpdatePeriod = 1000;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
     	metadata.loggingUpdatePeriod = 1000;
  
 		return metadata;

androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java

@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       uavobjecttemplate.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Template for an uavobject in java
+ *             This is a autogenerated file!! Do not modify and expect a result.
+ *             The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+ *
+ * @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
+ */
+
+package org.openpilot.uavtalk.uavobjects;
+
+import java.nio.ByteBuffer;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.ListIterator;
+
+import org.openpilot.uavtalk.UAVObjectManager;
+import org.openpilot.uavtalk.UAVObject;
+import org.openpilot.uavtalk.UAVDataObject;
+import org.openpilot.uavtalk.UAVObjectField;
+
+/**
+The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner 
+
+generated from positiondesired.xml
+ **/
+public class PositionDesired extends UAVDataObject {
+
+	public PositionDesired() {
+		super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
+		
+		List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
+		
+
+		List<String> NorthElemNames = new ArrayList<String>();
+		NorthElemNames.add("0");
+		fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
+
+		List<String> EastElemNames = new ArrayList<String>();
+		EastElemNames.add("0");
+		fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
+
+		List<String> DownElemNames = new ArrayList<String>();
+		DownElemNames.add("0");
+		fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
+
+
+		// Compute the number of bytes for this object
+		int numBytes = 0;
+		ListIterator<UAVObjectField> li = fields.listIterator();
+		while(li.hasNext()) {
+			numBytes += li.next().getNumBytes();
+		}
+		NUMBYTES = numBytes;
+
+		// Initialize object
+		initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
+		// Set the default field values
+		setDefaultFieldValues();
+		// Set the object description
+		setDescription(DESCRIPTION);
+	}
+
+	/**
+	 * Create a Metadata object filled with default values for this object
+	 * @return Metadata object with default values
+	 */
+	public Metadata getDefaultMetadata() {
+		UAVObject.Metadata metadata = new UAVObject.Metadata();
+    	metadata.flags =
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
+		    UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
+		    0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
+		    0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
+		    UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
+    	metadata.flightTelemetryUpdatePeriod = 0;
+    	metadata.gcsTelemetryUpdatePeriod = 0;
+    	metadata.loggingUpdatePeriod = 1000;
+ 
+		return metadata;
+	}
+
+	/**
+	 * Initialize object fields with the default values.
+	 * If a default value is not specified the object fields
+	 * will be initialized to zero.
+	 */
+	public void setDefaultFieldValues()
+	{
+
+	}
+
+	/**
+	 * 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.
+	 */
+	public UAVDataObject clone(long instID) {
+		// TODO: Need to get specific instance to clone
+		try {
+			PositionDesired obj = new PositionDesired();
+			obj.initialize(instID, this.getMetaObject());
+			return obj;
+		} catch  (Exception e) {
+			return null;
+		}
+	}
+
+	/**
+	 * Static function to retrieve an instance of the object.
+	 */
+	public PositionDesired GetInstance(UAVObjectManager objMngr, long instID)
+	{
+	    return (PositionDesired)(objMngr.getObject(PositionDesired.OBJID, instID));
+	}
+
+	// Constants
+	protected static final long OBJID = 0x778DBE24l;
+	protected static final String NAME = "PositionDesired";
+	protected static String DESCRIPTION = "The position the craft is trying t achieve.  Can come from GCS or @ref PathPlanner ";
+	protected static final boolean ISSINGLEINST = 1 > 0;
+	protected static final boolean ISSETTINGS = 0 > 0;
+	protected static int NUMBYTES = 0;
+
+
+}

androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java

@@ -111,24 +111,11 @@ public class RevoCalibration extends UAVDataObject {
 		mag_varElemNames.add("Z");
 		fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
 
-		List<String> gps_varElemNames = new ArrayList<String>();
-		gps_varElemNames.add("Pos");
-		gps_varElemNames.add("Vel");
-		fields.add( new UAVObjectField("gps_var", "m^2", UAVObjectField.FieldType.FLOAT32, gps_varElemNames, null) );
-
-		List<String> baro_varElemNames = new ArrayList<String>();
-		baro_varElemNames.add("0");
-		fields.add( new UAVObjectField("baro_var", "m^2", UAVObjectField.FieldType.FLOAT32, baro_varElemNames, null) );
-
-		List<String> MagBiasNullingRateElemNames = new ArrayList<String>();
-		MagBiasNullingRateElemNames.add("0");
-		fields.add( new UAVObjectField("MagBiasNullingRate", "", UAVObjectField.FieldType.FLOAT32, MagBiasNullingRateElemNames, null) );
-
 		List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
 		BiasCorrectedRawElemNames.add("0");
 		List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
-		BiasCorrectedRawEnumOptions.add("FALSE");
 		BiasCorrectedRawEnumOptions.add("TRUE");
+		BiasCorrectedRawEnumOptions.add("FALSE");
 		fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
 
 
@@ -181,18 +168,18 @@ public class RevoCalibration extends UAVDataObject {
 		getField("accel_scale").setValue(1,0);
 		getField("accel_scale").setValue(1,1);
 		getField("accel_scale").setValue(1,2);
-		getField("accel_var").setValue(0.01,0);
+		getField("accel_var").setValue(1,0);
-		getField("accel_var").setValue(0.01,1);
+		getField("accel_var").setValue(1,1);
-		getField("accel_var").setValue(0.01,2);
+		getField("accel_var").setValue(1,2);
 		getField("gyro_bias").setValue(0,0);
 		getField("gyro_bias").setValue(0,1);
 		getField("gyro_bias").setValue(0,2);
 		getField("gyro_scale").setValue(1,0);
 		getField("gyro_scale").setValue(1,1);
 		getField("gyro_scale").setValue(1,2);
-		getField("gyro_var").setValue(0.01,0);
+		getField("gyro_var").setValue(1,0);
-		getField("gyro_var").setValue(0.01,1);
+		getField("gyro_var").setValue(1,1);
-		getField("gyro_var").setValue(0.01,2);
+		getField("gyro_var").setValue(1,2);
 		getField("gyro_tempcoeff").setValue(1,0);
 		getField("gyro_tempcoeff").setValue(1,1);
 		getField("gyro_tempcoeff").setValue(1,2);
@@ -202,13 +189,9 @@ public class RevoCalibration extends UAVDataObject {
 		getField("mag_scale").setValue(1,0);
 		getField("mag_scale").setValue(1,1);
 		getField("mag_scale").setValue(1,2);
-		getField("mag_var").setValue(0.01,0);
+		getField("mag_var").setValue(50,0);
-		getField("mag_var").setValue(0.01,1);
+		getField("mag_var").setValue(50,1);
-		getField("mag_var").setValue(10,2);
+		getField("mag_var").setValue(50,2);
-		getField("gps_var").setValue(1,0);
-		getField("gps_var").setValue(1,1);
-		getField("baro_var").setValue(1);
-		getField("MagBiasNullingRate").setValue(0);
 		getField("BiasCorrectedRaw").setValue("TRUE");
 
 	}
@@ -238,7 +221,7 @@ public class RevoCalibration extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xA2A63C7Cl;
+	protected static final long OBJID = 0xC26D37B2l;
 	protected static final String NAME = "RevoCalibration";
 	protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java

@@ -56,6 +56,7 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("StackOverflow");
 		AlarmElemNames.add("CPUOverload");
 		AlarmElemNames.add("EventSystem");
+		AlarmElemNames.add("SDCard");
 		AlarmElemNames.add("Telemetry");
 		AlarmElemNames.add("ManualControl");
 		AlarmElemNames.add("Actuator");
@@ -63,12 +64,12 @@ public class SystemAlarms extends UAVDataObject {
 		AlarmElemNames.add("Sensors");
 		AlarmElemNames.add("Stabilization");
 		AlarmElemNames.add("Guidance");
+		AlarmElemNames.add("AHRSComms");
 		AlarmElemNames.add("Battery");
 		AlarmElemNames.add("FlightTime");
 		AlarmElemNames.add("I2C");
 		AlarmElemNames.add("GPS");
 		AlarmElemNames.add("BootFault");
-		AlarmElemNames.add("Power");
 		List<String> AlarmEnumOptions = new ArrayList<String>();
 		AlarmEnumOptions.add("Uninitialised");
 		AlarmEnumOptions.add("OK");
@@ -138,6 +139,7 @@ public class SystemAlarms extends UAVDataObject {
 		getField("Alarm").setValue("Uninitialised",14);
 		getField("Alarm").setValue("Uninitialised",15);
 		getField("Alarm").setValue("Uninitialised",16);
+		getField("Alarm").setValue("Uninitialised",17);
 
 	}
 
@@ -166,7 +168,7 @@ public class SystemAlarms extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0x737ADCF2l;
+	protected static final long OBJID = 0x9C7CBFEl;
 	protected static final String NAME = "SystemAlarms";
 	protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java

@@ -62,11 +62,9 @@ public class TaskInfo extends UAVDataObject {
 		StackRemainingElemNames.add("GPS");
 		StackRemainingElemNames.add("ManualControl");
 		StackRemainingElemNames.add("Altitude");
-		StackRemainingElemNames.add("Airspeed");
 		StackRemainingElemNames.add("Stabilization");
 		StackRemainingElemNames.add("AltitudeHold");
-		StackRemainingElemNames.add("PathPlanner");
+		StackRemainingElemNames.add("Guidance");
-		StackRemainingElemNames.add("PathFollower");
 		StackRemainingElemNames.add("FlightPlan");
 		StackRemainingElemNames.add("Com2UsbBridge");
 		StackRemainingElemNames.add("Usb2ComBridge");
@@ -84,11 +82,9 @@ public class TaskInfo extends UAVDataObject {
 		RunningElemNames.add("GPS");
 		RunningElemNames.add("ManualControl");
 		RunningElemNames.add("Altitude");
-		RunningElemNames.add("Airspeed");
 		RunningElemNames.add("Stabilization");
 		RunningElemNames.add("AltitudeHold");
-		RunningElemNames.add("PathPlanner");
+		RunningElemNames.add("Guidance");
-		RunningElemNames.add("PathFollower");
 		RunningElemNames.add("FlightPlan");
 		RunningElemNames.add("Com2UsbBridge");
 		RunningElemNames.add("Usb2ComBridge");
@@ -109,11 +105,9 @@ public class TaskInfo extends UAVDataObject {
 		RunningTimeElemNames.add("GPS");
 		RunningTimeElemNames.add("ManualControl");
 		RunningTimeElemNames.add("Altitude");
-		RunningTimeElemNames.add("Airspeed");
 		RunningTimeElemNames.add("Stabilization");
 		RunningTimeElemNames.add("AltitudeHold");
-		RunningTimeElemNames.add("PathPlanner");
+		RunningTimeElemNames.add("Guidance");
-		RunningTimeElemNames.add("PathFollower");
 		RunningTimeElemNames.add("FlightPlan");
 		RunningTimeElemNames.add("Com2UsbBridge");
 		RunningTimeElemNames.add("Usb2ComBridge");
@@ -192,7 +186,7 @@ public class TaskInfo extends UAVDataObject {
 	}
 
 	// Constants
-	protected static final long OBJID = 0xB81CD2AEl;
+	protected static final long OBJID = 0x51172B8Al;
 	protected static final String NAME = "TaskInfo";
 	protected static String DESCRIPTION = "Task information";
 	protected static final boolean ISSINGLEINST = 1 > 0;

androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java

@@ -44,15 +44,11 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new AltitudeHoldSettings() );
 			objMngr.registerObject( new AttitudeActual() );
 			objMngr.registerObject( new AttitudeSettings() );
-			objMngr.registerObject( new AttitudeSimulated() );
-			objMngr.registerObject( new BaroAirspeed() );
 			objMngr.registerObject( new BaroAltitude() );
 			objMngr.registerObject( new CameraDesired() );
 			objMngr.registerObject( new CameraStabSettings() );
 			objMngr.registerObject( new FaultSettings() );
 			objMngr.registerObject( new FirmwareIAPObj() );
-			objMngr.registerObject( new FixedWingPathFollowerSettings() );
-			objMngr.registerObject( new FixedWingPathFollowerStatus() );
 			objMngr.registerObject( new FlightBatterySettings() );
 			objMngr.registerObject( new FlightBatteryState() );
 			objMngr.registerObject( new FlightPlanControl() );
@@ -72,26 +68,20 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new HomeLocation() );
 			objMngr.registerObject( new HwSettings() );
 			objMngr.registerObject( new I2CStats() );
-			objMngr.registerObject( new MagBias() );
 			objMngr.registerObject( new Magnetometer() );
 			objMngr.registerObject( new ManualControlCommand() );
 			objMngr.registerObject( new ManualControlSettings() );
 			objMngr.registerObject( new MixerSettings() );
 			objMngr.registerObject( new MixerStatus() );
 			objMngr.registerObject( new NedAccel() );
-			objMngr.registerObject( new NEDPosition() );
 			objMngr.registerObject( new ObjectPersistence() );
-			objMngr.registerObject( new OveroSyncSettings() );
 			objMngr.registerObject( new OveroSyncStats() );
-			objMngr.registerObject( new PathDesired() );
-			objMngr.registerObject( new PathPlannerSettings() );
 			objMngr.registerObject( new PipXSettings() );
 			objMngr.registerObject( new PipXStatus() );
 			objMngr.registerObject( new PositionActual() );
 			objMngr.registerObject( new RateDesired() );
 			objMngr.registerObject( new ReceiverActivity() );
 			objMngr.registerObject( new RevoCalibration() );
-			objMngr.registerObject( new RevoSettings() );
 			objMngr.registerObject( new SonarAltitude() );
 			objMngr.registerObject( new StabilizationDesired() );
 			objMngr.registerObject( new StabilizationSettings() );
@@ -102,10 +92,7 @@ public class UAVObjectsInitialize {
 			objMngr.registerObject( new TxPIDSettings() );
 			objMngr.registerObject( new VelocityActual() );
 			objMngr.registerObject( new VelocityDesired() );
-			objMngr.registerObject( new VtolPathFollowerSettings() );
 			objMngr.registerObject( new WatchdogStatus() );
-			objMngr.registerObject( new Waypoint() );
-			objMngr.registerObject( new WaypointActive() );
 	
 		} catch (Exception e) {
 			e.printStackTrace();