Merge remote-tracking branch 'origin/os/features/pid-tuning-from-transmitter-next' into next

flight/CopterControl/Makefile

@@ -48,10 +48,6 @@ ENABLE_DEBUG_PINS ?= NO
 # Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
 ENABLE_AUX_UART ?= NO
 
-USE_GPS ?= YES
-
-USE_I2C ?= YES
-
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
 
@@ -64,16 +60,41 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# List of modules to include
+# Optional module and driver defaults
-OPTMODULES = CameraStab ComUsbBridge Altitude
+USE_CAMERASTAB ?= YES
+USE_COMUSBBRIDGE ?= YES
+USE_GPS ?= YES
+USE_TXPID ?= YES
+USE_I2C ?= NO
+USE_ALTITUDE ?= NO
+TEST_FAULTS ?= NO
+
+# List of optional modules to include
+OPTMODULES =
+ifeq ($(USE_CAMERASTAB), YES)
+OPTMODULES += CameraStab
+endif
+ifeq ($(USE_COMUSBBRIDGE), YES)
+OPTMODULES += ComUsbBridge
+endif
 ifeq ($(USE_GPS), YES)
 OPTMODULES += GPS
 endif
-
+ifeq ($(USE_TXPID), YES)
+OPTMODULES += TxPID
+endif
+ifeq ($(USE_ALTITUDE), YES)
+ifeq ($(USE_I2C), YES)
+OPTMODULES += Altitude
+else
+$(error "Altitude module (USE_ALTITUDE=YES) requires i2c (USE_I2C=YES)")
+endif
+endif
 ifeq ($(TEST_FAULTS), YES)
 OPTMODULES += Fault
 endif
 
+# List of mandatory modules to include
 MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
 # Telemetry must be last to grab the optional modules (why?)
 MODULES += Telemetry
@@ -183,6 +204,7 @@ SRC += $(OPUAVSYNTHDIR)/taskinfo.c
 SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
 SRC += $(OPUAVSYNTHDIR)/ratedesired.c
 SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
+SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
 
 endif
 

flight/Modules/TxPID/inc/txpid.h

@@ -0,0 +1,42 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{ 
+ * @addtogroup TxPIDModule TxPID Module
+ * @{ 
+ *
+ * @file       txpid.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Optional module to tune PID settings using R/C transmitter.
+ *
+ * @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 TXPID_H
+#define TXPID_H
+
+#include "openpilot.h"
+
+int32_t TxPIDInitialize(void);
+
+#endif // TXPID_H
+
+/**
+  * @}
+  * @}
+  */

flight/Modules/TxPID/txpid.c

@@ -0,0 +1,336 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup TxPIDModule TxPID Module
+ * @brief      Optional module to tune PID settings using R/C transmitter.
+ * Updates PID settings in RAM in real-time using configured Accessory channels as controllers.
+ * @{
+ *
+ * @file       txpid.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
+ * @brief      Optional module to tune PID settings using R/C transmitter.
+ *
+ * @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
+ */
+
+/**
+ * Output object: StabilizationSettings
+ *
+ * This module will periodically update values of stabilization PID settings
+ * depending on configured input control channels. New values of stabilization
+ * settings are not saved to flash, but updated in RAM. It is expected that the
+ * module will be enabled only for tuning. When desired values are found, they
+ * can be read via GCS and saved permanently. Then this module should be
+ * disabled again.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://wiki.openpilot.org/display/Doc/OpenPilot+Architecture
+ *
+ */
+
+#include "openpilot.h"
+
+#include "txpidsettings.h"
+#include "accessorydesired.h"
+#include "manualcontrolcommand.h"
+#include "stabilizationsettings.h"
+#include "flightstatus.h"
+#include "hwsettings.h"
+
+//
+// Configuration
+//
+#define SAMPLE_PERIOD_MS		200
+#define TELEMETRY_UPDATE_PERIOD_MS	0	// 0 = update on change (default)
+
+// Sanity checks
+#if (TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_INPUTS_NUMELEM) || \
+    (TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MINPID_NUMELEM) || \
+    (TXPIDSETTINGS_PIDS_NUMELEM != TXPIDSETTINGS_MAXPID_NUMELEM)
+#error Invalid TxPID UAVObject definition (inconsistent number of field elements)
+#endif
+
+// Private types
+
+// Private variables
+
+// Private functions
+static void updatePIDs(UAVObjEvent* ev);
+static uint8_t update(float *var, float val);
+static float scale(float val, float inMin, float inMax, float outMin, float outMax);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t TxPIDInitialize(void)
+{
+	bool txPIDEnabled;
+	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
+
+	HwSettingsInitialize();
+	HwSettingsOptionalModulesGet(optionalModules);
+
+	if (optionalModules[HWSETTINGS_OPTIONALMODULES_TXPID] == HWSETTINGS_OPTIONALMODULES_ENABLED)
+		txPIDEnabled = true;
+	else
+		txPIDEnabled = false;
+
+	if (txPIDEnabled) {
+
+		TxPIDSettingsInitialize();
+		AccessoryDesiredInitialize();
+
+		UAVObjEvent ev = {
+			.obj = AccessoryDesiredHandle(),
+			.instId = 0,
+			.event = 0,
+		};
+		EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+
+#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
+		// Change StabilizationSettings update rate from OnChange to periodic
+		// to prevent telemetry link flooding with frequent updates in case of
+		// control channel jitter.
+		// Warning: saving to flash with this code active will change the
+		// StabilizationSettings update rate permanently. Use Metadata via
+		// browser to reset to defaults (telemetryAcked=true, OnChange).
+		UAVObjMetadata metadata;
+		StabilizationSettingsInitialize();
+		StabilizationSettingsGetMetadata(&metadata);
+		metadata.telemetryAcked = 0;
+		metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
+		metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
+		StabilizationSettingsSetMetadata(&metadata);
+#endif
+
+		return 0;
+	}
+
+	return -1;
+}
+
+/* stub: module has no module thread */
+int32_t TxPIDStart(void)
+{
+	return 0;
+}
+
+MODULE_INITCALL(TxPIDInitialize, TxPIDStart)
+
+/**
+ * Update PIDs callback function
+ */
+static void updatePIDs(UAVObjEvent* ev)
+{
+	if (ev->obj != AccessoryDesiredHandle())
+		return;
+
+	TxPIDSettingsData inst;
+	TxPIDSettingsGet(&inst);
+
+	if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER)
+		return;
+
+	uint8_t armed;
+	FlightStatusArmedGet(&armed);
+	if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
+			(armed == FLIGHTSTATUS_ARMED_DISARMED))
+		return;
+
+	StabilizationSettingsData stab;
+	StabilizationSettingsGet(&stab);
+	AccessoryDesiredData accessory;
+
+	uint8_t needsUpdate = 0;
+
+	// Loop through every enabled instance
+	for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
+		if (inst.PIDs[i] != TXPIDSETTINGS_PIDS_DISABLED) {
+
+			float value;
+			if (inst.Inputs[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
+				ManualControlCommandThrottleGet(&value);
+				value = scale(value,
+						inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MIN],
+						inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MAX],
+						inst.MinPID[i], inst.MaxPID[i]);
+			} else if (AccessoryDesiredInstGet(inst.Inputs[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) {
+				value = scale(accessory.AccessoryVal, -1.0, 1.0, inst.MinPID[i], inst.MaxPID[i]);
+			} else {
+				continue;
+			}
+
+			switch (inst.PIDs[i]) {
+			case TXPIDSETTINGS_PIDS_ROLLRATEKP:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLRATEKI:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLRATEKD:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHRATEKP:
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHRATEKI:
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHRATEKD:
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
+				needsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
+				needsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
+				needsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
+				needsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWRATEKP:
+				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWRATEKI:
+				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWRATEKD:
+				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
+				needsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
+				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
+				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
+				break;
+			case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
+				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
+				break;
+			default:
+				PIOS_Assert(0);
+			}
+		}
+	}
+	if (needsUpdate)
+		StabilizationSettingsSet(&stab);
+}
+
+/**
+ * Scales input val from [inMin..inMax] range to [outMin..outMax].
+ * If val is out of input range (inMin <= inMax), it will be bound.
+ * (outMin > outMax) is ok, in that case output will be decreasing.
+ *
+ * \returns scaled value
+ */
+static float scale(float val, float inMin, float inMax, float outMin, float outMax)
+{
+	// bound input value
+	if (val > inMax) val = inMax;
+	if (val < inMin) val = inMin;
+
+	// normalize input value to [0..1]
+	if (inMax <= inMin)
+		val = 0.0;
+	else
+		val = (val - inMin) / (inMax - inMin);
+
+	// update output bounds
+	if (outMin > outMax) {
+		float t = outMin;
+		outMin = outMax;
+		outMax = t;
+		val = 1.0 - val;
+	}
+
+	return (outMax - outMin) * val + outMin;
+}
+
+/**
+ * Updates var using val if needed.
+ * \returns 1 if updated, 0 otherwise
+ */
+static uint8_t update(float *var, float val)
+{
+	if (*var != val) {
+		*var = val;
+		return 1;
+	}
+	return 0;
+}
+
+/**
+  * @}
+  */
+
+/**
+ * @}
+ */

ground/openpilotgcs/src/libs/utils/savedaction.cpp

@@ -302,6 +302,13 @@ void SavedAction::connectWidget(QWidget *widget, ApplyMode applyMode)
             this, SLOT(spinBoxValueChanged(int)));
         connect(spinBox, SIGNAL(valueChanged(QString)),
             this, SLOT(spinBoxValueChanged(QString)));
+    } else if (QDoubleSpinBox *doubleSpinBox = qobject_cast<QDoubleSpinBox *>(widget)) {
+        doubleSpinBox->setValue(m_value.toDouble());
+        //qDebug() << "SETTING VALUE" << doubleSpinBox->value(); 
+        connect(doubleSpinBox, SIGNAL(valueChanged(double)),
+            this, SLOT(doubleSpinBoxValueChanged(double)));
+        connect(doubleSpinBox, SIGNAL(valueChanged(QString)),
+            this, SLOT(doubleSpinBoxValueChanged(QString)));
     } else if (QLineEdit *lineEdit = qobject_cast<QLineEdit *>(widget)) {
         lineEdit->setText(m_value.toString());
         //qDebug() << "SETTING TEXT" << lineEdit->text(); 
@@ -336,6 +343,8 @@ void SavedAction::apply(QSettings *s)
         setValue(lineEdit->text());
     else if (QSpinBox *spinBox = qobject_cast<QSpinBox *>(m_widget))
         setValue(spinBox->value());
+    else if (QDoubleSpinBox *doubleSpinBox = qobject_cast<QDoubleSpinBox *>(m_widget))
+        setValue(doubleSpinBox->value());
     else if (PathChooser *pathChooser = qobject_cast<PathChooser *>(m_widget))
         setValue(pathChooser->path());
     if (s)
@@ -383,6 +392,22 @@ void SavedAction::spinBoxValueChanged(QString value)
         setValue(value);
 }
 
+void SavedAction::doubleSpinBoxValueChanged(double value)
+{
+    QDoubleSpinBox *doubleSpinBox = qobject_cast<QDoubleSpinBox *>(sender());
+    QTC_ASSERT(doubleSpinBox, return);
+    if (m_applyMode == ImmediateApply)
+        setValue(value);
+}
+
+void SavedAction::doubleSpinBoxValueChanged(QString value)
+{
+    QDoubleSpinBox *doubleSpinBox = qobject_cast<QDoubleSpinBox *>(sender());
+    QTC_ASSERT(doubleSpinBox, return);
+    if (m_applyMode == ImmediateApply)
+        setValue(value);
+}
+
 void SavedAction::pathChooserEditingFinished()
 {
     PathChooser *pathChooser = qobject_cast<PathChooser *>(sender());

ground/openpilotgcs/src/libs/utils/savedaction.h

@@ -92,6 +92,8 @@ private:
     Q_SLOT void actionTriggered(bool);
     Q_SLOT void spinBoxValueChanged(int);
     Q_SLOT void spinBoxValueChanged(QString);
+    Q_SLOT void doubleSpinBoxValueChanged(double);
+    Q_SLOT void doubleSpinBoxValueChanged(QString);
 
     QVariant m_value;
     QVariant m_defaultValue;

ground/openpilotgcs/src/plugins/config/config.pro

@@ -27,6 +27,7 @@ HEADERS += configplugin.h \
     defaulthwsettingswidget.h \
     inputchannelform.h \
     configcamerastabilizationwidget.h \
+    configtxpidwidget.h \
     outputchannelform.h \
     config_global.h
 SOURCES += configplugin.cpp \
@@ -53,6 +54,7 @@ SOURCES += configplugin.cpp \
     defaulthwsettingswidget.cpp \
     inputchannelform.cpp \
     configcamerastabilizationwidget.cpp \
+    configtxpidwidget.cpp \
     outputchannelform.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
@@ -67,5 +69,6 @@ FORMS += airframe.ui \
     defaulthwsettings.ui \
     inputchannelform.ui \
     camerastabilization.ui \
-    outputchannelform.ui
+    outputchannelform.ui \
+    txpid.ui 
 RESOURCES += configgadget.qrc

ground/openpilotgcs/src/plugins/config/configgadget.qrc

@@ -16,7 +16,8 @@
         <file>images/hw_config.png</file>
         <file>images/gyroscope.png</file>
         <file>images/TX.svg</file>
-        <file>images/camera.png</file>
         <file>images/TX2.svg</file>
+        <file>images/camera.png</file>
+        <file>images/txpid.png</file>
     </qresource>
 </RCC>

ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp

@@ -34,6 +34,7 @@
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
 #include "configcamerastabilizationwidget.h"
+#include "configtxpidwidget.h"
 #include "config_pro_hw_widget.h"
 #include "config_cc_hw_widget.h"
 #include "defaultattitudewidget.h"
@@ -85,6 +86,8 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigCameraStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::camerastabilization, qwd, QIcon(":/configgadget/images/camera.png"), QString("Camera Stab"));
 
+    qwd = new ConfigTxPIDWidget(this);
+    ftw->insertTab(ConfigGadgetWidget::txpid, qwd, QIcon(":/configgadget/images/txpid.png"), QString("TxPID"));
 
 //    qwd = new ConfigPipXtremeWidget(this);
 //    ftw->insertTab(5, qwd, QIcon(":/configgadget/images/PipXtreme.png"), QString("PipXtreme"));

ground/openpilotgcs/src/plugins/config/configgadgetwidget.h

@@ -50,7 +50,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
-    enum widgetTabs {hardware=0, aircraft, input, output, ins, stabilization, camerastabilization};
+    enum widgetTabs { hardware = 0, aircraft, input, output, ins, stabilization, camerastabilization, txpid };
 
 public slots:
     void onAutopilotConnect();

ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp

@@ -0,0 +1,105 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtxpidswidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to configure TxPID module
+ *****************************************************************************/
+/*
+ * 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 "configtxpidwidget.h"
+#include "txpidsettings.h"
+#include "hwsettings.h"
+
+ConfigTxPIDWidget::ConfigTxPIDWidget(QWidget *parent) : ConfigTaskWidget(parent)
+{
+    m_txpid = new Ui_TxPIDWidget();
+    m_txpid->setupUi(this);
+
+    addApplySaveButtons(m_txpid->Apply, m_txpid->Save);
+
+    // Cannot use addUAVObjectToWidgetRelation() for OptionaModules enum because
+    // QCheckBox returns bool (0 or -1) and this value is then set to enum instead
+    // or enum options
+    connect(HwSettings::GetInstance(getObjectManager()), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(refreshValues()));
+    connect(m_txpid->Apply, SIGNAL(clicked()), this, SLOT(applySettings()));
+    connect(m_txpid->Save, SIGNAL(clicked()), this, SLOT(saveSettings()));
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID1, TxPIDSettings::PIDS_INSTANCE1);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID2, TxPIDSettings::PIDS_INSTANCE2);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "PIDs", m_txpid->PID3, TxPIDSettings::PIDS_INSTANCE3);
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input1, TxPIDSettings::INPUTS_INSTANCE1);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input2, TxPIDSettings::INPUTS_INSTANCE2);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "Inputs", m_txpid->Input3, TxPIDSettings::INPUTS_INSTANCE3);
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID1, TxPIDSettings::MINPID_INSTANCE1);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID2, TxPIDSettings::MINPID_INSTANCE2);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MinPID", m_txpid->MinPID3, TxPIDSettings::MINPID_INSTANCE3);
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID1, TxPIDSettings::MAXPID_INSTANCE1);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID2, TxPIDSettings::MAXPID_INSTANCE2);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "MaxPID", m_txpid->MaxPID3, TxPIDSettings::MAXPID_INSTANCE3);
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMin, TxPIDSettings::THROTTLERANGE_MIN);
+    addUAVObjectToWidgetRelation("TxPIDSettings", "ThrottleRange", m_txpid->ThrottleMax, TxPIDSettings::THROTTLERANGE_MAX);
+
+    addUAVObjectToWidgetRelation("TxPIDSettings", "UpdateMode", m_txpid->UpdateMode);
+
+    enableControls(false);
+    populateWidgets();
+    refreshWidgetsValues();
+}
+
+ConfigTxPIDWidget::~ConfigTxPIDWidget()
+{
+   // Do nothing
+}
+
+void ConfigTxPIDWidget::refreshValues()
+{
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields hwSettingsData = hwSettings->getData();
+    m_txpid->TxPIDEnable->setChecked(
+        hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] == HwSettings::OPTIONALMODULES_ENABLED);
+}
+
+void ConfigTxPIDWidget::applySettings()
+{
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields hwSettingsData = hwSettings->getData();
+    hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_TXPID] =
+        m_txpid->TxPIDEnable->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
+    hwSettings->setData(hwSettingsData);
+}
+
+void ConfigTxPIDWidget::saveSettings()
+{
+    applySettings();
+    UAVObject *obj = HwSettings::GetInstance(getObjectManager());
+    saveObjectToSD(obj);
+}
+
+
+/**
+  @}
+  @}
+  */

ground/openpilotgcs/src/plugins/config/configtxpidwidget.h

@@ -0,0 +1,50 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtxpidwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to configure TxPID module
+ *****************************************************************************/
+/*
+ * 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 CONFIGTXPIDWIDGET_H
+#define CONFIGTXPIDWIDGET_H
+
+#include "ui_txpid.h"
+#include "configtaskwidget.h"
+
+class ConfigTxPIDWidget : public ConfigTaskWidget
+{
+    Q_OBJECT
+
+public:
+    ConfigTxPIDWidget(QWidget *parent = 0);
+    ~ConfigTxPIDWidget();
+    
+private:
+    Ui_TxPIDWidget *m_txpid;
+
+private slots:
+    void refreshValues();
+    void applySettings();
+    void saveSettings();
+};
+
+#endif // CONFIGTXPIDWIDGET_H

ground/openpilotgcs/src/plugins/config/txpid.ui

@@ -0,0 +1,512 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TxPIDWidget</class>
+ <widget class="QWidget" name="TxPIDWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>720</width>
+    <height>567</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_3">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents_2">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>702</width>
+        <height>497</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QCheckBox" name="TxPIDEnable">
+         <property name="toolTip">
+          <string>This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
+         </property>
+         <property name="text">
+          <string>Enable TxPID module</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string>After enabling the module, you must power cycle before using and configuring.</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="Line" name="line">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Preferred</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>10</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_6">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>100</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Module Settings</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_51">
+            <property name="text">
+             <string>PID option</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_50">
+            <property name="text">
+             <string>Control Source</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QLabel" name="label_49">
+            <property name="text">
+             <string>Min</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="4">
+           <widget class="QLabel" name="label">
+            <property name="text">
+             <string>Max</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_47">
+            <property name="text">
+             <string>Instance 1</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QComboBox" name="PID1">
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QComboBox" name="Input1">
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID1">
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID1">
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_48">
+            <property name="text">
+             <string>Instance 2</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QComboBox" name="PID2">
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QComboBox" name="Input2">
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID2">
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID2">
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_52">
+            <property name="text">
+             <string>Instance 3</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QComboBox" name="PID3">
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QComboBox" name="Input3">
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID3">
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID3">
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>Update Mode</string>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QComboBox" name="UpdateMode">
+            <property name="toolTip">
+             <string>PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>Throttle Range</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QDoubleSpinBox" name="ThrottleMin">
+            <property name="toolTip">
+             <string>Throttle channel lower bound mapped to PID Min value</string>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="2">
+           <widget class="QDoubleSpinBox" name="ThrottleMax">
+            <property name="toolTip">
+             <string>Throttle channel upper bound mapped to PID Max value</string>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QLabel" name="label_4">
+            <property name="text">
+             <string>Min</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="2">
+           <widget class="QLabel" name="label_5">
+            <property name="text">
+             <string>Max</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <spacer name="verticalSpacer_3">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeType">
+             <enum>QSizePolicy::Preferred</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>5</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="message">
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="submitButtons">
+       <item>
+        <widget class="QFrame" name="frame">
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QPushButton" name="Apply">
+         <property name="toolTip">
+          <string>Send settings to the board but do not save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Apply</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="Save">
+         <property name="toolTip">
+          <string>Send settings to the board and save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Save</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>TxPIDEnable</tabstop>
+  <tabstop>Apply</tabstop>
+  <tabstop>Save</tabstop>
+  <tabstop>scrollArea</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml

@@ -2650,53 +2650,6 @@
       <version>UAVGadgetManagerV1</version>
     </Mode2>
     <Mode3>
-      <showToolbars>false</showToolbars>
-      <splitter>
-        <side0>
-          <classId>OPMapGadget</classId>
-          <gadget>
-            <activeConfiguration>default</activeConfiguration>
-          </gadget>
-          <type>uavGadget</type>
-        </side0>
-        <side1>
-          <side0>
-            <classId>ModelViewGadget</classId>
-            <gadget>
-              <activeConfiguration>Test Quad X</activeConfiguration>
-            </gadget>
-            <type>uavGadget</type>
-          </side0>
-          <side1>
-            <side0>
-              <classId>DialGadget</classId>
-              <gadget>
-                <activeConfiguration>Attitude</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side0>
-            <side1>
-              <classId>DialGadget</classId>
-              <gadget>
-                <activeConfiguration>Compass</activeConfiguration>
-              </gadget>
-              <type>uavGadget</type>
-            </side1>
-            <splitterOrientation>1</splitterOrientation>
-            <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
-            <type>splitter</type>
-          </side1>
-          <splitterOrientation>2</splitterOrientation>
-          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABiwAAAAIAAADs)</splitterSizes>
-          <type>splitter</type>
-        </side1>
-        <splitterOrientation>1</splitterOrientation>
-        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAD1AAAAAIAAAGB)</splitterSizes>
-        <type>splitter</type>
-      </splitter>
-      <version>UAVGadgetManagerV1</version>
-    </Mode3>
-    <Mode4>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2751,8 +2704,8 @@
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode4>
+    </Mode3>
-    <Mode5>
+    <Mode4>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2822,8 +2775,8 @@
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode5>
+    </Mode4>
-    <Mode6>
+    <Mode5>
       <showToolbars>false</showToolbars>
       <splitter>
         <side0>
@@ -2869,30 +2822,30 @@
         <type>splitter</type>
       </splitter>
       <version>UAVGadgetManagerV1</version>
-    </Mode6>
+    </Mode5>
   </UAVGadgetManager>
   <ViewGroup_Default>@ByteArray(AAAA/wAAAAD9AAAAAAAABQAAAALCAAAABAAAAAQAAAABAAAACPwAAAAA)</ViewGroup_Default>
   <Workspace>
     <Icon1>:/core/images/ah.png</Icon1>
-    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
     <Icon2>:/core/images/config.png</Icon2>
-    <Icon3>:/core/images/world.png</Icon3>
+    <Icon3>:/core/images/scopes.png</Icon3>
-    <Icon4>:/core/images/scopes.png</Icon4>
+    <Icon4>:/core/images/joystick.png</Icon4>
-    <Icon5>:/core/images/joystick.png</Icon5>
+    <Icon5>:/core/images/cog.png</Icon5>
-    <Icon6>:/core/images/cog.png</Icon6>
+    <Icon6>:/core/images/openpilot_logo_64.png</Icon6>
     <Icon7>:/core/images/openpilot_logo_64.png</Icon7>
     <Icon8>:/core/images/openpilot_logo_64.png</Icon8>
     <Icon9>:/core/images/openpilot_logo_64.png</Icon9>
-    <NumberOfWorkspaces>6</NumberOfWorkspaces>
+    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
+    <NumberOfWorkspaces>5</NumberOfWorkspaces>
     <Workspace1>Flight data</Workspace1>
-    <Workspace10>Workspace10</Workspace10>
     <Workspace2>Configuration</Workspace2>
-    <Workspace3>Flight Planner</Workspace3>
+    <Workspace3>Scopes</Workspace3>
-    <Workspace4>Scopes</Workspace4>
+    <Workspace4>HITL</Workspace4>
-    <Workspace5>HITL</Workspace5>
+    <Workspace5>Firmware</Workspace5>
-    <Workspace6>Firmware</Workspace6>
+    <Workspace6>Workspace6</Workspace6>
     <Workspace7>Workspace7</Workspace7>
     <Workspace8>Workspace8</Workspace8>
     <Workspace9>Workspace9</Workspace9>
+    <Workspace10>Workspace10</Workspace10>
   </Workspace>
 </gcs>

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -72,6 +72,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/gcsreceiver.h \
     $$UAVOBJECT_SYNTHETICS/receiveractivity.h \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.h \
+    $$UAVOBJECT_SYNTHETICS/txpidsettings.h \
     $$UAVOBJECT_SYNTHETICS/cameradesired.h \
     $$UAVOBJECT_SYNTHETICS/faultsettings.h
 
@@ -125,5 +126,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/gcsreceiver.cpp \
     $$UAVOBJECT_SYNTHETICS/receiveractivity.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.cpp \
+    $$UAVOBJECT_SYNTHETICS/txpidsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/cameradesired.cpp \
     $$UAVOBJECT_SYNTHETICS/faultsettings.cpp

shared/uavobjectdefinition/hwsettings.xml

@@ -16,7 +16,7 @@
 		<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 
 		<access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/txpidsettings.xml

@@ -0,0 +1,29 @@
+<xml>
+    <object name="TxPIDSettings" singleinstance="true" settings="true">
+        <description>Settings used by @ref TxPID optional module to tune PID settings using R/C transmitter</description>
+        <field name="UpdateMode" units="option" type="enum" elements="1" options="Never,When Armed,Always" defaultvalue="When Armed"/>
+        <field name="Inputs" units="channel" type="enum"
+		elementnames="Instance1,Instance2,Instance3"
+		options="Throttle,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5"
+		defaultvalue="Throttle,Accessory0,Accessory1"/>
+        <field name="ThrottleRange" units="%" type="float" elements="2" elementnames="Min,Max" defaultvalue="0.20,0.80"/>
+        <field name="PIDs" units="option" type="enum"
+		elementnames="Instance1,Instance2,Instance3"
+		options="Disabled,
+			Roll Rate.Kp, Pitch Rate.Kp, Roll+Pitch Rate.Kp, Yaw Rate.Kp, 
+			Roll Rate.Ki, Pitch Rate.Ki, Roll+Pitch Rate.Ki, Yaw Rate.Ki,
+			Roll Rate.Kd, Pitch Rate.Kd, Roll+Pitch Rate.Kd, Yaw Rate.Kd,
+			Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
+			Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
+			Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
+			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
+		defaultvalue="Disabled"/>
+        <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
+        <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" 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>