Merge branch 'next' into stac/use-malloc-failed-hook

flight/CopterControl/System/pios_board.c

@@ -923,6 +923,8 @@ void PIOS_Board_Init(void) {
 	TaskMonitorInitialize();
 
 	/* Configure the main IO port */
+	uint8_t hwsettings_DSMxBind;
+	HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
 	uint8_t hwsettings_cc_mainport;
 	HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
 
@@ -991,7 +993,7 @@ void PIOS_Board_Init(void) {
 			}
 
 			uint32_t pios_spektrum_id;
-			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
 				PIOS_Assert(0);
 			}
 		}
@@ -1053,7 +1055,7 @@ void PIOS_Board_Init(void) {
 			}
 
 			uint32_t pios_spektrum_id;
-			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
+			if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
 				PIOS_Assert(0);
 			}
 		}

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -8,7 +8,6 @@
  *
  * @file       pios_spektrum.c
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * 	        Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
  * @brief      USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
  * @see        The GNU Public License (GPL) Version 3
  *
@@ -59,7 +58,7 @@ uint8_t sync_of = 0;
 uint16_t supv_timer=0;
 
 static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
-static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
+static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
 static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
 
 static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
@@ -85,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
 /**
 * Bind and Initialise Spektrum satellite receiver
 */
-int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
+int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
 {
 	// TODO: need setting flag for bind on next powerup
 	if (bind) {
-		PIOS_SPEKTRUM_Bind(cfg);
+		PIOS_SPEKTRUM_Bind(cfg,bind);
 	}
 
 	(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
@@ -121,9 +120,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
 * \output true Successful bind
 * \output false Bind failed
 */
-static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
+static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
 {
-#define BIND_PULSES 5
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
+	GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
+
+	/* just to limit bind pulses */
+	bind=(bind<=10)?bind:10;
 
 	GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
 	/* RX line, set high */
@@ -132,7 +137,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
 	/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
 	PIOS_DELAY_WaitmS(60);
 
-	for (int i = 0; i < BIND_PULSES ; i++) {
+	for (int i = 0; i < bind ; i++) {
 		/* RX line, drive low for 120us */
 		GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
 		PIOS_DELAY_WaituS(120);
@@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
 		PIOS_DELAY_WaituS(120);
 	}
 	/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
+	GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
 
 	return true;
 }
@@ -172,9 +178,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 			CaptureValue[7]=b;
 		}
 #endif
-		/* Known sync bytes, 0x01, 0x02, 0x12 */
+		/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
+		/* 0xb2 DX8 3bind pulses only */
 		if (bytecount == 2) {
-			if (b == 0x01) {
+			if ((b == 0x01) || (b == 0xb2)) {
 				datalength=0; // 10bit
 				//frames=1;
 				sync = 1;
@@ -234,17 +241,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
  *@brief clears the channel values
  */
 static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
-	/* 125hz */
+	/* 625hz */
 	supv_timer++;
-	if(supv_timer > 5) {
+	if(supv_timer > 4) {
 		/* sync between frames */
 		sync = 0;
 		bytecount = 0;
 		prev_byte = 0xFF;
 		frame_error = 0;
 		sync_of++;
-		/* watchdog activated after 100ms silence */
+		/* watchdog activated after 200ms silence */
-		if (sync_of > 12) {
+		if (sync_of > 30) {
 			/* signal lost */
 			sync_of = 0;
 			for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {

flight/PiOS/inc/pios_spektrum_priv.h

@@ -42,7 +42,7 @@ struct pios_spektrum_cfg {
 
 extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
 
-extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
+extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
 
 #endif /* PIOS_PWM_PRIV_H */
 

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

@@ -0,0 +1,159 @@
+/**
+ ******************************************************************************
+ *
+ * @file       cachedsvgitem.h
+ * @author     Dmytro Poplavskiy Copyright (C) 2011.
+ * @{
+ * @brief OpenGL texture cached SVG item
+ *****************************************************************************/
+/*
+ * 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 "cachedsvgitem.h"
+#include <QGLContext>
+#include <QDebug>
+
+#ifndef GL_CLAMP_TO_EDGE
+#define GL_CLAMP_TO_EDGE 0x812F
+#endif
+
+CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) :
+    QGraphicsSvgItem(parent),
+    m_context(0),
+    m_texture(0),
+    m_scale(1.0)
+{
+    setCacheMode(NoCache);
+}
+
+CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem * parent):
+    QGraphicsSvgItem(fileName, parent),
+    m_context(0),
+    m_texture(0),
+    m_scale(1.0)
+{
+    setCacheMode(NoCache);
+}
+
+CachedSvgItem::~CachedSvgItem()
+{
+    if (m_context && m_texture) {
+        m_context->makeCurrent();
+        glDeleteTextures(1, &m_texture);
+    }
+}
+
+void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
+{
+
+    if (painter->paintEngine()->type() != QPaintEngine::OpenGL &&
+            painter->paintEngine()->type() != QPaintEngine::OpenGL2) {
+        //Fallback to direct painting
+        QGraphicsSvgItem::paint(painter, option, widget);
+        return;
+    }
+
+    QRectF br = boundingRect();
+    QTransform transform = painter->worldTransform();
+    qreal sceneScale = transform.map(QLineF(0,0,1,0)).length();
+
+    bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST);
+    bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST);
+
+    painter->beginNativePainting();
+
+    if (stencilTestEnabled)
+        glEnable(GL_STENCIL_TEST);
+    if (scissorTestEnabled)
+        glEnable(GL_SCISSOR_TEST);
+
+    bool dirty = false;
+    if (!m_texture) {
+        glGenTextures(1, &m_texture);
+        m_context = const_cast<QGLContext*>(QGLContext::currentContext());
+
+        dirty = true;
+    }
+
+    if (!qFuzzyCompare(sceneScale, m_scale)) {
+        m_scale = sceneScale;
+        dirty = true;
+    }
+
+    int textureWidth = (int(br.width()*m_scale) + 3) & ~3;
+    int textureHeight = (int(br.height()*m_scale) + 3) & ~3;
+
+    if (dirty) {
+        //qDebug() << "re-render image";
+
+        QImage img(textureWidth, textureHeight, QImage::Format_ARGB32);
+        {
+            img.fill(Qt::transparent);
+            QPainter p;
+            p.begin(&img);
+            p.setRenderHints(painter->renderHints());
+            p.translate(br.topLeft());
+            p.scale(m_scale, m_scale);
+            QGraphicsSvgItem::paint(&p, option, 0);
+            p.end();
+
+            img = img.rgbSwapped();
+        }
+
+        glEnable(GL_TEXTURE_2D);
+
+        glBindTexture(GL_TEXTURE_2D, m_texture);
+        glTexImage2D(
+                GL_TEXTURE_2D,
+                0,
+                GL_RGBA,
+                textureWidth,
+                textureHeight,
+                0,
+                GL_RGBA,
+                GL_UNSIGNED_BYTE,
+                img.bits());
+
+        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+        glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+        glDisable(GL_TEXTURE_2D);
+
+        dirty = false;
+    }
+
+    glEnable(GL_BLEND);
+    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+    glEnable(GL_TEXTURE_2D);
+
+    glBindTexture(GL_TEXTURE_2D, m_texture);
+
+    //texture may be slightly large than svn image, ensure only used area is rendered
+    qreal tw = br.width()*m_scale/textureWidth;
+    qreal th = br.height()*m_scale/textureHeight;
+
+    glBegin(GL_QUADS);
+    glTexCoord2d(0,  0 ); glVertex3d(br.left(), br.top(), -1);
+    glTexCoord2d(tw, 0 ); glVertex3d(br.right(), br.top(), -1);
+    glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1);
+    glTexCoord2d(0,  th); glVertex3d(br.left(), br.bottom(), -1);
+    glEnd();
+    glDisable(GL_TEXTURE_2D);
+
+    painter->endNativePainting();
+}

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

@@ -0,0 +1,54 @@
+/**
+ ******************************************************************************
+ *
+ * @file       cachedsvgitem.h
+ * @author     Dmytro Poplavskiy Copyright (C) 2011.
+ * @{
+ * @brief OpenGL texture cached SVG item
+ *****************************************************************************/
+/*
+ * 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 CACHEDSVGITEM_H
+#define CACHEDSVGITEM_H
+
+#include <QGraphicsSvgItem>
+#include <QGLContext>
+
+#include "utils_global.h"
+
+class QGLContext;
+
+//Cache Svg item as GL Texture.
+//Texture is regenerated each time item is scaled
+//but it's reused during rotation, unlike DeviceCoordinateCache mode
+class QTCREATOR_UTILS_EXPORT CachedSvgItem: public QGraphicsSvgItem
+{
+    Q_OBJECT
+public:
+    CachedSvgItem(QGraphicsItem * parent = 0);
+    CachedSvgItem(const QString & fileName, QGraphicsItem * parent = 0);
+    ~CachedSvgItem();
+
+    void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
+
+private:
+    QGLContext *m_context;
+    GLuint m_texture;
+    qreal m_scale;
+};
+
+#endif

ground/openpilotgcs/src/libs/utils/utils.pro

@@ -3,7 +3,9 @@ TARGET = Utils
 
 QT += gui \
     network \
-    xml
+    xml \
+    svg \
+    opengl
 
 DEFINES += QTCREATOR_UTILS_LIB
 
@@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \
 	homelocationutil.cpp \
     mytabbedstackwidget.cpp \
     mytabwidget.cpp \
-    mylistwidget.cpp
+    mylistwidget.cpp \
+    cachedsvgitem.cpp
 SOURCES += xmlconfig.cpp
 
 win32 {
@@ -102,7 +105,8 @@ HEADERS += utils_global.h \
 	homelocationutil.h \
     mytabbedstackwidget.h \
     mytabwidget.h \
-    mylistwidget.h
+    mylistwidget.h \
+    cachedsvgitem.h
 HEADERS += xmlconfig.h
 
 FORMS += filewizardpage.ui \

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

@@ -6,14 +6,50 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>639</width>
+    <width>683</width>
-    <height>611</height>
+    <height>685</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>1</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>665</width>
+        <height>627</height>
+       </rect>
+      </property>
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout">
+       <property name="spacing">
+        <number>0</number>
+       </property>
+       <property name="margin">
+        <number>0</number>
+       </property>
        <item>
         <widget class="QGroupBox" name="groupBox">
          <property name="sizePolicy">
@@ -222,7 +258,7 @@ value as YawRate Kp.</string>
          <property name="sizeHint" stdset="0">
           <size>
            <width>20</width>
-       <height>5</height>
+           <height>13</height>
           </size>
          </property>
         </spacer>
@@ -447,7 +483,7 @@ When you change one, the other is updated.</string>
          <property name="sizeHint" stdset="0">
           <size>
            <width>20</width>
-       <height>5</height>
+           <height>13</height>
           </size>
          </property>
         </spacer>
@@ -644,11 +680,15 @@ When you change one, the other is updated.</string>
          <property name="sizeHint" stdset="0">
           <size>
            <width>20</width>
-       <height>40</height>
+           <height>0</height>
           </size>
          </property>
         </spacer>
        </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
      <item>

ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp

@@ -27,6 +27,7 @@
 
 #include "pfdgadgetwidget.h"
 #include <utils/stylehelper.h>
+#include <utils/cachedsvgitem.h>
 #include <iostream>
 #include <QDebug>
 #include <QPainter>
@@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
      - Battery stats: battery-txt
  */
          l_scene->clear(); // Deletes all items contained in the scene as well.
-         m_background = new QGraphicsSvgItem();
+         m_background = new CachedSvgItem();
          // All other items will be clipped to the shape of the background
          m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
                                 QGraphicsItem::ItemClipsToShape);
@@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_background->setElementId("background");
          l_scene->addItem(m_background);
 
-         m_world = new QGraphicsSvgItem();
+         m_world = new CachedSvgItem();
          m_world->setParentItem(m_background);
          m_world->setSharedRenderer(m_renderer);
          m_world->setElementId("world");
          l_scene->addItem(m_world);
 
          // red Roll scale: rollscale
-         m_rollscale = new QGraphicsSvgItem();
+         m_rollscale = new CachedSvgItem();
          m_rollscale->setSharedRenderer(m_renderer);
          m_rollscale->setElementId("rollscale");
          l_scene->addItem(m_rollscale);
 
          // Home point:
-         m_homewaypoint = new QGraphicsSvgItem();
+         m_homewaypoint = new CachedSvgItem();
          // Next point:
-         m_nextwaypoint = new QGraphicsSvgItem();
+         m_nextwaypoint = new CachedSvgItem();
          // Home point bearing:
-         m_homepointbearing = new QGraphicsSvgItem();
+         m_homepointbearing = new CachedSvgItem();
          // Next point bearing:
-         m_nextpointbearing = new QGraphicsSvgItem();
+         m_nextpointbearing = new CachedSvgItem();
 
-         QGraphicsSvgItem *m_foreground = new QGraphicsSvgItem();
+         QGraphicsSvgItem *m_foreground = new CachedSvgItem();
          m_foreground->setParentItem(m_background);
          m_foreground->setSharedRenderer(m_renderer);
          m_foreground->setElementId("foreground");
@@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          // into a QGraphicsSvgItem which we will display at the same
          // place: we do this so that the heading scale can be clipped to
          // the compass dial region.
-         m_compass = new QGraphicsSvgItem();
+         m_compass = new CachedSvgItem();
          m_compass->setSharedRenderer(m_renderer);
          m_compass->setElementId("compass");
          m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_compass->setTransform(matrix,false);
 
          // Now place the compass scale inside:
-         m_compassband = new QGraphicsSvgItem();
+         m_compassband = new CachedSvgItem();
          m_compassband->setSharedRenderer(m_renderer);
          m_compassband->setElementId("compass-band");
          m_compassband->setParentItem(m_compass);
@@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          compassMatrix = m_renderer->matrixForElement("speed-bg");
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
-         QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem();
+         QGraphicsSvgItem *verticalbg = new CachedSvgItem();
          verticalbg->setSharedRenderer(m_renderer);
          verticalbg->setElementId("speed-bg");
          verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_speedscale = new QGraphicsItemGroup();
          m_speedscale->setParentItem(verticalbg);
 
-         QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem();
+         QGraphicsSvgItem *speedscalelines = new CachedSvgItem();
          speedscalelines->setSharedRenderer(m_renderer);
          speedscalelines->setElementId("speed-scale");
          speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect(
@@ -523,7 +524,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y();
          qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height();
-         QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem();
+         QGraphicsSvgItem *speedwindow = new CachedSvgItem();
          speedwindow->setSharedRenderer(m_renderer);
          speedwindow->setElementId("speed-window");
          speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          compassMatrix = m_renderer->matrixForElement("altitude-bg");
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
-         verticalbg = new QGraphicsSvgItem();
+         verticalbg = new CachedSvgItem();
          verticalbg->setSharedRenderer(m_renderer);
          verticalbg->setElementId("altitude-bg");
          verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          m_altitudescale = new QGraphicsItemGroup();
          m_altitudescale->setParentItem(verticalbg);
 
-         QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem();
+         QGraphicsSvgItem *altitudescalelines = new CachedSvgItem();
          altitudescalelines->setSharedRenderer(m_renderer);
          altitudescalelines->setElementId("altitude-scale");
          altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect(
@@ -604,7 +605,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y();
          qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height();
-         QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem();
+         QGraphicsSvgItem *altitudewindow = new CachedSvgItem();
          altitudewindow->setSharedRenderer(m_renderer);
          altitudewindow->setElementId("altitude-window");
          altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
              compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
              startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
              startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
-             gcsTelemetryArrow = new QGraphicsSvgItem();
+             gcsTelemetryArrow = new CachedSvgItem();
              gcsTelemetryArrow->setSharedRenderer(m_renderer);
              gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
              l_scene->addItem(gcsTelemetryArrow);
@@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
-         gcsTelemetryArrow = new QGraphicsSvgItem();
+         gcsTelemetryArrow = new CachedSvgItem();
          gcsTelemetryArrow->setSharedRenderer(m_renderer);
          gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
          l_scene->addItem(gcsTelemetryArrow);
@@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
          compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
          startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
          startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
-         gcsTelemetryArrow = new QGraphicsSvgItem();
+         gcsTelemetryArrow = new CachedSvgItem();
          gcsTelemetryArrow->setSharedRenderer(m_renderer);
          gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
          l_scene->addItem(gcsTelemetryArrow);
@@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
    { qDebug()<<"Error on PFD artwork file.";
        m_renderer->load(QString(":/pfd/images/pfd-default.svg"));
        l_scene->clear(); // This also deletes all items contained in the scene.
-       m_background = new QGraphicsSvgItem();
+       m_background = new CachedSvgItem();
        m_background->setSharedRenderer(m_renderer);
        l_scene->addItem(m_background);
        pfdError = true;

shared/uavobjectdefinition/hwsettings.xml

@@ -4,6 +4,7 @@
 		<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
 		<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
 		<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="DSMxBind" units=""  type="uint8"  elements="1" defaultvalue="0"/>
 		<access gcs="readwrite" flight="readwrite"/>
 		<telemetrygcs acked="true" updatemode="onchange" period="0"/>
 		<telemetryflight acked="true" updatemode="onchange" period="0"/>