Merge branch 'rel-14.06' into next

CREDITS.txt

@@ -89,7 +89,6 @@ Mat Wellington
 Kendal Wells
 David Willis
 Dmitriy Zaitsev
-Bertrand Songis
 Andre Bernet
 Anthony Gomes
 Cliff Geerdes
@@ -99,3 +98,7 @@ Laurent Lalanne
 Patrick Huebner
 Rich von Lehe
 Stefan Cenkov
+Andrés Chavarría Krauser
+Bertrand Oresve
+Cosimo Corrado
+

WHATSNEW.txt

@@ -1,3 +1,130 @@
+--- RELEASE-14.06-RC2 --- Peanuts Schnapps ---
+This Release Candidate fixes the following issues:
+    *[OP-1378] - Check Limits for flight modes
+    *[OP-1377] - Calibration config panel has Apply button even when not in Expert mode
+    *[OP-1376] - Calibration results not saved to SD
+    *[OP-1375] - Update Mag Ki and Kp default settings
+    *[OP-1374] - Automatically enable the right PathFollower
+    *[OP-1337] - Fixes for French translation
+    
+The full list of features, improvements and bugfixes in this release candidate is accessible here:
+http://progress.openpilot.org/issues/?filter=11462
+
+--- RELEASE-14.06-RC1 --- Peanuts Schnapps ---
+This is the Mid 2014 release. 
+This version still supports the CopterControl and CC3D.
+It includes several additions and changes aimed at gps/navigation functionalities 
+(that are expected to be fully available on next release).
+
+Some additions in this release:
+- Addition of GPS assisted flight modes for revo: - Return To Base, Position hold, AutoCruise and Position Vario(LOS, FPV and NSEW);
+- Stabilization refactoring that enhance rate performances;
+- Sensor calibration has been redesigned for better usability;
+
+The full list of features, improvements and bugfixes in this release is accessible here:
+
+http://progress.openpilot.org/issues/?filter=11460
+
+** New Feature & Improvements
+    * [OP-943] - Start using F4's Core Coupled RAM for more than just the IRQ handler stack
+    * [OP-974] - Make Bootloader Version available while flight software is running
+    * [OP-975] - Reconsider the calibration process
+    * [OP-1068] - Add support for magnetometer calibration matrix in place of scaling parameters
+    * [OP-1149] - Handle thermal bias calculation/calibration to gyro and accel
+    * [OP-1150] - Create UI to allow users to perform board thermal calibration 
+    * [OP-1159] - Remove "Rev" checkboxes on input tab for channels on which it doesn't have an effect
+    * [OP-1161] - Add Alarm for Magnetometer if disturbed or uncalibrated
+    * [OP-1174] - Beautify Uploader gadget popups
+    * [OP-1194] - Scope gadget - plot and legend visibility state should be persisted between runs
+    * [OP-1198] - Allow GCS gadgets to save/restore individual state
+    * [OP-1216] - Refactor Flight Control Modules
+    * [OP-1230] - Automatically load the correct firmware file when GCS is running in a development environment
+    * [OP-1233] - Add make options to skip qmake and build a specific GCS directory
+    * [OP-1245] - Add GUI to control if, what, when and how to do flight side logging.
+    * [OP-1250] - Add GPS Protocol configuration in the Hardware configuration panel
+    * [OP-1258] - Update GCC ARM Embedded to 4.8-2014-q1
+    * [OP-1259] - Cruise Control tweaks
+    * [OP-1260] - Rattitude tweaks
+    * [OP-1273] - Implementation of the PixHawk airspeed sensor based on the MS4525DO
+    * [OP-1282] - Include I2C Alarm into Eagletree speed sensor module
+    * [OP-1287] - GPS assisted flight for Revo
+    * [OP-1299] - Autodetect number of cells in Battery module
+    * [OP-1302] - Improve on board led functionality
+    * [OP-1303] - Add PathPlan Alarm in System Health
+    * [OP-1307] - Create a bare DiscoveryF4 target for debugging and development purposes
+    * [OP-1308] - Set the same logic to CRITICAL Alarm and same logic to ERROR Alarm
+    * [OP-1312] - Implement a PIOS WS281x driver
+    * [OP-1319] - Fix minor spelling mistakes in fw code
+    * [OP-1335] - ConfigTaskWidget - Add support to bind GComboBox to integer property
+    * [OP-1339] - System Health panel improvement
+    * [OP-1350] - TakeOff location handling to be used with RTH 
+    * [OP-1365] - Add instrumentation functions for flight code
+
+** Bug
+    * [OP-1026] - Provide some standard method of calibrating CPU speed and load measurement for boards
+    * [OP-1033] - Data transfer errors on USB HID on F1 devices
+    * [OP-1043] - Ground OPLinkMini refuses to connect to one Revo unless first connected to another Revo
+    * [OP-1056] - GPS does not set home location when erased after lock has been established
+    * [OP-1080] - Unreliable detection of board through OPLink
+    * [OP-1100] - GCS plist for mac shows wrong associated filetypes, leftover from qtcreator
+    * [OP-1131] - Firmware mismatch check is not done if Uploader gadget is not active
+    * [OP-1172] - Some fonts are not defined in config files
+    * [OP-1196] - Board rotation in GCS not shown correctly upon connection but correctly saved in memory
+    * [OP-1212] - Fix Priority queue handling in telemetry 
+    * [OP-1227] - High CPU load in ratitude mode on CopterControl
+    * [OP-1232] - Setting high telemetry rates for periodic uavobject triggers eventsystem warning.
+    * [OP-1235] - Some fixes for altitude estimation
+    * [OP-1237] - Blank/Black Buttons on Vehicle Configuration Multirotor Throttle Curve
+    * [OP-1241] - TxPID Does not work for Bank 3 PID settings
+    * [OP-1243] - OPMap widget context menu duplicating some menu separators each time its opened
+    * [OP-1252] - Update GCS to qt 5.2.1
+    * [OP-1266] - Gyro and accel thermal compensation is not applied if one or more coefficients have negative value
+    * [OP-1267] - Incorrect UAV position on GCS OPMap after homeLocation modification
+    * [OP-1272] - Unable to debug in SWD mode a revo board
+    * [OP-1283] - SystemHealthGadgetWidget::updateAlarms misinterprets coordinates in SVG file
+    * [OP-1284] - RTB flies into ground if base is high
+    * [OP-1285] - Erase Settings ToolTip is wrong
+    * [OP-1286] - GCS Map "Go To Place" doesn't work
+    * [OP-1288] - GPS PositionHold immediately flies several meters away if Home is not close
+    * [OP-1291] - Fix matlab import after UAVTalk changes
+    * [OP-1294] - Fix stack sizes for CopterControl
+    * [OP-1295] - Autoupdate not working
+    * [OP-1296] - Altitude Hold causes copter to ascent at full throttle when far from home location
+    * [OP-1297] - OPMap fails to read in saved waypoints correctly
+    * [OP-1300] - SystemHealth gadget does not show "Configuration Alarm"
+    * [OP-1301] - Hardware settings can't be saved with CC/CC3D
+    * [OP-1304] - Revo stack alarm
+    * [OP-1314] - Fix Airspeed stack size
+    * [OP-1315] - Unable to arm UAV when AirspeedSensorType is set to GroundspeedBaseWindEstimation
+    * [OP-1323] - GCS font fixes
+    * [OP-1325] - Fix event system warnings to be errors
+    * [OP-1326] - Set AIrspeedSensor default back to "None"
+    * [OP-1327] - SystemAlarms must be non-acked
+    * [OP-1329] - Various fixes to airspeed module
+    * [OP-1330] - Cannot set homelocation.set=false when gps reception is optimal
+    * [OP-1331] - Input and Output Channel Configuration alignments issues
+    * [OP-1332] - PiOS alarms does not reset alarm state on timer overflow
+    * [OP-1333] - Output Channel Configuration  alignments issues
+    * [OP-1340] - Auto-update greyed out - not available
+    * [OP-1343] - GCS Configuration - Input Channel ResponseTime not saved
+    * [OP-1346] - Input Channel Response Time mismatch between GCS config screen and UAVObject
+    * [OP-1348] - Config Gadget flashes next panel when connecting/disconnecting board
+    * [OP-1351] - GCS Calibration UI polishing
+    * [OP-1352] - Headwind-improvements for FixedWingPathFollower
+    * [OP-1353] - HITL Flightgear fails to set Position and velocity correctly
+    * [OP-1354] - Current and voltage not shown in PFD
+    * [OP-1355] - Magnetometer calibration and board rotation don't play along
+    * [OP-1363] - Sanitychecks MUST check if magnetometers and GPS are enabled for any pathfollower modes (outdoor mode selected)
+    * [OP-1371] - Sanitychecks overzealous:  hitl/sitl broken
+
+** Tasks
+    * [OP-1274] - Update FreeRTOS to 8.0
+    * [OP-1337] - French translations updates (14.04/05)
+    * [OP-1254] - Update to QT5.2.1 for Linux x86/64
+    * [OP-1263] - Move SDL out of Qt install
+    * [OP-1309] - Stabilization refactoring
+
+
 --- RELEASE-14.01 --- Cruising Ratt ---
 This is the first 2014 software release. 
 This version still supports the  CopterControl and CC3D.

flight/libraries/inc/sanitycheck.h

@@ -32,6 +32,14 @@
 
 #include <systemalarms.h>
 
+typedef enum {
+    FRAME_TYPE_MULTIROTOR,
+    FRAME_TYPE_HELI,
+    FRAME_TYPE_FIXED_WING,
+    FRAME_TYPE_GROUND,
+    FRAME_TYPE_CUSTOM,
+} FrameType_t;
+
 #define SANITYCHECK_STATUS_ERROR_NONE         SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
 #define SANITYCHECK_STATUS_ERROR_FLIGHTMODE   SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
 
@@ -45,4 +53,6 @@
 
 extern int32_t configuration_check();
 
+FrameType_t GetCurrentFrameType();
+
 #endif /* SANITYCHECK_H */

flight/libraries/sanitycheck.c

@@ -94,26 +94,8 @@ int32_t configuration_check()
 
 
     // Classify airframe type
-    bool multirotor;
+    bool multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
-    uint8_t airframe_type;
 
-    SystemSettingsAirframeTypeGet(&airframe_type);
-    switch (airframe_type) {
-    case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
-    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
-        multirotor = true;
-        break;
-    default:
-        multirotor = false;
-    }
 
     // For each available flight mode position sanity check the available
     // modes
@@ -272,3 +254,42 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
 
     return true;
 }
+
+FrameType_t GetCurrentFrameType()
+{
+    uint8_t airframe_type;
+
+    SystemSettingsAirframeTypeGet(&airframe_type);
+    switch ((SystemSettingsAirframeTypeOptions)airframe_type) {
+    case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXX:
+        return FRAME_TYPE_MULTIROTOR;
+
+    case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGVTAIL:
+        return FRAME_TYPE_FIXED_WING;
+
+    case SYSTEMSETTINGS_AIRFRAMETYPE_HELICP:
+        return FRAME_TYPE_HELI;
+
+    case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLECAR:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEDIFFERENTIAL:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE:
+        return FRAME_TYPE_GROUND;
+
+    case SYSTEMSETTINGS_AIRFRAMETYPE_VTOL:
+    case SYSTEMSETTINGS_AIRFRAMETYPE_CUSTOM:
+        return FRAME_TYPE_CUSTOM;
+    }
+    // anyway it should not reach here
+    return FRAME_TYPE_CUSTOM;
+}

flight/modules/FixedWingPathFollower/fixedwingpathfollower.c

@@ -62,6 +62,7 @@
 #include "velocitystate.h"
 #include "taskinfo.h"
 #include <pios_struct_helper.h>
+#include <sanitycheck.h>
 
 #include "sin_lookup.h"
 #include "paths.h"
@@ -112,7 +113,10 @@ int32_t FixedWingPathFollowerInitialize()
     HwSettingsInitialize();
     HwSettingsOptionalModulesData optionalModules;
     HwSettingsOptionalModulesGet(&optionalModules);
-    if (optionalModules.FixedWingPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+    FrameType_t frameType = GetCurrentFrameType();
+
+    if ((optionalModules.FixedWingPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) ||
+        (frameType == FRAME_TYPE_FIXED_WING)) {
         followerEnabled = true;
         FixedWingPathFollowerSettingsInitialize();
         FixedWingPathFollowerStatusInitialize();

flight/modules/StateEstimation/filtercf.c

@@ -234,7 +234,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
         float magBias[3];
         RevoCalibrationmag_biasArrayGet(magBias);
         // don't trust Mag for initial orientation if it has not been calibrated
-        if (magBias[0] < 1e-6f && magBias[1] < 1e-6f && magBias[2] < 1e-6f) {
+        if (fabsf(magBias[0]) < 1e-6f && fabsf(magBias[1]) < 1e-6f && fabsf(magBias[2]) < 1e-6f) {
             this->magCalibrated = false;
             mag[0] = 100.0f;
             mag[1] = 0.0f;

flight/modules/System/systemmod.c

@@ -96,11 +96,12 @@ static xQueueHandle objectPersistenceQueue;
 static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_CRITICAL = 3 } stackOverflow;
 static bool mallocFailed;
 static HwSettingsData bootHwSettings;
+static FrameType_t bootFrameType;
 static struct PIOS_FLASHFS_Stats fsStats;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent *ev);
-static void hwSettingsUpdatedCb(UAVObjEvent *ev);
+static void checkSettingsUpdatedCb(UAVObjEvent *ev);
 #ifdef DIAG_TASKS
 static void taskMonitorForEachCallback(uint16_t task_id, const struct pios_task_info *task_info, void *context);
 static void callbackSchedulerForEachCallback(int16_t callback_id, const struct pios_callback_info *callback_info, void *context);
@@ -195,8 +196,10 @@ static void systemTask(__attribute__((unused)) void *parameters)
 
     // Load a copy of HwSetting active at boot time
     HwSettingsGet(&bootHwSettings);
+    bootFrameType = GetCurrentFrameType();
     // Whenever the configuration changes, make sure it is safe to fly
-    HwSettingsConnectCallback(hwSettingsUpdatedCb);
+    HwSettingsConnectCallback(checkSettingsUpdatedCb);
+    SystemSettingsConnectCallback(checkSettingsUpdatedCb);
 
 #ifdef DIAG_TASKS
     TaskInfoData taskInfoData;
@@ -396,13 +399,15 @@ static void objectUpdatedCb(UAVObjEvent *ev)
 /**
  * Called whenever hardware settings changed
  */
-static void hwSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+static void checkSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
 {
     HwSettingsData currentHwSettings;
 
     HwSettingsGet(&currentHwSettings);
+    FrameType_t currentFrameType = GetCurrentFrameType();
     // check whether the Hw Configuration has changed from the one used at boot time
-    if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
+    if ((memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) ||
+        (currentFrameType != bootFrameType)) {
         ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
     }
 }

flight/modules/VtolPathFollower/vtolpathfollower.c

@@ -73,6 +73,7 @@
 
 #include "paths.h"
 #include "CoordinateConversions.h"
+#include <sanitycheck.h>
 
 #include "cameradesired.h"
 #include "poilearnsettings.h"
@@ -128,8 +129,10 @@ int32_t VtolPathFollowerInitialize()
     HwSettingsOptionalModulesData optionalModules;
 
     HwSettingsOptionalModulesGet(&optionalModules);
+    FrameType_t frameType = GetCurrentFrameType();
 
-    if (optionalModules.VtolPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+    if ((optionalModules.VtolPathFollower == HWSETTINGS_OPTIONALMODULES_ENABLED) ||
+        (frameType == FRAME_TYPE_MULTIROTOR)) {
         VtolPathFollowerSettingsInitialize();
         NedAccelInitialize();
         PathDesiredInitialize();

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -171,10 +171,10 @@
 #endif
 #define PIOS_TELEM_RX_STACK_SIZE        410
 #define PIOS_TELEM_TX_STACK_SIZE        560
-#define PIOS_EVENTDISPATCHER_STACK_SIZE  95
+#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
 
 /* This can't be too high to stop eventdispatcher thread overflowing */
-#define PIOS_EVENTDISAPTCHER_QUEUE       10
+#define PIOS_EVENTDISAPTCHER_QUEUE      10
 
 /* Revolution series */
 /* #define REVOLUTION */

ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts

@@ -7161,27 +7161,27 @@ p, li { white-space: pre-wrap; }
     <message>
         <location/>
         <source>Accelerometer calibration</source>
-        <translation type="unfinished">Étalonnage accéléromètres</translation>
+        <translation>Étalonnage des accéléromètres</translation>
     </message>
     <message>
         <location/>
         <source>Magnetometer calibration</source>
-        <translation type="unfinished">Étalonnage magnétomètre</translation>
+        <translation>Étalonnage du magnétomètre</translation>
     </message>
     <message>
         <location/>
         <source>Board level calibration</source>
-        <translation type="unfinished">Étalonnage du niveau de la carte</translation>
+        <translation>Étalonnage du niveau de la carte</translation>
     </message>
     <message>
         <location/>
         <source>Gyro bias calibration</source>
-        <translation type="unfinished">Étalonnage de l&apos;ajustement des Gyros</translation>
+        <translation>Étalonnage de l&apos;ajustement des gyroscopes</translation>
     </message>
     <message>
         <location/>
         <source>Thermal calibration</source>
-        <translation type="unfinished">Étalonnage de la compensation de température</translation>
+        <translation>Étalonnage de la compensation en température</translation>
     </message>
     <message>
         <location/>
@@ -7210,7 +7210,7 @@ p, li { white-space: pre-wrap; }
     <message>
         <location/>
         <source>Help</source>
-        <translation type="unfinished">Aide</translation>
+        <translation>Aide</translation>
     </message>
     <message>
         <location/>
@@ -11501,7 +11501,7 @@ Double clic sur la légende ou le tracé pour afficher/cacher la légende.</tran
         <source>Settings cannot be recovered after this operation.
 The board will be restarted and all settings erased.</source>
         <translation>Les paramètres ne pourront être récupérés après cette opération.
-La carte sera redémarrée et tous les paramètres éffacés.</translation>
+La carte sera redémarrée et tous les paramètres effacés.</translation>
     </message>
     <message>
         <location line="+9"/>
@@ -14106,12 +14106,12 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/gyrobiascalibrationmodel.cpp" line="+98"/>
         <source>Calibrating the gyroscopes. Keep the vehicle steady...</source>
-        <translation type="unfinished">Étalonnage en cours des gyroscopes. Maintenez l&apos;appareil sans le bouger...</translation>
+        <translation>Étalonnage en cours des gyroscopes. Maintenez l&apos;appareil sans le bouger...</translation>
     </message>
     <message>
         <location line="+58"/>
         <source>Gyroscope calibration completed successfully.</source>
-        <translation type="unfinished">Étalonnage des gyroscopes calculé avec succès.</translation>
+        <translation>Étalonnage des gyroscopes calculé avec succès.</translation>
     </message>
 </context>
 <context>
@@ -14123,7 +14123,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/levelcalibrationmodel.cpp" line="+72"/>
         <source>Place horizontally and press Save Position...</source>
-        <translation type="unfinished"></translation>
+        <translation>Positionner horizontalement et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+18"/>
@@ -14133,12 +14133,12 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location line="+40"/>
         <source>Leave horizontally, rotate 180° along yaw axis and press Save Position...</source>
-        <translation type="unfinished"></translation>
+        <translation>Garder horizontalement, tourner de 180° sur l&apos;axe de Yaw et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+17"/>
         <source>Board level calibration completed successfully.</source>
-        <translation type="unfinished"></translation>
+        <translation>Mise à niveau de la carte calculé avec succès.</translation>
     </message>
     <message>
         <source>Leave horizontally, rotate 180° along yaw axis and click Save Position button...</source>
@@ -14206,92 +14206,92 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/sixpointcalibrationmodel.cpp" line="+59"/>
         <source>Place horizontally, nose pointing north and press Save Position...</source>
-        <translation type="unfinished">Positionner horizontalement, le nez en direction du nord et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner horizontalement, le nez en direction du nord et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with nose down, right side west and press Save Position...</source>
-        <translation type="unfinished">Positionner avec le nez vers le bas, le coté droit vers l&apos;ouest et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner avec le nez vers le bas, le coté droit vers l&apos;ouest et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place right side down, nose west and press Save Position...</source>
-        <translation type="unfinished">Positionner le flanc droit vers le bas, le nez en direction de l&apos;ouest et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner le flanc droit vers le bas, le nez en direction de l&apos;ouest et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place upside down, nose east and press Save Position...</source>
-        <translation type="unfinished">Positionner à l&apos;envers, le nez vers l&apos;est et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner à l&apos;envers, le nez vers l&apos;est et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with nose up, left side north and press Save Position...</source>
-        <translation type="unfinished">Positionner le nez vers le haut, le flanc droit vers le nord et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner le nez vers le haut, le flanc gauche vers le nord et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with left side down, nose south and press Save Position...</source>
-        <translation type="unfinished">Positionner avec le flanc gauche vers le bas, le nez vers le sud et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner avec le flanc gauche vers le bas, le nez vers le sud et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Place horizontally and press Save Position...</source>
-        <translation type="unfinished">Positionner horizontalement et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner horizontalement et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with nose down and press Save Position...</source>
-        <translation type="unfinished">Positionner avec le nez vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner avec le nez vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place right side down and press Save Position...</source>
-        <translation type="unfinished">Positionner le flanc droit vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner le flanc droit vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place upside down and press Save Position...</source>
-        <translation type="unfinished">Positionner à l&apos;envers et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner à l&apos;envers et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with nose up and press Save Position...</source>
-        <translation type="unfinished">Positionner avec le nez vers le haut et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner avec le nez vers le haut et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Place with left side down and press Save Position...</source>
-        <translation type="unfinished">Positionner le flanc gauche vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
+        <translation>Positionner le flanc gauche vers le bas et cliquer sur le bouton Enregistrer Position...</translation>
     </message>
     <message>
         <location line="+44"/>
         <source>Home location not set, please set your home location and retry.</source>
-        <translation type="unfinished">Position Home non définie, veuillez régler votre position Home et essayez à nouveau.</translation>
+        <translation>Position Home non définie, veuillez régler votre position Home et essayez à nouveau.</translation>
     </message>
     <message>
         <location line="+1"/>
         <source>Aborting calibration!</source>
-        <translation type="unfinished">Étalonnage abandonné !</translation>
+        <translation>Étalonnage abandonné !</translation>
     </message>
     <message>
         <location line="+120"/>
         <source>Hold...</source>
-        <translation type="unfinished">Maintenir en position...</translation>
+        <translation>Maintenir en position...</translation>
     </message>
     <message>
         <location line="+214"/>
         <source>Magnetometer calibration completed successfully.</source>
-        <translation type="unfinished">Étalonnage du magnétomètre terminée avec succès.</translation>
+        <translation>Étalonnage du magnétomètre terminé avec succès.</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Accelerometer calibration completed successfully.</source>
-        <translation type="unfinished">Étalonnage des accéléromètres terminée avec succès.</translation>
+        <translation>Étalonnage des accéléromètres terminé avec succès.</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Calibration failed! Please review the help and retry.</source>
-        <translation type="unfinished">Échec étalonnage ! Veuillez lire les instructions et essayer à nouveau.</translation>
+        <translation>Échec étalonnage ! Veuillez lire les instructions et essayer à nouveau.</translation>
     </message>
     <message>
         <source>Sensor scale and bias computed succesfully.</source>
@@ -14316,12 +14316,12 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/thermal/compensationcalculationtransition.h" line="+59"/>
         <source>Thermal calibration completed successfully.</source>
-        <translation type="unfinished">Étalonnage terminé avec succès.</translation>
+        <translation>Étalonnage température terminé avec succès.</translation>
     </message>
     <message>
         <location line="+4"/>
         <source>Calibration failed! Please review the help and retry.</source>
-        <translation type="unfinished">Échec étalonnage ! Veuillez relire les instructions et essayer à nouveau.</translation>
+        <translation>Échec étalonnage ! Veuillez relire les instructions et essayer à nouveau.</translation>
     </message>
 </context>
 <context>
@@ -14391,13 +14391,13 @@ et même conduire au crash. A utiliser avec prudence.</translation>
         <location line="+9"/>
         <source>Timing out in %1 seconds</source>
         <translatorcomment>Expiration du temps d&apos;attente dans %1 secondes - Shorted / size allowed</translatorcomment>
-        <translation type="unfinished">Expiration dans %1 secondes</translation>
+        <translation>Expiration dans %1 secondes</translation>
     </message>
     <message>
         <location line="+2"/>
         <source>Timed out after %1 seconds</source>
         <translatorcomment>Expiration du temps d&apos;attente après %1 secondes Shorted : size allowed</translatorcomment>
-        <translation type="unfinished">Expiration après %1 secondes</translation>
+        <translation>Expiration après %1 secondes</translation>
     </message>
 </context>
 <context>
@@ -14405,7 +14405,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/thermal/boardsetuptransition.h" line="+75"/>
         <source>Configuring board for calibration.</source>
-        <translation type="unfinished"></translation>
+        <translation>Configuration de la carte pour la calibration.</translation>
     </message>
 </context>
 <context>
@@ -14413,22 +14413,22 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/thermal/dataacquisitiontransition.h" line="+63"/>
         <source>Please wait during samples acquisition. This can take several minutes...</source>
-        <translation type="unfinished">Veuillez attendre pendant l&apos;acquisition des échantillons. Cela peut plusieurs minutes...</translation>
+        <translation>Veuillez attendre pendant l&apos;acquisition des échantillons. Cela peut prendre plusieurs minutes...</translation>
     </message>
     <message>
         <location line="+1"/>
         <source>Acquisition will run until the rate of temperature change is less than %1°C/min.</source>
-        <translation type="unfinished">L&apos;acquisition s&apos;effectue jusqu&apos;à ce que le changement de température soit inférieur à %1°C/min.</translation>
+        <translation>L&apos;acquisition s&apos;effectue jusqu&apos;à ce que le changement de température soit inférieur à %1°C/min.</translation>
     </message>
     <message>
         <location line="+1"/>
         <source>For the calibration to be valid, the temperature span during acquisition must be greater than %1°C.</source>
-        <translation type="unfinished">Pour que la calibration soit valide, la différence de température durant l&apos;acquisition doit être supérieure à %1°C.</translation>
+        <translation>Pour que la calibration soit valide, la différence de température durant l&apos;acquisition doit être supérieure à %1°C.</translation>
     </message>
     <message>
         <location line="+1"/>
         <source>Estimating acquisition duration...</source>
-        <translation type="unfinished">Estimation de la durée d&apos;acquisition...</translation>
+        <translation>Estimation de la durée d&apos;acquisition...</translation>
     </message>
 </context>
 <context>
@@ -14436,7 +14436,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/thermal/settingshandlingtransitions.h" line="+75"/>
         <source>Saving initial settings.</source>
-        <translation type="unfinished"></translation>
+        <translation>Enregistrement des paramètres initiaux.</translation>
     </message>
 </context>
 <context>
@@ -14444,7 +14444,7 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location line="+40"/>
         <source>Restoring board configuration.</source>
-        <translation type="unfinished"></translation>
+        <translation>Restauration des paramètres de la carte.</translation>
     </message>
 </context>
 <context>
@@ -14452,37 +14452,37 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/calibration/thermal/thermalcalibrationhelper.cpp" line="+318"/>
         <source>Barometer is calibrated.</source>
-        <translation type="unfinished">Baromètre calibré.</translation>
+        <translation>Le baromètre est calibré.</translation>
     </message>
     <message>
         <location line="+3"/>
         <source>Failed to calibrate barometer!</source>
-        <translation type="unfinished">Échec de la calibration du baromètre !</translation>
+        <translation>Échec de la calibration du baromètre !</translation>
     </message>
     <message>
         <location line="+23"/>
         <source>Gyro is calibrated.</source>
-        <translation type="unfinished">Gyroscope calibré.</translation>
+        <translation>Les gyroscopes sont calibrés.</translation>
     </message>
     <message>
         <location line="+3"/>
         <source>Failed to calibrate gyro!</source>
-        <translation type="unfinished">Échec de la calibration des gyroscopes !</translation>
+        <translation>Échec de la calibration des gyroscopes !</translation>
     </message>
     <message>
         <location line="+63"/>
         <source>Target temperature span has been acquired. You may now end acquisition or continue.</source>
-        <translation type="unfinished">La différence de température a été atteinte. Vous pouvez arrêter maintenant ou continuer.</translation>
+        <translation>La différence de température a été atteinte. Vous pouvez arrêter maintenant ou continuer.</translation>
     </message>
     <message>
         <location line="+32"/>
         <source>m&apos;&apos;s&apos;&apos;&apos;&apos;</source>
-        <translation type="unfinished"></translation>
+        <translation></translation>
     </message>
     <message>
         <location line="+1"/>
         <source>Estimated acquisition duration is %1.</source>
-        <translation type="unfinished">La durée estimée d&apos;acquisition est de %1.</translation>
+        <translation>La durée estimée de l&apos;acquisition est de %1.</translation>
     </message>
 </context>
 <context>
@@ -14490,17 +14490,17 @@ et même conduire au crash. A utiliser avec prudence.</translation>
     <message>
         <location filename="../../../src/plugins/config/configrevowidget.cpp" line="+318"/>
         <source>Temperature: %1°C</source>
-        <translation type="unfinished">Température : %1°C</translation>
+        <translation>Température : %1°C</translation>
     </message>
     <message>
         <location line="+5"/>
         <source>Variance: %1°C/min</source>
-        <translation type="unfinished">Variation : %1°C/min</translation>
+        <translation>Variation : %1°C/min</translation>
     </message>
     <message>
         <location line="+5"/>
         <source>Sampled range: %1°C</source>
-        <translation type="unfinished">Plage d&apos;échantillonnage : %1°C</translation>
+        <translation>Plage d&apos;échantillonnage : %1°C</translation>
     </message>
 </context>
 </TS>

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

@@ -86,7 +86,7 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
     HwSettings::DataFields hwSettingsData = hwSettings->getData();
 
-    if(hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
+    if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
         m_telemetry->gpsProtocol->setEnabled(false);
         m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
     } else {

shared/uavobjectdefinition/attitudesettings.xml

@@ -4,8 +4,8 @@
         <field name="BoardRotation" units="deg" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
-        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
+        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0.000001"/>
-        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
+        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0.01"/>
         <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
         <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

shared/uavobjectdefinition/flightmodesettings.xml

@@ -83,27 +83,27 @@
                limits="\
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise;\
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
                        \
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise;\
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
                        \
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise;\
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
                        \
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise;\
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
                        \
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise;\
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise;\
                        \
                        %0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
                        %0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
-                       %0903NE:Autotune:AutoCruise"/>
+                       %0903NE:POI:PathPlanner:Autotune:AutoCruise"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>