Merge branch 'master' into OP-483_os_release-packaging

MILESTONES.txt

@@ -105,6 +105,11 @@ C: Gary Mortimer and the Scorpion
 D: March 2011
 V: http://vimeo.com/22104334
 
+M: First Y6 OpenPilot flight
+C: Sami Korhonen (Sambas)
+D: May 2011
+V: http://www.vimeo.com/23637586
+
 M: First CopterControl flight on a Flybarless Heli
 C: ?
 D: ?

flight/CopterControl/Makefile

@@ -205,6 +205,7 @@ SRC += $(PIOSSTM32F10X)/pios_usb_hid_prop.c
 SRC += $(PIOSSTM32F10X)/pios_usb_hid_pwr.c
 
 ## PIOS Hardware (Common)
+SRC += $(PIOSCOMMON)/pios_flashfs_objlist.c
 SRC += $(PIOSCOMMON)/pios_flash_w25x.c
 SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c

flight/CopterControl/System/coptercontrol.c

@@ -92,6 +92,7 @@ void OpenPilotInit()
 	
 #ifdef ERASE_FLASH
 	PIOS_Flash_W25X_EraseChip();
+	while(TRUE){};
 #endif
 
 	/* Initialize modules */

flight/CopterControl/System/pios_board.c

@@ -678,8 +678,10 @@ void PIOS_Board_Init(void) {
 		PIOS_DEBUG_Assert(0);
 	}
 
-	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);
+	PIOS_Flash_W25X_Init(pios_spi_flash_accel_id);	
 	PIOS_ADXL345_Attach(pios_spi_flash_accel_id);
+	
+	PIOS_FLASHFS_Init();
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 	/* SPEKTRUM init must come before comms */

flight/Modules/Attitude/attitude.c

@@ -141,18 +141,19 @@ static void AttitudeTask(void *parameters)
 		
 		FlightStatusData flightStatus;
 		FlightStatusGet(&flightStatus);
-		
-		if(xTaskGetTickCount() < 10000) {
-			// For first 5 seconds use accels to get gyro bias
+
+		if(xTaskGetTickCount() < 7000) {
+			// Force settings update to make sure rotation loaded
+			settingsUpdatedCb(AttitudeSettingsHandle());
+			// For first 7 seconds use accels to get gyro bias
 			accelKp = 1;
-			// Decrease the rate of gyro learning during init
-			accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
-			yawBiasRate = 0.01 / (1 + xTaskGetTickCount() / 5000);
+			accelKi = 0.9;
+			yawBiasRate = 0.23;
 			init = 0;
 		} 	
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
-			accelKi = .01;
-			yawBiasRate = 0.1;
+			accelKi = 0.9;
+			yawBiasRate = 0.23;
 			init = 0;			
 		} else if (init == 0) {
 			settingsUpdatedCb(AttitudeSettingsHandle());

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -30,6 +30,7 @@
 #include "openpilot.h"
 #include "firmwareiap.h"
 #include "firmwareiapobj.h"
+#include "flightstatus.h"
 
 // Private constants
 #define IAP_CMD_STEP_1      1122
@@ -156,6 +157,16 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
 			case IAP_STATE_STEP_2:
 				if( data.Command == IAP_CMD_STEP_3 ) {
 					if( delta > iap_time_3_low_end && delta < iap_time_3_high_end ) {
+						
+						FlightStatusData flightStatus;
+						FlightStatusGet(&flightStatus);
+						
+						if(flightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) {
+							// Abort any attempts if not disarmed
+							iap_state = IAP_STATE_READY;
+							break;
+						}
+							
 						// we've met the three sequence of command numbers
 						// we've met the time requirements.
 						PIOS_IAP_SetRequest1();

flight/Modules/GPS/GPS.c

@@ -63,7 +63,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 // Private constants
 
 //#define FULL_COLD_RESTART             // uncomment this to tell the GPS to do a FULL COLD restart
-//#define DISABLE_GPS_TRESHOLD          //
+//#define DISABLE_GPS_THRESHOLD          //
 
 #define GPS_TIMEOUT_MS                  500
 #define GPS_COMMAND_RESEND_TIMEOUT_MS   2000
@@ -154,7 +154,7 @@ static void gpsTask(void *parameters)
 	}
 #endif
 
-#ifdef DISABLE_GPS_TRESHOLD
+#ifdef DISABLE_GPS_THRESHOLD
 	PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
 #endif
 

flight/OpenPilot/Makefile

@@ -52,14 +52,13 @@ endif
 FLASH_TOOL = OPENOCD
 
 # List of modules to include
-MODULES =  Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP FlightPlan
-
+MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
+PYMODULES = FlightPlan
 #MODULES = Telemetry Example
 #MODULES = Telemetry MK/MKSerial
 #MODULES = Telemetry
 #MODULES += Osd/OsdEtStd
 
-
 # MCU name, submodel and board
 # - MCU used for compiler-option (-mcpu)
 # - MODEL used for linker-script name (-T) and passed as define
@@ -124,17 +123,19 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-MODNAMES = $(notdir ${MODULES})
+MODNAMES = $(notdir ${MODULES} ${PYMODULES})
 
 ifndef TESTAPP
 
-## PyMite files
+## PyMite files and modules
 SRC += $(OUTDIR)/pmlib_img.c
 SRC += $(OUTDIR)/pmlib_nat.c
 SRC += $(OUTDIR)/pmlibusr_img.c
 SRC += $(OUTDIR)/pmlibusr_nat.c
-SRC += $(wildcard ${PYMITEVM}/*.c)
-SRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += $(wildcard ${PYMITEVM}/*.c)
+PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += $(PYSRC)
 
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
@@ -317,7 +318,7 @@ EXTRAINCDIRS  += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
 EXTRAINCDIRS  += $(AHRSBOOTLOADERINC)
 EXTRAINCDIRS  += $(PYMITEINC)
 
-EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
+EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 
 # List any extra directories to look for library files here.
@@ -481,7 +482,7 @@ LSTFILES   = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
 DEPFILES   = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
 
 # Default target.
-all: gencode gccversion build
+all: gccversion build
 
 ifeq ($(LOADFORMAT),ihex)
 build: elf hex lss sym
@@ -500,6 +501,8 @@ endif
 # Generate intermediate code
 gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
 
+$(PYSRC): gencode
+
 # Generate code for module initialization
 ${OUTDIR}/InitMods.c: Makefile
 	@echo $(MSG_MODINIT) $(call toprel, $@)

flight/PiOS/Common/pios_flash_w25x.c

@@ -222,6 +222,14 @@ int8_t PIOS_Flash_W25X_WriteData(uint32_t addr, uint8_t * data, uint16_t len)
 	return 0;
 }
 
+/** 
+ * @brief Read data from a location in flash memory
+ * @param[in] addr Address in flash to write to
+ * @param[in] data Pointer to data to write from flash
+ * @param[in] len Length of data to write (max 256 bytes)
+ * @return Zero if success or error code
+ * @retval -1 Unable to claim SPI bus
+ */
 int8_t PIOS_Flash_W25X_ReadData(uint32_t addr, uint8_t * data, uint16_t len)
 {
 	if(PIOS_Flash_W25X_ClaimBus() == -1)

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -0,0 +1,294 @@
+/**
+ ******************************************************************************
+ *
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
+ * @{
+ *
+ * @file       pios_flashfs_objlist.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      A file system for storing UAVObject in flash chip
+ * @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
+ */
+
+
+#include "openpilot.h"
+#include "uavobjectmanager.h"
+
+// Private functions
+static int32_t PIOS_FLASHFS_CleabObjectTableHeader();
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId);
+static int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId);
+
+// Private variables
+static int32_t numObjects = -1;
+
+// Private structures
+// Header for objects in the file system table
+struct objectHeader {
+	uint32_t objMagic;
+	uint32_t objId;
+	uint32_t instId;
+	uint32_t address;
+} __attribute__((packed));;
+
+struct fileHeader {
+	uint32_t id;
+	uint16_t instId;
+	uint16_t size;
+} __attribute__((packed));
+
+
+#define OBJECT_TABLE_MAGIC 0x85FB3C33
+#define OBJ_MAGIC          0x3015AE71
+#define OBJECT_TABLE_START 0x00000010
+#define OBJECT_TABLE_END   0x00001000
+#define SECTOR_SIZE        0x00001000
+
+/**
+ * @brief Initialize the flash object setting FS
+ * @return 0 if success, -1 if failure
+ */
+int32_t PIOS_FLASHFS_Init()
+{
+	
+	// Check for valid object table or create one
+	uint32_t object_table_magic;
+	if (PIOS_Flash_W25X_ReadData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
+		return -1;	
+	if(object_table_magic != OBJECT_TABLE_MAGIC) {
+		if(PIOS_FLASHFS_CleabObjectTableHeader() < 0)
+			return -1;
+	}
+
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+	numObjects = 0;
+		
+	// Loop through header area while objects detect to count how many saved
+	while(addr < OBJECT_TABLE_END) {
+		// Read the instance data
+		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *)&header, sizeof(header)) != 0)
+			return -1;
+		
+		// Counting number of valid headers	
+		if(header.objMagic != OBJ_MAGIC) 
+			break;
+		
+		numObjects++;
+		addr += sizeof(header);
+	}
+	
+	return 0;
+}
+
+/**
+ * @brief Erase the headers for all objects in the flash chip
+ * @return 0 if successful, -1 if not
+ */
+static int32_t PIOS_FLASHFS_CleabObjectTableHeader() 
+{
+	if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
+		return -1;
+
+	uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
+	if (PIOS_Flash_W25X_WriteData(0, (uint8_t *)&object_table_magic, sizeof(object_table_magic)) != 0)
+		return -1;
+
+	return 0;
+}
+
+/**
+ * @brief Get the address of an object
+ * @param obj UAVObjHandle for that object
+ * @parma instId Instance id for that object
+ * @return address if successful, -1 if not found
+ */
+static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId) 
+{
+	int32_t addr = OBJECT_TABLE_START;
+	struct objectHeader header;
+		
+	// Loop through header area while objects detect to count how many saved
+	while(addr < OBJECT_TABLE_END) {
+		// Read the instance data
+		if (PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+			return -1;
+		if(header.objMagic != OBJ_MAGIC) 
+			break; // stop searching once hit first non-object header
+		else if (header.objId == objId && header.instId == instId)
+			break;
+		addr += sizeof(header);
+	}
+	
+	if (header.objId == objId && header.instId == instId)
+		return header.address;
+	
+	return -1;
+}
+
+/**
+ * @brief Returns an address for a new object and creates entry into object table
+ * @param[in] obj Object handle for object to be saved
+ * @param[in] instId The instance id of object to be saved
+ * @return 0 if success or error code
+ * @retval -1 Object not found
+ * @retval -2 No room in object table 
+ * @retval -3 Unable to write entry into object table
+ * @retval -4 FS not initialized
+ */
+int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
+{
+	struct objectHeader header;
+
+	if(numObjects < 0)
+		return -4;
+	
+	// Don't worry about max size of flash chip here, other code will catch that
+	header.objMagic = OBJ_MAGIC;
+	header.objId = objId;
+	header.instId = instId;
+	header.address = OBJECT_TABLE_END + SECTOR_SIZE * numObjects;
+	
+	int32_t addr = OBJECT_TABLE_START + sizeof(header) * numObjects;
+
+	// No room for this header in object table
+	if((addr + sizeof(header)) > OBJECT_TABLE_END) 
+		return -2;		
+	
+	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -3;
+		
+	// This numObejcts value must stay consistent or there will be a break in the table
+	// and later the table will have bad values in it
+	numObjects++;	
+	return header.address;	
+}
+
+
+/**
+ * @brief Saves one object instance per sector
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or -1 if failure
+ * @note This uses one sector on the flash chip per object so that no buffering in ram
+ * must be done when erasing the sector before a save
+ */
+int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data) 
+{
+	uint32_t objId = UAVObjGetID(obj);
+
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+	
+	// Object currently not saved
+	if(addr < 0) 
+		addr = PIOS_FLASHFS_GetNewAddress(objId, instId);
+	
+	// Could not allocate a sector
+	if(addr < 0)
+		return -1;
+	
+	struct fileHeader header = {
+		.id = objId,
+		.instId = instId,
+		.size = UAVObjGetNumBytes(obj)
+	};
+	
+	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
+		return -2;
+
+	// Save header
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.	
+	
+	if(PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -3;
+		
+	// Save data
+	if(PIOS_Flash_W25X_WriteData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -4;
+	
+	return 0;
+}
+
+/**
+ * @brief Load one object instance per sector
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or error code
+ * @retval -1 if object not in file table
+ * @retval -2 if unable to retrieve object header
+ * @retval -3 if loaded data instId or objId don't match
+ * @retval -4 if unable to retrieve instance data
+ * @note This uses one sector on the flash chip per object so that no buffering in ram
+ * must be done when erasing the sector before a save
+ */
+int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data)
+{
+	uint32_t objId = UAVObjGetID(obj);
+	
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+		
+	// Object currently not saved
+	if(addr < 0) 
+		return -1;
+
+	struct fileHeader header;
+	
+	// Load header
+	// This information IS redundant with the object table id.  Oh well.  Better safe than sorry.
+	if(PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header)) != 0)
+		return -2;
+	
+	if((header.id != objId) || (header.instId != instId))
+		return -3;
+	
+	// Read the instance data
+	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header), data, UAVObjGetNumBytes(obj)) != 0)
+		return -4;
+	
+	return 0;
+}
+
+/**
+ * @brief Delete object from flash
+ * @param[in] obj UAVObjHandle the object to save
+ * @param[in] instId The instance of the object to save
+ * @return 0 if success or error code
+ * @retval -1 if object not in file table
+ * @retval -2 Erase failed
+ * @note To avoid buffering the file table (1k ram!) the entry in the file table 
+ * remains but destination sector is erased.  This will make the load fail as the 
+ * file header won't match the object.  At next save it goes back there.
+ */
+int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId)
+{
+	uint32_t objId = UAVObjGetID(obj);
+	
+	int32_t addr = PIOS_FLASHFS_GetObjAddress(objId, instId);
+	
+	// Object currently not saved
+	if(addr < 0) 
+		return -1;
+
+	if(PIOS_Flash_W25X_EraseSector(addr) != 0)
+		return -2;
+	
+	return 0;
+}

flight/PiOS/inc/pios_flashfs_objlist.h

@@ -0,0 +1,37 @@
+/**
+ ******************************************************************************
+ *
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_FLASHFS_OBJLIST Object list based flash filesystem (low ram)
+ * @{
+ *
+ * @file       pios_flashfs_objlist.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      A file system for storing UAVObject in flash chip
+ * @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
+ */
+
+#include "openpilot.h"
+#include "uavobjectmanager.h"
+
+int32_t PIOS_FLASHFS_Init();
+int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
+int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
+int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

flight/PiOS/pios.h

@@ -1,135 +1,136 @@
-/**
- ******************************************************************************
- *
- * @file       pios.h  
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Main PiOS header. 
- *                 - Central header for the project.
- * @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 PIOS_H
-#define PIOS_H
-
-/* PIOS Feature Selection */
-#include "pios_config.h"
-
-#if defined(PIOS_INCLUDE_FREERTOS)
-/* FreeRTOS Includes */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include "semphr.h"
-#endif
-
-/* C Lib Includes */
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <string.h>
-#include <math.h>
-
-/* STM32 Std Perf Lib */
-#include <stm32f10x.h>
-#include <stm32f10x_conf.h>
-
-#if defined(PIOS_INCLUDE_SDCARD)
-/* Dosfs Includes */
-#include <dosfs.h>
-
-/* Mass Storage Device Includes */
-#include <msd.h>
-#endif
-
-/* Generic initcall infrastructure */
-#include "pios_initcall.h"
-
-/* PIOS Board Specific Device Configuration */
-#include "pios_board.h"
-
-/* PIOS Hardware Includes (STM32F10x) */
-#include <pios_sys.h>
-#include <pios_delay.h>
-#include <pios_led.h>
-#include <pios_sdcard.h>
-#include <pios_usart.h>
-#include <pios_irq.h>
-#include <pios_adc.h>
-#include <pios_servo.h>
-#include <pios_i2c.h>
-#include <pios_spi.h>
-#include <pios_ppm.h>
-#include <pios_pwm.h>
-#include <pios_spektrum.h>
-#include <pios_usb_hid.h>
-#include <pios_debug.h>
-#include <pios_gpio.h>
-#if defined(PIOS_INCLUDE_EXTI)
-#include <pios_exti.h>
-#endif
-#include <pios_wdg.h>
-
-/* PIOS Hardware Includes (Common) */
-#include <pios_sdcard.h>
-#include <pios_com.h>
-#if defined(PIOS_INCLUDE_BMP085)
-#include <pios_bmp085.h>
-#endif
-#if defined(PIOS_INCLUDE_HCSR04)
-#include <pios_hcsr04.h>
-#endif
-#if defined(PIOS_INCLUDE_HMC5843)
-#include <pios_hmc5843.h>
-#endif
-#if defined(PIOS_INCLUDE_HMC5883)
-#include <pios_hmc5883.h>
-#endif
-#if defined(PIOS_INCLUDE_I2C_ESC)
-#include <pios_i2c_esc.h>
-#endif
-#if defined(PIOS_INCLUDE_IMU3000)
-#include <pios_imu3000.h>
-#endif
-#include <pios_iap.h>
-
-#if defined(PIOS_INCLUDE_ADXL345)
-#include <pios_adxl345.h>
-#endif
-
-#if defined(PIOS_INCLUDE_BMA180)
-#include <pios_bma180.h>
-#endif
-
-#if defined(PIOS_INCLUDE_FLASH)
-#include <pios_flash_w25x.h>
-#endif
-
-#if defined(PIOS_INCLUDE_BL_HELPER)
-#include <pios_bl_helper.h>
-#endif
-
-#if defined(PIOS_INCLUDE_USB)
-/* USB Libs */
-#include <usb_lib.h>
-#endif
-
-#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
-
-#endif /* PIOS_H */
+/**
+ ******************************************************************************
+ *
+ * @file       pios.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Main PiOS header. 
+ *                 - Central header for the project.
+ * @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 PIOS_H
+#define PIOS_H
+
+/* PIOS Feature Selection */
+#include "pios_config.h"
+
+#if defined(PIOS_INCLUDE_FREERTOS)
+/* FreeRTOS Includes */
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include "semphr.h"
+#endif
+
+/* C Lib Includes */
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <string.h>
+#include <math.h>
+
+/* STM32 Std Perf Lib */
+#include <stm32f10x.h>
+#include <stm32f10x_conf.h>
+
+#if defined(PIOS_INCLUDE_SDCARD)
+/* Dosfs Includes */
+#include <dosfs.h>
+
+/* Mass Storage Device Includes */
+#include <msd.h>
+#endif
+
+/* Generic initcall infrastructure */
+#include "pios_initcall.h"
+
+/* PIOS Board Specific Device Configuration */
+#include "pios_board.h"
+
+/* PIOS Hardware Includes (STM32F10x) */
+#include <pios_sys.h>
+#include <pios_delay.h>
+#include <pios_led.h>
+#include <pios_sdcard.h>
+#include <pios_usart.h>
+#include <pios_irq.h>
+#include <pios_adc.h>
+#include <pios_servo.h>
+#include <pios_i2c.h>
+#include <pios_spi.h>
+#include <pios_ppm.h>
+#include <pios_pwm.h>
+#include <pios_spektrum.h>
+#include <pios_usb_hid.h>
+#include <pios_debug.h>
+#include <pios_gpio.h>
+#if defined(PIOS_INCLUDE_EXTI)
+#include <pios_exti.h>
+#endif
+#include <pios_wdg.h>
+
+/* PIOS Hardware Includes (Common) */
+#include <pios_sdcard.h>
+#include <pios_com.h>
+#if defined(PIOS_INCLUDE_BMP085)
+#include <pios_bmp085.h>
+#endif
+#if defined(PIOS_INCLUDE_HCSR04)
+#include <pios_hcsr04.h>
+#endif
+#if defined(PIOS_INCLUDE_HMC5843)
+#include <pios_hmc5843.h>
+#endif
+#if defined(PIOS_INCLUDE_HMC5883)
+#include <pios_hmc5883.h>
+#endif
+#if defined(PIOS_INCLUDE_I2C_ESC)
+#include <pios_i2c_esc.h>
+#endif
+#if defined(PIOS_INCLUDE_IMU3000)
+#include <pios_imu3000.h>
+#endif
+#include <pios_iap.h>
+
+#if defined(PIOS_INCLUDE_ADXL345)
+#include <pios_adxl345.h>
+#endif
+
+#if defined(PIOS_INCLUDE_BMA180)
+#include <pios_bma180.h>
+#endif
+
+#if defined(PIOS_INCLUDE_FLASH)
+#include <pios_flash_w25x.h>
+#include <pios_flashfs_objlist.h>
+#endif
+
+#if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_bl_helper.h>
+#endif
+
+#if defined(PIOS_INCLUDE_USB)
+/* USB Libs */
+#include <usb_lib.h>
+#endif
+
+#define NELEMENTS(x) (sizeof(x) / sizeof(*(x)))
+
+#endif /* PIOS_H */

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -3171,6 +3171,8 @@
 		65FF4BE913791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
 		65FF4BEA13791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
 		65FF4BEB13791C3300146BE4 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
+		65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_flashfs_objlist.c; sourceTree = "<group>"; };
+		65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_flashfs_objlist.h; sourceTree = "<group>"; };
 /* End PBXFileReference section */
 
 /* Begin PBXGroup section */
@@ -7657,6 +7659,7 @@
 				65E8F03711EFF25C00BBF654 /* printf-stdarg.c */,
 				6528CCB412E406B800CF5144 /* pios_adxl345.c */,
 				6512D60712ED4CB8008175E5 /* pios_flash_w25x.c */,
+				65FF4D5E137EDEC100146BE4 /* pios_flashfs_objlist.c */,
 			);
 			name = Common;
 			path = ../../PiOS/Common;
@@ -7681,6 +7684,7 @@
 				65E8F03E11EFF25C00BBF654 /* pios_debug.h */,
 				65E8F03F11EFF25C00BBF654 /* pios_delay.h */,
 				65E8F04011EFF25C00BBF654 /* pios_exti.h */,
+				65FF4D61137EFA4F00146BE4 /* pios_flashfs_objlist.h */,
 				65E8F04111EFF25C00BBF654 /* pios_gpio.h */,
 				65E8F04211EFF25C00BBF654 /* pios_hmc5843.h */,
 				65E8F04311EFF25C00BBF654 /* pios_i2c.h */,

flight/UAVObjects/uavobjectmanager.c

@@ -1,1607 +1,1498 @@
-/**
- ******************************************************************************
- * @addtogroup UAVObjects OpenPilot UAVObjects
- * @{ 
- * @addtogroup UAV Object Manager 
- * @brief The core UAV Objects functions, most of which are wrappered by
- * autogenerated defines
- * @{ 
- *
- *
- * @file       uavobjectmanager.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Object manager library. This library holds a collection of all objects.
- *             It can be used by all modules/libraries to find an object reference.
- * @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
- */
-
-#include "openpilot.h"
-
-// Constants
-
-// Private types
-
-/**
- * List of event queues and the eventmask associated with the queue.
- */
-struct ObjectEventListStruct {
-	xQueueHandle queue;
-	UAVObjEventCallback cb;
-	int32_t eventMask;
-	struct ObjectEventListStruct* next;
-};
-typedef struct ObjectEventListStruct ObjectEventList;
-
-/**
- * List of object instances, holds the actual data structure and instance ID
- */
-struct ObjectInstListStruct {
-	void* data;
-	uint16_t instId;
-	struct ObjectInstListStruct* next;
-};
-typedef struct ObjectInstListStruct ObjectInstList;
-
-/**
- * List of objects registered in the object manager
- */
-struct ObjectListStruct {
-	uint32_t id; /** The object ID */
-	const char* name; /** The object name */
-	int8_t isMetaobject; /** Set to 1 if this is a metaobject */
-	int8_t isSingleInstance; /** Set to 1 if this object has a single instance */
-	int8_t isSettings; /** Set to 1 if this object is a settings object */
-	uint16_t numBytes; /** Number of data bytes contained in the object (for a single instance) */
-	uint16_t numInstances; /** Number of instances */
-	struct ObjectListStruct* linkedObj; /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
-	ObjectInstList instances; /** List of object instances, instance 0 always exists */
-	ObjectEventList* events; /** Event queues registered on the object */
-	struct ObjectListStruct* next; /** Needed by linked list library (utlist.h) */
-};
-typedef struct ObjectListStruct ObjectList;
-
-// Private functions
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event);
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId);
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId);
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask);
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb);
-
-#if defined(PIOS_INCLUDE_SDCARD)
-static void objectFilename(ObjectList* obj, uint8_t* filename);
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...);
-#endif
-
-// Private variables
-static ObjectList* objList;
-static xSemaphoreHandle mutex;
-static UAVObjMetadata defMetadata;
-static UAVObjStats stats;
-
-/**
- * Initialize the object manager
- * \return 0 Success
- * \return -1 Failure
- */
-int32_t UAVObjInitialize()
-{
-	// Initialize variables
-	objList = NULL;
-	memset(&stats, 0, sizeof(UAVObjStats));
-
-	// Create mutex
-	mutex = xSemaphoreCreateRecursiveMutex();
-	if (mutex == NULL)
-		return -1;
-
-	// Initialize default metadata structure (metadata of metaobjects)
-	defMetadata.access = ACCESS_READWRITE;
-	defMetadata.gcsAccess = ACCESS_READWRITE;
-	defMetadata.telemetryAcked = 1;
-	defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.telemetryUpdatePeriod = 0;
-	defMetadata.gcsTelemetryAcked = 1;
-	defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.gcsTelemetryUpdatePeriod = 0;
-	defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
-	defMetadata.loggingUpdatePeriod = 0;
-
-	// Done
-	return 0;
-}
-
-/**
- * Get the statistics counters
- * @param[out] statsOut The statistics counters will be copied there
- */
-void UAVObjGetStats(UAVObjStats* statsOut)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memcpy(statsOut, &stats, sizeof(UAVObjStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Clear the statistics counters
- */
-void UAVObjClearStats()
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	memset(&stats, 0, sizeof(UAVObjStats));
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Register and new object in the object manager.
- * \param[in] id Unique object ID
- * \param[in] name Object name
- * \param[in] nameName Metaobject name
- * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
- * \param[in] isSingleInstance Is this a single instance or multi-instance object
- * \param[in] isSettings Is this a settings object
- * \param[in] numBytes Number of bytes of object data (for one instance)
- * \param[in] initCb Default field and metadata initialization function
- * \return Object handle, or NULL if failure.
- * \return
- */
-UAVObjHandle UAVObjRegister(uint32_t id, const char* name, const char* metaName, int32_t isMetaobject,
-		int32_t isSingleInstance, int32_t isSettings, uint32_t numBytes, UAVObjInitializeCallback initCb)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	ObjectList* metaObj;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Check that the object is not already registered
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
-			// Already registered, ignore
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Create and append entry
-	objEntry = (ObjectList*)pvPortMalloc(sizeof(ObjectList));
-	if (objEntry == NULL)
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-	objEntry->id = id;
-	objEntry->name = name;
-	objEntry->isMetaobject = (int8_t)isMetaobject;
-	objEntry->isSingleInstance = (int8_t)isSingleInstance;
-	objEntry->isSettings = (int8_t)isSettings;
-	objEntry->numBytes = numBytes;
-	objEntry->events = NULL;
-	objEntry->numInstances = 0;
-	objEntry->instances.data = NULL;
-	objEntry->instances.instId = 0xFFFF;
-	objEntry->instances.next = NULL;	
-	objEntry->linkedObj = NULL; // will be set later
-	LL_APPEND(objList, objEntry);
-
-	// Create instance zero
-	instEntry = createInstance(objEntry, 0);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Create metaobject and update linkedObj
-	if (isMetaobject)
-	{
-		objEntry->linkedObj = NULL; // will be set later
-	}
-	else
-	{
-		// Create metaobject
-		metaObj = (ObjectList*)UAVObjRegister(id+1, metaName, NULL, 1, 1, 0, sizeof(UAVObjMetadata), NULL);
-		// Link two objects
-		objEntry->linkedObj = metaObj;
-		metaObj->linkedObj = objEntry;
-	}
-
-	// Initialize object fields and metadata to default values
-	if ( initCb != NULL )
-	{
-		initCb((UAVObjHandle)objEntry, 0);
-	}
-
-	// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
-	if ( !objEntry->isMetaobject )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry->linkedObj, 0 );
-	}
-
-	// If this is a settings object, attempt to load from SD card
-	if ( objEntry->isSettings )
-	{
-		UAVObjLoad( (UAVObjHandle)objEntry, 0 );
-	}
-
-	// Release lock
-	xSemaphoreGiveRecursive(mutex);
-	return (UAVObjHandle)objEntry;
-}
-
-/**
- * Retrieve an object from the list given its id
- * \param[in] The object ID
- * \return The object or NULL if not found.
- */
-UAVObjHandle UAVObjGetByID(uint32_t id)
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->id == id)
-		{
-			// Release lock
-			xSemaphoreGiveRecursive(mutex);
-			// Done, object found
-			return (UAVObjHandle)objEntry;
-		}
-	}
-
-	// Object not found, release lock and return error
-	xSemaphoreGiveRecursive(mutex);
-	return NULL;
-}
-
-/**
- * Retrieve an object from the list given its name
- * \param[in] name The name of the object
- * \return The object or NULL if not found.
- */
-UAVObjHandle UAVObjGetByName(char* name)
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Look for object
-	LL_FOREACH(objList, objEntry)
-	{
-		if (objEntry->name != NULL && strcmp(objEntry->name, name) == 0)
-		{
-			// Release lock
-			xSemaphoreGiveRecursive(mutex);
-			// Done, object found
-			return (UAVObjHandle)objEntry;
-		}
-	}
-
-	// Object not found, release lock and return error
-	xSemaphoreGiveRecursive(mutex);
-	return NULL;
-}
-
-/**
- * Get the object's ID
- * \param[in] obj The object handle
- * \return The object ID
- */
-uint32_t UAVObjGetID(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->id;
-}
-
-/**
- * Get the object's name
- * \param[in] obj The object handle
- * \return The object's name
- */
-const char* UAVObjGetName(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->name;
-}
-
-/**
- * Get the number of bytes of the object's data (for one instance)
- * \param[in] obj The object handle
- * \return The number of bytes
- */
-uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->numBytes;
-}
-
-/**
- * Get the object this object is linked to. For regular objects, the linked object
- * is the metaobject. For metaobjects the linked object is the parent object.
- * This function is normally only needed by the telemetry module.
- * \param[in] obj The object handle
- * \return The object linked object handle
- */
-UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
-{
-	return (UAVObjHandle)(((ObjectList*)obj)->linkedObj);
-}
-
-/**
- * Get the number of instances contained in the object.
- * \param[in] obj The object handle
- * \return The number of instances
- */
-uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
-{
-	uint32_t numInstances;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	numInstances = ((ObjectList*)obj)->numInstances;
-	xSemaphoreGiveRecursive(mutex);
-	return numInstances;
-}
-
-/**
- * Create a new instance in the object.
- * \param[in] obj The object handle
- * \return The instance ID or 0 if an error
- */
-uint16_t UAVObjCreateInstance(UAVObjHandle obj, UAVObjInitializeCallback initCb)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Create new instance
-	objEntry = (ObjectList*)obj;
-	instEntry = createInstance(objEntry, objEntry->numInstances);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Initialize instance data
-	if ( initCb != NULL )
-	{
-		initCb(obj, instEntry->instId);
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return instEntry->instId;
-}
-
-/**
- * Does this object contains a single instance or multiple instances?
- * \param[in] obj The object handle
- * \return True (1) if this is a single instance object
- */
-int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isSingleInstance;
-}
-
-/**
- * Is this a metaobject?
- * \param[in] obj The object handle
- * \return True (1) if this is metaobject
- */
-int32_t UAVObjIsMetaobject(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isMetaobject;
-}
-
-/**
- * Is this a settings object?
- * \param[in] obj The object handle
- * \return True (1) if this is a settings object
- */
-int32_t UAVObjIsSettings(UAVObjHandle obj)
-{
-	return ((ObjectList*)obj)->isSettings;
-}
-
-/**
- * Unpack an object from a byte array
- * \param[in] obj The object handle
- * \param[in] instId The instance ID
- * \param[in] dataIn The byte array
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId, const uint8_t* dataIn)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast handle to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance
-	instEntry = getInstance(objEntry, instId);
-
-	// If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
-		instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
-			// Error, unlock and return
-			xSemaphoreGiveRecursive(mutex);
-			return -1;
-		}
-	}
-
-	// Set the data
-	memcpy(instEntry->data, dataIn, objEntry->numBytes);
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UNPACKED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Pack an object to a byte array
- * \param[in] obj The object handle
- * \param[in] instId The instance ID
- * \param[out] dataOut The byte array
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t* dataOut)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast handle to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Pack data
-	memcpy(dataOut, instEntry->data, objEntry->numBytes);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Save the data of the specified object instance to the file system (SD card).
- * The object will be appended and the file will not be closed.
- * The object data can be restored using the UAVObjLoad function.
- * @param[in] obj The object handle.
- * @param[in] instId The instance ID
- * @param[in] file File to append to
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId, FILEINFO* file)
-{
-#if defined(PIOS_INCLUDE_SDCARD)
-	uint32_t bytesWritten;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Write the object ID
-	PIOS_FWRITE(file,&objEntry->id,sizeof(objEntry->id),&bytesWritten);
-
-	// Write the instance ID
-	if (!objEntry->isSingleInstance)
-	{
-		PIOS_FWRITE(file,&instEntry->instId,sizeof(instEntry->instId),&bytesWritten);
-	}
-
-	// Write the data and check that the write was successful
-	PIOS_FWRITE(file,instEntry->data,objEntry->numBytes,&bytesWritten);
-	if ( bytesWritten != objEntry->numBytes )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-struct fileHeader {
-	uint32_t id;
-	uint16_t instId;
-	uint16_t size;
-} __attribute__((packed));
-
-#define FLASH_MASK 0x001ff000  /* Select a sector */
-
-/**
- * Save the data of the specified object to the file system (SD card).
- * If the object contains multiple instances, all of them will be saved.
- * A new file with the name of the object will be created.
- * The object data can be restored using the UAVObjLoad function.
- * @param[in] obj The object handle.
- * @param[in] instId The instance ID
- * @param[in] file File to append to
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-	
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
-	
-	if(instEntry == NULL)
-		return -1;
-	
-	if(instEntry->data == NULL)
-		return -1;
-	
-
-	struct fileHeader header = {
-		.id = objEntry->id,
-		.instId = instId,
-		.size = objEntry->numBytes
-	};
-
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-	PIOS_Flash_W25X_EraseSector(addr);
-	PIOS_Flash_W25X_WriteData(addr, (uint8_t *) &header, sizeof(header));
-	PIOS_Flash_W25X_WriteData(addr + sizeof(header), instEntry->data,objEntry->numBytes);
-#endif	
-#if defined(PIOS_INCLUDE_SDCARD)
-	FILEINFO file;
-	ObjectList* objEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Open file
-	if ( PIOS_FOPEN_WRITE(filename,file) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Append object
-	if ( UAVObjSaveToFile(obj, instId, &file) == -1 )
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done, close file and unlock
-	PIOS_FCLOSE(file);
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Load an object from the file system (SD card).
- * @param[in] file File to read from
- * @return The handle of the object loaded or NULL if a failure
- */
-UAVObjHandle UAVObjLoadFromFile(FILEINFO* file)
-{
-#if defined(PIOS_INCLUDE_SDCARD)
-	uint32_t bytesRead;
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	uint32_t objId;
-	uint16_t instId;
-	UAVObjHandle obj;
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return NULL;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Read the object ID
-	if ( PIOS_FREAD(file,&objId,sizeof(objId),&bytesRead) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Get the object
-	obj = UAVObjGetByID(objId);
-	if ( obj == 0 )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-	objEntry = (ObjectList*)obj;
-
-	// Get the instance ID
-	instId = 0;
-	if ( !objEntry->isSingleInstance )
-	{
-		if ( PIOS_FREAD(file,&instId,sizeof(instId),&bytesRead) )
-		{
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Get the instance information
-	instEntry = getInstance(objEntry, instId);
-
-	// If the instance does not exist create it and any other instances before it
-	if ( instEntry == NULL )
-	{
-		instEntry = createInstance(objEntry, instId);
-		if ( instEntry == NULL )
-		{
-			// Error, unlock and return
-			xSemaphoreGiveRecursive(mutex);
-			return NULL;
-		}
-	}
-
-	// Read the instance data
-	if ( PIOS_FREAD(file,instEntry->data,objEntry->numBytes,&bytesRead) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return NULL;
-	}
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UNPACKED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return obj;
-#else /* PIOS_INCLUDE_SDCARD */
-	return NULL;
-#endif
-}
-
-/**
- * Load an object from the file system (SD card).
- * A file with the name of the object will be opened.
- * The object data can be saved using the UAVObjSave function.
- * @param[in] obj The object handle.
- * @param[in] instId The object instance
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-	
-	ObjectInstList* instEntry = getInstance(objEntry, instId);
-	
-	if(instEntry == NULL)
-		return -1;
-	
-	if(instEntry->data == NULL)
-		return -1;
-	
-	struct fileHeader header;
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-
-	PIOS_Flash_W25X_ReadData(addr, (uint8_t *) &header, sizeof(header));
-	
-	if(header.id != objEntry->id)
-		return -1;
-	
-	// Read the instance data
-	if (PIOS_Flash_W25X_ReadData(addr + sizeof(header) ,instEntry->data, objEntry->numBytes) != 0)
-		return -1;
-		
-	// Fire event
-	sendEvent(objEntry, instId, EV_UNPACKED);		
-#endif
-	
-#if defined(PIOS_INCLUDE_SDCARD)
-	FILEINFO file;
-	ObjectList* objEntry;
-	UAVObjHandle loadedObj;
-	ObjectList* loadedObjEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Open file
-	if ( PIOS_FOPEN_READ(filename,file) )
-	{
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Load object
-	loadedObj = UAVObjLoadFromFile(&file);
-	if (loadedObj == 0)
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Check that the IDs match
-	loadedObjEntry = (ObjectList*)loadedObj;
-	if ( loadedObjEntry->id != objEntry->id )
-	{
-		PIOS_FCLOSE(file);
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Done, close file and unlock
-	PIOS_FCLOSE(file);
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Delete an object from the file system (SD card).
- * @param[in] obj The object handle.
- * @param[in] instId The object instance
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
-{
-#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
-	ObjectList* objEntry = (ObjectList*)obj;
-	
-	if(objEntry == NULL)
-		return -1;
-		
-	uint32_t addr = (objEntry->id & FLASH_MASK);
-	PIOS_Flash_W25X_EraseSector(addr);
-#endif	
-#if defined(PIOS_INCLUDE_SDCARD)
-	ObjectList* objEntry;
-	uint8_t filename[14];
-
-	// Check for file system availability
-	if ( PIOS_SDCARD_IsMounted() == 0 )
-	{
-		return -1;
-	}
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object
-	objEntry = (ObjectList*)obj;
-
-	// Get filename
-	objectFilename(objEntry, filename);
-
-	// Delete file
-	PIOS_FUNLINK(filename);
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
-	return 0;
-}
-
-/**
- * Save all settings objects to the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Load all settings objects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoadSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Delete all settings objects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDeleteSettings()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isSettings )
-		{
-			// Save object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Save all metaobjects to the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjSaveMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Save all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Save object
-			if ( UAVObjSave( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Load all metaobjects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjLoadMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Load object
-			if ( UAVObjLoad( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Delete all metaobjects from the SD card.
- * @return 0 if success or -1 if failure
- */
-int32_t UAVObjDeleteMetaobjects()
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Load all settings objects
-	LL_FOREACH(objList, objEntry)
-	{
-		// Check if this is a settings object
-		if ( objEntry->isMetaobject )
-		{
-			// Load object
-			if ( UAVObjDelete( (UAVObjHandle)objEntry, 0 ) == -1 )
-			{
-				xSemaphoreGiveRecursive(mutex);
-				return -1;
-			}
-		}
-	}
-
-	// Done
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Set the object data
- * \param[in] obj The object handle
- * \param[in] dataIn The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetData(UAVObjHandle obj, const void* dataIn)
-{
-	return UAVObjSetInstanceData(obj, 0, dataIn);
-}
-
-/**
- * Get the object data
- * \param[in] obj The object handle
- * \param[out] dataOut The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetData(UAVObjHandle obj, void* dataOut)
-{
-	return UAVObjGetInstanceData(obj, 0, dataOut);
-}
-
-/**
- * Set the data of a specific object instance
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- * \param[in] dataIn The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId, const void* dataIn)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-	UAVObjMetadata* mdata;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object info
-	objEntry = (ObjectList*)obj;
-
-	// Check access level
-	if ( !objEntry->isMetaobject )
-	{
-		mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
-		if ( mdata->access == ACCESS_READONLY )
-		{
-			xSemaphoreGiveRecursive(mutex);
-			return -1;
-		}
-	}
-
-	// Get instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Set data
-	memcpy(instEntry->data, dataIn, objEntry->numBytes);
-
-	// Fire event
-	sendEvent(objEntry, instId, EV_UPDATED);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Get the data of a specific object instance
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- * \param[out] dataOut The object's data structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut)
-{
-	ObjectList* objEntry;
-	ObjectInstList* instEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Cast to object info
-	objEntry = (ObjectList*)obj;
-
-	// Get instance information
-	instEntry = getInstance(objEntry, instId);
-	if ( instEntry == NULL )
-	{
-		// Error, unlock and return
-		xSemaphoreGiveRecursive(mutex);
-		return -1;
-	}
-
-	// Set data
-	memcpy(dataOut, instEntry->data, objEntry->numBytes);
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Set the object metadata
- * \param[in] obj The object handle
- * \param[in] dataIn The object's metadata structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn)
-{
-	ObjectList* objEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Set metadata (metadata of metaobjects can not be modified)
-	objEntry = (ObjectList*)obj;
-	if (!objEntry->isMetaobject)
-	{
-		UAVObjSetData((UAVObjHandle)objEntry->linkedObj, dataIn);
-	}
-	else
-	{
-		return -1;
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Get the object metadata
- * \param[in] obj The object handle
- * \param[out] dataOut The object's metadata structure
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut)
-{
-	ObjectList* objEntry;
-
-	// Lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Get metadata
-	objEntry = (ObjectList*)obj;
-	if (objEntry->isMetaobject)
-	{
-		memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
-	}
-	else
-	{
-		UAVObjGetData((UAVObjHandle)objEntry->linkedObj, dataOut);
-	}
-
-	// Unlock
-	xSemaphoreGiveRecursive(mutex);
-	return 0;
-}
-
-/**
- * Check if an object is read only
- * \param[in] obj The object handle
- * \return 
- *   \arg 0 if not read only 
- *   \arg 1 if read only
- *   \arg -1 if unable to get meta data
- */
-int8_t UAVObjReadOnly(UAVObjHandle obj)
-{
-    ObjectList* objEntry;
-    UAVObjMetadata* mdata;
-    
-    // Cast to object info
-    objEntry = (ObjectList*)obj;
-    
-    // Check access level
-    if ( !objEntry->isMetaobject )
-    {
-        mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
-        return mdata->access == ACCESS_READONLY;
-    }
-    return -1;
-}
-
-/**
- * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
- * All events matching the event mask will be pushed to the event queue.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = connectObj(obj, queue, 0, eventMask);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Disconnect an event queue from the object.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = disconnectObj(obj, queue, 0);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
- * The supplied callback will be invoked on all events matching the event mask.
- * \param[in] obj The object handle
- * \param[in] cb The event callback
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = connectObj(obj, 0, cb, eventMask);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-/**
- * Disconnect an event callback from the object.
- * \param[in] obj The object handle
- * \param[in] cb The event callback
- * \return 0 if success or -1 if failure
- */
-int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
-{
-	int32_t res;
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	res = disconnectObj(obj, 0, cb);
-	xSemaphoreGiveRecursive(mutex);
-	return res;
-}
-
-
-/**
- * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
- * will be generated as soon as the object is updated.
- * \param[in] obj The object handle
- */
-void UAVObjRequestUpdate(UAVObjHandle obj)
-{
-	UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
-}
-
-/**
- * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
- * will be generated as soon as the object is updated.
- * \param[in] obj The object handle
- * \param[in] instId Object instance ID to update
- */
-void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATE_REQ);
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
- * \param[in] obj The object handle
- */
-void UAVObjUpdated(UAVObjHandle obj)
-{
-	UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
-}
-
-/**
- * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
- * \param[in] obj The object handle
- * \param[in] instId The object instance ID
- */
-void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
-{
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-	sendEvent((ObjectList*)obj, instId, EV_UPDATED_MANUAL);
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Iterate through all objects in the list.
- * \param iterator This function will be called once for each object,
- * the object will be passed as a parameter
- */
-void UAVObjIterate(void (*iterator)(UAVObjHandle obj))
-{
-	ObjectList* objEntry;
-
-	// Get lock
-	xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
-
-	// Iterate through the list and invoke iterator for each object
-	LL_FOREACH(objList, objEntry)
-	{
-		(*iterator)((UAVObjHandle)objEntry);
-	}
-
-	// Release lock
-	xSemaphoreGiveRecursive(mutex);
-}
-
-/**
- * Send an event to all event queues registered on the object.
- */
-static int32_t sendEvent(ObjectList* obj, uint16_t instId, UAVObjEventType event)
-{
-	ObjectEventList* eventEntry;
-	UAVObjEvent msg;
-
-	// Setup event
-	msg.obj = (UAVObjHandle)obj;
-	msg.event = event;
-	msg.instId = instId;
-
-	// Go through each object and push the event message in the queue (if event is activated for the queue)
-	LL_FOREACH(obj->events, eventEntry)
-	{
-    	if ( eventEntry->eventMask == 0 || (eventEntry->eventMask & event) != 0 )
-    	{
-    		// Send to queue if a valid queue is registered
-    		if (eventEntry->queue != 0)
-    		{
-    			if ( xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE ) // will not block
-    			{
-    				++stats.eventErrors;
-    			}
-    		}
-    		// Invoke callback (from event task) if a valid one is registered
-    		if (eventEntry->cb != 0)
-    		{
-    			if ( EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE ) // invoke callback from the event task, will not block
-    			{
-    				++stats.eventErrors;
-    			}
-    		}
-    	}
-    }
-
-    // Done
-    return 0;
-}
-
-/**
- * Create a new object instance, return the instance info or NULL if failure.
- */
-static ObjectInstList* createInstance(ObjectList* obj, uint16_t instId)
-{
-	ObjectInstList* instEntry;
-	int32_t n;
-
-	// For single instance objects, only instance zero is allowed
-	if (obj->isSingleInstance && instId != 0)
-	{
-		return NULL;
-	}
-
-	// Make sure that the instance ID is within limits
-	if (instId >= UAVOBJ_MAX_INSTANCES)
-	{
-		return NULL;
-	}
-
-	// Check if the instance already exists
-	if ( getInstance(obj, instId) != NULL )
-	{
-		return NULL;
-	}
-
-	// Create any missing instances (all instance IDs must be sequential)
-	for (n = obj->numInstances; n < instId; ++n)
-	{
-		if ( createInstance(obj, n) == NULL )
-		{
-			return NULL;
-		}
-	}
-
-	if(instId == 0)  /* Instance 0 ObjectInstList allocated with ObjectList element */
-	{		
-		instEntry = &obj->instances;
-		instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
-		memset(instEntry->data, 0, obj->numBytes);
-		instEntry->instId = instId;
-	} else 
-	{	
-		// Create the actual instance
-		instEntry = (ObjectInstList*)pvPortMalloc(sizeof(ObjectInstList));
-		if (instEntry == NULL) return NULL;
-		instEntry->data = pvPortMalloc(obj->numBytes);
-		if (instEntry->data == NULL) return NULL;
-		memset(instEntry->data, 0, obj->numBytes);
-		instEntry->instId = instId;
-		LL_APPEND(obj->instances.next, instEntry);
-	}
-	++obj->numInstances;
-
-	// Fire event
-	UAVObjInstanceUpdated((UAVObjHandle)obj, instId);
-
-	// Done
-	return instEntry;
-}
-
-/**
- * Get the instance information or NULL if the instance does not exist
- */
-static ObjectInstList* getInstance(ObjectList* obj, uint16_t instId)
-{
-	ObjectInstList* instEntry;
-
-	// Look for specified instance ID
-	LL_FOREACH(&(obj->instances), instEntry)
-	{
-		if (instEntry->instId == instId)
-		{
-			return instEntry;
-		}
-	}
-	// If this point is reached then instance id was not found
-	return NULL;
-}
-
-/**
- * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] cb The event callback
- * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
- * \return 0 if success or -1 if failure
- */
-static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb, int32_t eventMask)
-{
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
-
-	// Check that the queue is not already connected, if it is simply update event mask
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( eventEntry->queue == queue && eventEntry->cb == cb )
-		{
-			// Already connected, update event mask and return
-			eventEntry->eventMask = eventMask;
-			return 0;
-		}
-	}
-
-	// Add queue to list
-	eventEntry = (ObjectEventList*)pvPortMalloc(sizeof(ObjectEventList));
-	if (eventEntry == NULL)
-	{
-		return -1;
-	}
-	eventEntry->queue = queue;
-	eventEntry->cb = cb;
-	eventEntry->eventMask = eventMask;
-	LL_APPEND(objEntry->events, eventEntry);
-
-	// Done
-	return 0;
-}
-
-/**
- * Disconnect an event queue from the object
- * \param[in] obj The object handle
- * \param[in] queue The event queue
- * \param[in] cb The event callback
- * \return 0 if success or -1 if failure
- */
-static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue, UAVObjEventCallback cb)
-{
-	ObjectEventList* eventEntry;
-	ObjectList* objEntry;
-
-	// Find queue and remove it
-	objEntry = (ObjectList*)obj;
-	LL_FOREACH(objEntry->events, eventEntry)
-	{
-		if ( ( eventEntry->queue == queue && eventEntry->cb == cb ) )
-		{
-			LL_DELETE(objEntry->events, eventEntry);
-			vPortFree(eventEntry);
-			return 0;
-		}
-	}
-
-	// If this point is reached the queue was not found
-	return -1;
-}
-
-#if defined(PIOS_INCLUDE_SDCARD)
-/**
- * Wrapper for the sprintf function
- */
-static void customSPrintf(uint8_t* buffer, uint8_t* format, ...)
-{
-	va_list args;
-	va_start(args, format);
-	vsprintf((char *)buffer, (char *)format, args);
-}
-
-/**
- * Get an 8 character (plus extension) filename for the object.
- */
-static void objectFilename(ObjectList* obj, uint8_t* filename)
-{
-	customSPrintf(filename, (uint8_t*)"%X.obj", obj->id);
-}
-#endif /* PIOS_INCLUDE_SDCARD */
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+/**
+ ******************************************************************************
+ * @addtogroup UAVObjects OpenPilot UAVObjects
+ * @{ 
+ * @addtogroup UAV Object Manager 
+ * @brief The core UAV Objects functions, most of which are wrappered by
+ * autogenerated defines
+ * @{ 
+ *
+ *
+ * @file       uavobjectmanager.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Object manager library. This library holds a collection of all objects.
+ *             It can be used by all modules/libraries to find an object reference.
+ * @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
+ */
+
+#include "openpilot.h"
+
+// Constants
+
+// Private types
+
+/**
+ * List of event queues and the eventmask associated with the queue.
+ */
+struct ObjectEventListStruct {
+	  xQueueHandle queue;
+	  UAVObjEventCallback cb;
+	  int32_t eventMask;
+	  struct ObjectEventListStruct *next;
+};
+typedef struct ObjectEventListStruct ObjectEventList;
+
+/**
+ * List of object instances, holds the actual data structure and instance ID
+ */
+struct ObjectInstListStruct {
+	  void *data;
+	  uint16_t instId;
+	  struct ObjectInstListStruct *next;
+};
+typedef struct ObjectInstListStruct ObjectInstList;
+
+/**
+ * List of objects registered in the object manager
+ */
+struct ObjectListStruct {
+	  uint32_t id;
+		     /** The object ID */
+	  const char *name;
+			  /** The object name */
+	  int8_t isMetaobject;
+			     /** Set to 1 if this is a metaobject */
+	  int8_t isSingleInstance;
+				 /** Set to 1 if this object has a single instance */
+	  int8_t isSettings;
+			   /** Set to 1 if this object is a settings object */
+	  uint16_t numBytes;
+			   /** Number of data bytes contained in the object (for a single instance) */
+	  uint16_t numInstances;
+			       /** Number of instances */
+	  struct ObjectListStruct *linkedObj;
+					    /** Linked object, for regular objects this is the metaobject and for metaobjects it is the parent object */
+	  ObjectInstList instances;
+				  /** List of object instances, instance 0 always exists */
+	  ObjectEventList *events;
+				 /** Event queues registered on the object */
+	  struct ObjectListStruct *next;
+				       /** Needed by linked list library (utlist.h) */
+};
+typedef struct ObjectListStruct ObjectList;
+
+// Private functions
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event);
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask);
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb);
+
+#if defined(PIOS_INCLUDE_SDCARD)
+static void objectFilename(ObjectList * obj, uint8_t * filename);
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...);
+#endif
+
+// Private variables
+static ObjectList *objList;
+static xSemaphoreHandle mutex;
+static UAVObjMetadata defMetadata;
+static UAVObjStats stats;
+
+/**
+ * Initialize the object manager
+ * \return 0 Success
+ * \return -1 Failure
+ */
+int32_t UAVObjInitialize()
+{
+	  // Initialize variables
+	  objList = NULL;
+	  memset(&stats, 0, sizeof(UAVObjStats));
+
+	  // Create mutex
+	  mutex = xSemaphoreCreateRecursiveMutex();
+	  if (mutex == NULL)
+		    return -1;
+
+	  // Initialize default metadata structure (metadata of metaobjects)
+	  defMetadata.access = ACCESS_READWRITE;
+	  defMetadata.gcsAccess = ACCESS_READWRITE;
+	  defMetadata.telemetryAcked = 1;
+	  defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.telemetryUpdatePeriod = 0;
+	  defMetadata.gcsTelemetryAcked = 1;
+	  defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.gcsTelemetryUpdatePeriod = 0;
+	  defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
+	  defMetadata.loggingUpdatePeriod = 0;
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Get the statistics counters
+ * @param[out] statsOut The statistics counters will be copied there
+ */
+void UAVObjGetStats(UAVObjStats * statsOut)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  memcpy(statsOut, &stats, sizeof(UAVObjStats));
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Clear the statistics counters
+ */
+void UAVObjClearStats()
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  memset(&stats, 0, sizeof(UAVObjStats));
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Register and new object in the object manager.
+ * \param[in] id Unique object ID
+ * \param[in] name Object name
+ * \param[in] nameName Metaobject name
+ * \param[in] isMetaobject Is this a metaobject (1:true, 0:false)
+ * \param[in] isSingleInstance Is this a single instance or multi-instance object
+ * \param[in] isSettings Is this a settings object
+ * \param[in] numBytes Number of bytes of object data (for one instance)
+ * \param[in] initCb Default field and metadata initialization function
+ * \return Object handle, or NULL if failure.
+ * \return
+ */
+UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
+			    const char *metaName, int32_t isMetaobject,
+			    int32_t isSingleInstance, int32_t isSettings,
+			    uint32_t numBytes,
+			    UAVObjInitializeCallback initCb)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  ObjectList *metaObj;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Check that the object is not already registered
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
+			      // Already registered, ignore
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+
+	  // Create and append entry
+	  objEntry = (ObjectList *) pvPortMalloc(sizeof(ObjectList));
+	  if (objEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  objEntry->id = id;
+	  objEntry->name = name;
+	  objEntry->isMetaobject = (int8_t) isMetaobject;
+	  objEntry->isSingleInstance = (int8_t) isSingleInstance;
+	  objEntry->isSettings = (int8_t) isSettings;
+	  objEntry->numBytes = numBytes;
+	  objEntry->events = NULL;
+	  objEntry->numInstances = 0;
+	  objEntry->instances.data = NULL;
+	  objEntry->instances.instId = 0xFFFF;
+	  objEntry->instances.next = NULL;
+	  objEntry->linkedObj = NULL;	// will be set later
+	  LL_APPEND(objList, objEntry);
+
+	  // Create instance zero
+	  instEntry = createInstance(objEntry, 0);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Create metaobject and update linkedObj
+	  if (isMetaobject) {
+		    objEntry->linkedObj = NULL;	// will be set later
+	  } else {
+		    // Create metaobject
+		    metaObj =
+			(ObjectList *) UAVObjRegister(id + 1, metaName,
+						      NULL, 1, 1, 0,
+						      sizeof
+						      (UAVObjMetadata),
+						      NULL);
+		    // Link two objects
+		    objEntry->linkedObj = metaObj;
+		    metaObj->linkedObj = objEntry;
+	  }
+
+	  // Initialize object fields and metadata to default values
+	  if (initCb != NULL) {
+		    initCb((UAVObjHandle) objEntry, 0);
+	  }
+	  // Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
+	  if (!objEntry->isMetaobject) {
+		    UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
+	  }
+	  // If this is a settings object, attempt to load from SD card
+	  if (objEntry->isSettings) {
+		    UAVObjLoad((UAVObjHandle) objEntry, 0);
+	  }
+	  // Release lock
+	  xSemaphoreGiveRecursive(mutex);
+	  return (UAVObjHandle) objEntry;
+}
+
+/**
+ * Retrieve an object from the list given its id
+ * \param[in] The object ID
+ * \return The object or NULL if not found.
+ */
+UAVObjHandle UAVObjGetByID(uint32_t id)
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Look for object
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->id == id) {
+			      // Release lock
+			      xSemaphoreGiveRecursive(mutex);
+			      // Done, object found
+			      return (UAVObjHandle) objEntry;
+		    }
+	  }
+
+	  // Object not found, release lock and return error
+	  xSemaphoreGiveRecursive(mutex);
+	  return NULL;
+}
+
+/**
+ * Retrieve an object from the list given its name
+ * \param[in] name The name of the object
+ * \return The object or NULL if not found.
+ */
+UAVObjHandle UAVObjGetByName(char *name)
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Look for object
+	  LL_FOREACH(objList, objEntry) {
+		    if (objEntry->name != NULL
+			&& strcmp(objEntry->name, name) == 0) {
+			      // Release lock
+			      xSemaphoreGiveRecursive(mutex);
+			      // Done, object found
+			      return (UAVObjHandle) objEntry;
+		    }
+	  }
+
+	  // Object not found, release lock and return error
+	  xSemaphoreGiveRecursive(mutex);
+	  return NULL;
+}
+
+/**
+ * Get the object's ID
+ * \param[in] obj The object handle
+ * \return The object ID
+ */
+uint32_t UAVObjGetID(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->id;
+}
+
+/**
+ * Get the object's name
+ * \param[in] obj The object handle
+ * \return The object's name
+ */
+const char *UAVObjGetName(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->name;
+}
+
+/**
+ * Get the number of bytes of the object's data (for one instance)
+ * \param[in] obj The object handle
+ * \return The number of bytes
+ */
+uint32_t UAVObjGetNumBytes(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->numBytes;
+}
+
+/**
+ * Get the object this object is linked to. For regular objects, the linked object
+ * is the metaobject. For metaobjects the linked object is the parent object.
+ * This function is normally only needed by the telemetry module.
+ * \param[in] obj The object handle
+ * \return The object linked object handle
+ */
+UAVObjHandle UAVObjGetLinkedObj(UAVObjHandle obj)
+{
+	  return (UAVObjHandle) (((ObjectList *) obj)->linkedObj);
+}
+
+/**
+ * Get the number of instances contained in the object.
+ * \param[in] obj The object handle
+ * \return The number of instances
+ */
+uint16_t UAVObjGetNumInstances(UAVObjHandle obj)
+{
+	  uint32_t numInstances;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  numInstances = ((ObjectList *) obj)->numInstances;
+	  xSemaphoreGiveRecursive(mutex);
+	  return numInstances;
+}
+
+/**
+ * Create a new instance in the object.
+ * \param[in] obj The object handle
+ * \return The instance ID or 0 if an error
+ */
+uint16_t UAVObjCreateInstance(UAVObjHandle obj,
+			      UAVObjInitializeCallback initCb)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Create new instance
+	  objEntry = (ObjectList *) obj;
+	  instEntry = createInstance(objEntry, objEntry->numInstances);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Initialize instance data
+	  if (initCb != NULL) {
+		    initCb(obj, instEntry->instId);
+	  }
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return instEntry->instId;
+}
+
+/**
+ * Does this object contains a single instance or multiple instances?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a single instance object
+ */
+int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isSingleInstance;
+}
+
+/**
+ * Is this a metaobject?
+ * \param[in] obj The object handle
+ * \return True (1) if this is metaobject
+ */
+int32_t UAVObjIsMetaobject(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isMetaobject;
+}
+
+/**
+ * Is this a settings object?
+ * \param[in] obj The object handle
+ * \return True (1) if this is a settings object
+ */
+int32_t UAVObjIsSettings(UAVObjHandle obj)
+{
+	  return ((ObjectList *) obj)->isSettings;
+}
+
+/**
+ * Unpack an object from a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[in] dataIn The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjUnpack(UAVObjHandle obj, uint16_t instId,
+		     const uint8_t * dataIn)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast handle to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance
+	  instEntry = getInstance(objEntry, instId);
+
+	  // If the instance does not exist create it and any other instances before it
+	  if (instEntry == NULL) {
+		    instEntry = createInstance(objEntry, instId);
+		    if (instEntry == NULL) {
+			      // Error, unlock and return
+			      xSemaphoreGiveRecursive(mutex);
+			      return -1;
+		    }
+	  }
+	  // Set the data
+	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UNPACKED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Pack an object to a byte array
+ * \param[in] obj The object handle
+ * \param[in] instId The instance ID
+ * \param[out] dataOut The byte array
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjPack(UAVObjHandle obj, uint16_t instId, uint8_t * dataOut)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast handle to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Pack data
+	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Save the data of the specified object instance to the file system (SD card).
+ * The object will be appended and the file will not be closed.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
+			 FILEINFO * file)
+{
+#if defined(PIOS_INCLUDE_SDCARD)
+	  uint32_t bytesWritten;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Write the object ID
+	  PIOS_FWRITE(file, &objEntry->id, sizeof(objEntry->id),
+		      &bytesWritten);
+
+	  // Write the instance ID
+	  if (!objEntry->isSingleInstance) {
+		    PIOS_FWRITE(file, &instEntry->instId,
+				sizeof(instEntry->instId), &bytesWritten);
+	  }
+	  // Write the data and check that the write was successful
+	  PIOS_FWRITE(file, instEntry->data, objEntry->numBytes,
+		      &bytesWritten);
+	  if (bytesWritten != objEntry->numBytes) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Save the data of the specified object to the file system (SD card).
+ * If the object contains multiple instances, all of them will be saved.
+ * A new file with the name of the object will be created.
+ * The object data can be restored using the UAVObjLoad function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The instance ID
+ * @param[in] file File to append to
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSave(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  ObjectList *objEntry = (ObjectList *) obj;
+
+	  if (objEntry == NULL)
+		    return -1;
+
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
+
+	  if (instEntry == NULL)
+		    return -1;
+
+	  if (instEntry->data == NULL)
+		    return -1;
+
+	  if (PIOS_FLASHFS_ObjSave(obj, instId, instEntry->data) != 0)
+		    return -1;
+#endif
+#if defined(PIOS_INCLUDE_SDCARD)
+	  FILEINFO file;
+	  ObjectList *objEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Open file
+	  if (PIOS_FOPEN_WRITE(filename, file)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Append object
+	  if (UAVObjSaveToFile(obj, instId, &file) == -1) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done, close file and unlock
+	  PIOS_FCLOSE(file);
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * @param[in] file File to read from
+ * @return The handle of the object loaded or NULL if a failure
+ */
+UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
+{
+#if defined(PIOS_INCLUDE_SDCARD)
+	  uint32_t bytesRead;
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  uint32_t objId;
+	  uint16_t instId;
+	  UAVObjHandle obj;
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return NULL;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Read the object ID
+	  if (PIOS_FREAD(file, &objId, sizeof(objId), &bytesRead)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Get the object
+	  obj = UAVObjGetByID(objId);
+	  if (obj == 0) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  objEntry = (ObjectList *) obj;
+
+	  // Get the instance ID
+	  instId = 0;
+	  if (!objEntry->isSingleInstance) {
+		    if (PIOS_FREAD
+			(file, &instId, sizeof(instId), &bytesRead)) {
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+	  // Get the instance information
+	  instEntry = getInstance(objEntry, instId);
+
+	  // If the instance does not exist create it and any other instances before it
+	  if (instEntry == NULL) {
+		    instEntry = createInstance(objEntry, instId);
+		    if (instEntry == NULL) {
+			      // Error, unlock and return
+			      xSemaphoreGiveRecursive(mutex);
+			      return NULL;
+		    }
+	  }
+	  // Read the instance data
+	  if (PIOS_FREAD
+	      (file, instEntry->data, objEntry->numBytes, &bytesRead)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return NULL;
+	  }
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UNPACKED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return obj;
+#else /* PIOS_INCLUDE_SDCARD */
+	  return NULL;
+#endif
+}
+
+/**
+ * Load an object from the file system (SD card).
+ * A file with the name of the object will be opened.
+ * The object data can be saved using the UAVObjSave function.
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  ObjectList *objEntry = (ObjectList *) obj;
+
+	  if (objEntry == NULL)
+		    return -1;
+
+	  ObjectInstList *instEntry = getInstance(objEntry, instId);
+
+	  if (instEntry == NULL)
+		    return -1;
+
+	  if (instEntry->data == NULL)
+		    return -1;
+
+	  // Fire event on success
+	  if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
+		    sendEvent(objEntry, instId, EV_UNPACKED);
+	  else
+		    return -1;
+#endif
+
+#if defined(PIOS_INCLUDE_SDCARD)
+	  FILEINFO file;
+	  ObjectList *objEntry;
+	  UAVObjHandle loadedObj;
+	  ObjectList *loadedObjEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Open file
+	  if (PIOS_FOPEN_READ(filename, file)) {
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Load object
+	  loadedObj = UAVObjLoadFromFile(&file);
+	  if (loadedObj == 0) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Check that the IDs match
+	  loadedObjEntry = (ObjectList *) loadedObj;
+	  if (loadedObjEntry->id != objEntry->id) {
+		    PIOS_FCLOSE(file);
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Done, close file and unlock
+	  PIOS_FCLOSE(file);
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Delete an object from the file system (SD card).
+ * @param[in] obj The object handle.
+ * @param[in] instId The object instance
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDelete(UAVObjHandle obj, uint16_t instId)
+{
+#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
+	  PIOS_FLASHFS_ObjDelete(obj, instId);
+#endif
+#if defined(PIOS_INCLUDE_SDCARD)
+	  ObjectList *objEntry;
+	  uint8_t filename[14];
+
+	  // Check for file system availability
+	  if (PIOS_SDCARD_IsMounted() == 0) {
+		    return -1;
+	  }
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object
+	  objEntry = (ObjectList *) obj;
+
+	  // Get filename
+	  objectFilename(objEntry, filename);
+
+	  // Delete file
+	  PIOS_FUNLINK(filename);
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+#endif /* PIOS_INCLUDE_SDCARD */
+	  return 0;
+}
+
+/**
+ * Save all settings objects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Save object
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Load all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Load object
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Delete all settings objects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteSettings()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isSettings) {
+			      // Save object
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Save all metaobjects to the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjSaveMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Save all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Save object
+			      if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Load all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjLoadMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Load object
+			      if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
+				  -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Delete all metaobjects from the SD card.
+ * @return 0 if success or -1 if failure
+ */
+int32_t UAVObjDeleteMetaobjects()
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Load all settings objects
+	  LL_FOREACH(objList, objEntry) {
+		    // Check if this is a settings object
+		    if (objEntry->isMetaobject) {
+			      // Load object
+			      if (UAVObjDelete((UAVObjHandle) objEntry, 0)
+				  == -1) {
+					xSemaphoreGiveRecursive(mutex);
+					return -1;
+			      }
+		    }
+	  }
+
+	  // Done
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Set the object data
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetData(UAVObjHandle obj, const void *dataIn)
+{
+	  return UAVObjSetInstanceData(obj, 0, dataIn);
+}
+
+/**
+ * Get the object data
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetData(UAVObjHandle obj, void *dataOut)
+{
+	  return UAVObjGetInstanceData(obj, 0, dataOut);
+}
+
+/**
+ * Set the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[in] dataIn The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      const void *dataIn)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+	  UAVObjMetadata *mdata;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Check access level
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
+		    if (mdata->access == ACCESS_READONLY) {
+			      xSemaphoreGiveRecursive(mutex);
+			      return -1;
+		    }
+	  }
+	  // Get instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Set data
+	  memcpy(instEntry->data, dataIn, objEntry->numBytes);
+
+	  // Fire event
+	  sendEvent(objEntry, instId, EV_UPDATED);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Get the data of a specific object instance
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ * \param[out] dataOut The object's data structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId,
+			      void *dataOut)
+{
+	  ObjectList *objEntry;
+	  ObjectInstList *instEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Get instance information
+	  instEntry = getInstance(objEntry, instId);
+	  if (instEntry == NULL) {
+		    // Error, unlock and return
+		    xSemaphoreGiveRecursive(mutex);
+		    return -1;
+	  }
+	  // Set data
+	  memcpy(dataOut, instEntry->data, objEntry->numBytes);
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Set the object metadata
+ * \param[in] obj The object handle
+ * \param[in] dataIn The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
+{
+	  ObjectList *objEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Set metadata (metadata of metaobjects can not be modified)
+	  objEntry = (ObjectList *) obj;
+	  if (!objEntry->isMetaobject) {
+		    UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
+				  dataIn);
+	  } else {
+		    return -1;
+	  }
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Get the object metadata
+ * \param[in] obj The object handle
+ * \param[out] dataOut The object's metadata structure
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
+{
+	  ObjectList *objEntry;
+
+	  // Lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Get metadata
+	  objEntry = (ObjectList *) obj;
+	  if (objEntry->isMetaobject) {
+		    memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
+	  } else {
+		    UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
+				  dataOut);
+	  }
+
+	  // Unlock
+	  xSemaphoreGiveRecursive(mutex);
+	  return 0;
+}
+
+/**
+ * Check if an object is read only
+ * \param[in] obj The object handle
+ * \return 
+ *   \arg 0 if not read only 
+ *   \arg 1 if read only
+ *   \arg -1 if unable to get meta data
+ */
+int8_t UAVObjReadOnly(UAVObjHandle obj)
+{
+	  ObjectList *objEntry;
+	  UAVObjMetadata *mdata;
+
+	  // Cast to object info
+	  objEntry = (ObjectList *) obj;
+
+	  // Check access level
+	  if (!objEntry->isMetaobject) {
+		    mdata =
+			(UAVObjMetadata *) (objEntry->linkedObj->instances.
+					    data);
+		    return mdata->access == ACCESS_READONLY;
+	  }
+	  return -1;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * All events matching the event mask will be pushed to the event queue.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
+			   int32_t eventMask)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = connectObj(obj, queue, 0, eventMask);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Disconnect an event queue from the object.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = disconnectObj(obj, queue, 0);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Connect an event callback to the object, if the callback is already connected then the event mask is only updated.
+ * The supplied callback will be invoked on all events matching the event mask.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
+			      int32_t eventMask)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = connectObj(obj, 0, cb, eventMask);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Disconnect an event callback from the object.
+ * \param[in] obj The object handle
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb)
+{
+	  int32_t res;
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  res = disconnectObj(obj, 0, cb);
+	  xSemaphoreGiveRecursive(mutex);
+	  return res;
+}
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ */
+void UAVObjRequestUpdate(UAVObjHandle obj)
+{
+	  UAVObjRequestInstanceUpdate(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Request an update of the object's data from the GCS. The call will not wait for the response, a EV_UPDATED event
+ * will be generated as soon as the object is updated.
+ * \param[in] obj The object handle
+ * \param[in] instId Object instance ID to update
+ */
+void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATE_REQ);
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ */
+void UAVObjUpdated(UAVObjHandle obj)
+{
+	  UAVObjInstanceUpdated(obj, UAVOBJ_ALL_INSTANCES);
+}
+
+/**
+ * Send the object's data to the GCS (triggers a EV_UPDATED_MANUAL event on this object).
+ * \param[in] obj The object handle
+ * \param[in] instId The object instance ID
+ */
+void UAVObjInstanceUpdated(UAVObjHandle obj, uint16_t instId)
+{
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+	  sendEvent((ObjectList *) obj, instId, EV_UPDATED_MANUAL);
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Iterate through all objects in the list.
+ * \param iterator This function will be called once for each object,
+ * the object will be passed as a parameter
+ */
+void UAVObjIterate(void (*iterator) (UAVObjHandle obj))
+{
+	  ObjectList *objEntry;
+
+	  // Get lock
+	  xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
+
+	  // Iterate through the list and invoke iterator for each object
+	  LL_FOREACH(objList, objEntry) {
+		    (*iterator) ((UAVObjHandle) objEntry);
+	  }
+
+	  // Release lock
+	  xSemaphoreGiveRecursive(mutex);
+}
+
+/**
+ * Send an event to all event queues registered on the object.
+ */
+static int32_t sendEvent(ObjectList * obj, uint16_t instId,
+			 UAVObjEventType event)
+{
+	  ObjectEventList *eventEntry;
+	  UAVObjEvent msg;
+
+	  // Setup event
+	  msg.obj = (UAVObjHandle) obj;
+	  msg.event = event;
+	  msg.instId = instId;
+
+	  // Go through each object and push the event message in the queue (if event is activated for the queue)
+	  LL_FOREACH(obj->events, eventEntry) {
+		    if (eventEntry->eventMask == 0
+			|| (eventEntry->eventMask & event) != 0) {
+			      // Send to queue if a valid queue is registered
+			      if (eventEntry->queue != 0) {
+					if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE)	// will not block
+					{
+						  ++stats.eventErrors;
+					}
+			      }
+			      // Invoke callback (from event task) if a valid one is registered
+			      if (eventEntry->cb != 0) {
+					if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE)	// invoke callback from the event task, will not block
+					{
+						  ++stats.eventErrors;
+					}
+			      }
+		    }
+	  }
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Create a new object instance, return the instance info or NULL if failure.
+ */
+static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
+{
+	  ObjectInstList *instEntry;
+	  int32_t n;
+
+	  // For single instance objects, only instance zero is allowed
+	  if (obj->isSingleInstance && instId != 0) {
+		    return NULL;
+	  }
+	  // Make sure that the instance ID is within limits
+	  if (instId >= UAVOBJ_MAX_INSTANCES) {
+		    return NULL;
+	  }
+	  // Check if the instance already exists
+	  if (getInstance(obj, instId) != NULL) {
+		    return NULL;
+	  }
+	  // Create any missing instances (all instance IDs must be sequential)
+	  for (n = obj->numInstances; n < instId; ++n) {
+		    if (createInstance(obj, n) == NULL) {
+			      return NULL;
+		    }
+	  }
+
+	  if (instId == 0) {	/* Instance 0 ObjectInstList allocated with ObjectList element */
+		    instEntry = &obj->instances;
+		    instEntry->data = pvPortMalloc(obj->numBytes);
+		    if (instEntry->data == NULL)
+			      return NULL;
+		    memset(instEntry->data, 0, obj->numBytes);
+		    instEntry->instId = instId;
+	  } else {
+		    // Create the actual instance
+		    instEntry =
+			(ObjectInstList *)
+			pvPortMalloc(sizeof(ObjectInstList));
+		    if (instEntry == NULL)
+			      return NULL;
+		    instEntry->data = pvPortMalloc(obj->numBytes);
+		    if (instEntry->data == NULL)
+			      return NULL;
+		    memset(instEntry->data, 0, obj->numBytes);
+		    instEntry->instId = instId;
+		    LL_APPEND(obj->instances.next, instEntry);
+	  }
+	  ++obj->numInstances;
+
+	  // Fire event
+	  UAVObjInstanceUpdated((UAVObjHandle) obj, instId);
+
+	  // Done
+	  return instEntry;
+}
+
+/**
+ * Get the instance information or NULL if the instance does not exist
+ */
+static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
+{
+	  ObjectInstList *instEntry;
+
+	  // Look for specified instance ID
+	  LL_FOREACH(&(obj->instances), instEntry) {
+		    if (instEntry->instId == instId) {
+			      return instEntry;
+		    }
+	  }
+	  // If this point is reached then instance id was not found
+	  return NULL;
+}
+
+/**
+ * Connect an event queue to the object, if the queue is already connected then the event mask is only updated.
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \param[in] eventMask The event mask, if EV_MASK_ALL then all events are enabled (e.g. EV_UPDATED | EV_UPDATED_MANUAL)
+ * \return 0 if success or -1 if failure
+ */
+static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
+			  UAVObjEventCallback cb, int32_t eventMask)
+{
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
+
+	  // Check that the queue is not already connected, if it is simply update event mask
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if (eventEntry->queue == queue && eventEntry->cb == cb) {
+			      // Already connected, update event mask and return
+			      eventEntry->eventMask = eventMask;
+			      return 0;
+		    }
+	  }
+
+	  // Add queue to list
+	  eventEntry =
+	      (ObjectEventList *) pvPortMalloc(sizeof(ObjectEventList));
+	  if (eventEntry == NULL) {
+		    return -1;
+	  }
+	  eventEntry->queue = queue;
+	  eventEntry->cb = cb;
+	  eventEntry->eventMask = eventMask;
+	  LL_APPEND(objEntry->events, eventEntry);
+
+	  // Done
+	  return 0;
+}
+
+/**
+ * Disconnect an event queue from the object
+ * \param[in] obj The object handle
+ * \param[in] queue The event queue
+ * \param[in] cb The event callback
+ * \return 0 if success or -1 if failure
+ */
+static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
+			     UAVObjEventCallback cb)
+{
+	  ObjectEventList *eventEntry;
+	  ObjectList *objEntry;
+
+	  // Find queue and remove it
+	  objEntry = (ObjectList *) obj;
+	  LL_FOREACH(objEntry->events, eventEntry) {
+		    if ((eventEntry->queue == queue
+			 && eventEntry->cb == cb)) {
+			      LL_DELETE(objEntry->events, eventEntry);
+			      vPortFree(eventEntry);
+			      return 0;
+		    }
+	  }
+
+	  // If this point is reached the queue was not found
+	  return -1;
+}
+
+#if defined(PIOS_INCLUDE_SDCARD)
+/**
+ * Wrapper for the sprintf function
+ */
+static void customSPrintf(uint8_t * buffer, uint8_t * format, ...)
+{
+	  va_list args;
+	  va_start(args, format);
+	  vsprintf((char *)buffer, (char *)format, args);
+}
+
+/**
+ * Get an 8 character (plus extension) filename for the object.
+ */
+static void objectFilename(ObjectList * obj, uint8_t * filename)
+{
+	  customSPrintf(filename, (uint8_t *) "%X.obj", obj->id);
+}
+#endif /* PIOS_INCLUDE_SDCARD */

ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt

@@ -21,6 +21,7 @@ alert
 altitude
 amps
 aquired
+armed
 autonomous flight
 battery
 camera
@@ -32,8 +33,10 @@ complete
 connected
 connection
 control
+coptercontrol
 critical
 disabled
+disarmed
 disconnected
 feet
 figure eight
@@ -58,11 +61,13 @@ lost
 low altitude
 low battery
 low gps quality
+magic
 manual flight
 maxium
 meters
 minimum 
 mode
+moved
 MPH
 navigation
 OpenPilot
@@ -122,8 +127,4 @@ hundread
 thousand
 
 
-Upto: OpenPilot
-critical
-battery
-point
 

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

@@ -1,5 +1,5 @@
 [General]
-ViewGroup_Default=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\0\0\0\x5V\0\0\x2\x9a\0\0\0\x4\0\0\0\x4\0\0\0\x1\0\0\0\b\xfc\0\0\0\0)
+ViewGroup_Default=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\0\0\0\x5\xa0\0\0\x3/\0\0\0\x4\0\0\0\x4\0\0\0\x1\0\0\0\b\xfc\0\0\0\0)
 
 [Workspace]
 NumberOfWorkspaces=6
@@ -7,7 +7,7 @@ Workspace1=Flight data
 Icon1=:/core/images/ah.png
 Workspace2=Configuration
 Icon2=:/core/images/config.png
-Workspace3=Large Map
+Workspace3=Flight Planner
 Icon3=:/core/images/world.png
 Workspace4=Scopes
 Icon4=:/core/images/scopes.png
@@ -70,6 +70,7 @@ Mode1\splitter\side0\side1\splitterOrientation=1
 Mode1\splitter\side0\side1\splitterSizes=304, 433
 Mode1\splitter\side0\side1\side0\type=uavGadget
 Mode1\splitter\side0\side1\side0\classId=ModelViewGadget
+Mode1\splitter\side0\side1\side0\gadget\activeConfiguration=Test Quad X
 Mode1\splitter\side0\side1\side1\type=splitter
 Mode1\splitter\side0\side1\side1\splitterOrientation=2
 Mode1\splitter\side0\side1\side1\splitterSizes=293, 64
@@ -180,7 +181,15 @@ Mode2\splitter\side0\side1\side0\gadget\activeConfiguration=Telemetry RX Rate Ho
 Mode2\splitter\side0\side1\side1\type=uavGadget
 Mode2\splitter\side0\side1\side1\classId=LineardialGadget
 Mode2\splitter\side0\side1\side1\gadget\activeConfiguration=Telemetry TX Rate Horizontal
-Mode2\splitter\side1\type=uavGadget
+Mode2\splitter\side1\type=splitter
+Mode2\splitter\side1\splitterOrientation=2
+Mode2\splitter\side1\splitterSizes=426, 354
+Mode2\splitter\side1\side0\type=uavGadget
+Mode2\splitter\side1\side0\classId=UAVObjectBrowser
+Mode2\splitter\side1\side0\gadget\activeConfiguration=default
+Mode2\splitter\side1\side1\type=uavGadget
+Mode2\splitter\side1\side1\classId=GCSControlGadget
+Mode2\splitter\side1\side1\gadget\activeConfiguration=MS Sidewinder
 Mode3\version=UAVGadgetManagerV1
 Mode3\showToolbars=false
 Mode3\splitter\type=splitter
@@ -194,6 +203,7 @@ Mode3\splitter\side1\splitterOrientation=2
 Mode3\splitter\side1\splitterSizes=395, 236
 Mode3\splitter\side1\side0\type=uavGadget
 Mode3\splitter\side1\side0\classId=ModelViewGadget
+Mode3\splitter\side1\side0\gadget\activeConfiguration=Test Quad X
 Mode3\splitter\side1\side1\type=splitter
 Mode3\splitter\side1\side1\splitterOrientation=1
 Mode3\splitter\side1\side1\splitterSizes=@Invalid()
@@ -289,21 +299,13 @@ Mode6\splitter\side1\side0\side1\gadget\activeConfiguration=raw
 Mode6\splitter\side1\side1\type=uavGadget
 Mode6\splitter\side1\side1\classId=ScopeGadget
 Mode6\splitter\side1\side1\gadget\activeConfiguration=Uptimes
-Mode1\splitter\side0\side1\side0\gadget\activeConfiguration=Test Quad X
-Mode2\splitter\side1\classId=UAVObjectBrowser
-Mode2\splitter\side1\gadget\activeConfiguration=default
-Mode3\splitter\side1\side0\gadget\activeConfiguration=Test Quad X
 
 [KeyBindings]
 size=0
 
 [%General]
+OverrideLanguage=en_AU
 SaveSettingsOnExit=true
-TerminalEmulator=xterm -e
-LastPreferenceCategory=LineardialGadget
-LastPreferencePage=Roll Desired 1
-SettingsWindowWidth=921
-SettingsWindowHeight=534
 
 [UAVGadgetConfigurations]
 configInfo\version=1.2.0
@@ -1233,6 +1235,40 @@ LineardialGadget\Mainboard%20CPU\data\factor=1
 LineardialGadget\Mainboard%20CPU\data\useOpenGLFlag=false
 LineardialGadget\Mainboard%20CPU\configInfo\version=0.0.0
 LineardialGadget\Mainboard%20CPU\configInfo\locked=false
+LineardialGadget\Pitch\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
+LineardialGadget\Pitch\data\sourceDataObject=ManualControlCommand
+LineardialGadget\Pitch\data\sourceObjectField=Pitch
+LineardialGadget\Pitch\data\minValue=-1
+LineardialGadget\Pitch\data\maxValue=1
+LineardialGadget\Pitch\data\redMin=-1
+LineardialGadget\Pitch\data\redMax=1
+LineardialGadget\Pitch\data\yellowMin=-0.8
+LineardialGadget\Pitch\data\yellowMax=0.8
+LineardialGadget\Pitch\data\greenMin=-0.5
+LineardialGadget\Pitch\data\greenMax=0.5
+LineardialGadget\Pitch\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
+LineardialGadget\Pitch\data\decimalPlaces=2
+LineardialGadget\Pitch\data\factor=1
+LineardialGadget\Pitch\data\useOpenGLFlag=false
+LineardialGadget\Pitch\configInfo\version=0.0.0
+LineardialGadget\Pitch\configInfo\locked=false
+LineardialGadget\Pitch%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
+LineardialGadget\Pitch%20Desired\data\sourceDataObject=ActuatorDesired
+LineardialGadget\Pitch%20Desired\data\sourceObjectField=Pitch
+LineardialGadget\Pitch%20Desired\data\minValue=-1
+LineardialGadget\Pitch%20Desired\data\maxValue=1
+LineardialGadget\Pitch%20Desired\data\redMin=-1
+LineardialGadget\Pitch%20Desired\data\redMax=1
+LineardialGadget\Pitch%20Desired\data\yellowMin=-0.8
+LineardialGadget\Pitch%20Desired\data\yellowMax=0.8
+LineardialGadget\Pitch%20Desired\data\greenMin=-0.5
+LineardialGadget\Pitch%20Desired\data\greenMax=0.5
+LineardialGadget\Pitch%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
+LineardialGadget\Pitch%20Desired\data\decimalPlaces=2
+LineardialGadget\Pitch%20Desired\data\factor=1
+LineardialGadget\Pitch%20Desired\data\useOpenGLFlag=false
+LineardialGadget\Pitch%20Desired\configInfo\version=0.0.0
+LineardialGadget\Pitch%20Desired\configInfo\locked=false
 LineardialGadget\PitchActual\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
 LineardialGadget\PitchActual\data\sourceDataObject=AttitudeActual
 LineardialGadget\PitchActual\data\sourceObjectField=Pitch
@@ -1267,6 +1303,23 @@ LineardialGadget\Roll\data\factor=1
 LineardialGadget\Roll\data\useOpenGLFlag=false
 LineardialGadget\Roll\configInfo\version=0.0.0
 LineardialGadget\Roll\configInfo\locked=false
+LineardialGadget\Roll%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
+LineardialGadget\Roll%20Desired\data\sourceDataObject=ActuatorDesired
+LineardialGadget\Roll%20Desired\data\sourceObjectField=Roll
+LineardialGadget\Roll%20Desired\data\minValue=-1
+LineardialGadget\Roll%20Desired\data\maxValue=1
+LineardialGadget\Roll%20Desired\data\redMin=-1
+LineardialGadget\Roll%20Desired\data\redMax=1
+LineardialGadget\Roll%20Desired\data\yellowMin=-0.8
+LineardialGadget\Roll%20Desired\data\yellowMax=0.8
+LineardialGadget\Roll%20Desired\data\greenMin=-0.5
+LineardialGadget\Roll%20Desired\data\greenMax=0.5
+LineardialGadget\Roll%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
+LineardialGadget\Roll%20Desired\data\decimalPlaces=2
+LineardialGadget\Roll%20Desired\data\factor=1
+LineardialGadget\Roll%20Desired\data\useOpenGLFlag=false
+LineardialGadget\Roll%20Desired\configInfo\version=0.0.0
+LineardialGadget\Roll%20Desired\configInfo\locked=false
 LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\dFile=%%DATAPATH%%dials/default/lineardial-horizontal.svg
 LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\sourceDataObject=GCSTelemetryStats
 LineardialGadget\Telemetry%20RX%20Rate%20Horizontal\data\sourceObjectField=RxDataRate
@@ -1335,6 +1388,23 @@ LineardialGadget\Yaw\data\factor=1
 LineardialGadget\Yaw\data\useOpenGLFlag=false
 LineardialGadget\Yaw\configInfo\version=0.0.0
 LineardialGadget\Yaw\configInfo\locked=false
+LineardialGadget\Yaw%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
+LineardialGadget\Yaw%20Desired\data\sourceDataObject=ActuatorDesired
+LineardialGadget\Yaw%20Desired\data\sourceObjectField=Yaw
+LineardialGadget\Yaw%20Desired\data\minValue=-1
+LineardialGadget\Yaw%20Desired\data\maxValue=1
+LineardialGadget\Yaw%20Desired\data\redMin=-1
+LineardialGadget\Yaw%20Desired\data\redMax=1
+LineardialGadget\Yaw%20Desired\data\yellowMin=-0.8
+LineardialGadget\Yaw%20Desired\data\yellowMax=0.8
+LineardialGadget\Yaw%20Desired\data\greenMin=-0.5
+LineardialGadget\Yaw%20Desired\data\greenMax=0.5
+LineardialGadget\Yaw%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
+LineardialGadget\Yaw%20Desired\data\decimalPlaces=2
+LineardialGadget\Yaw%20Desired\data\factor=1
+LineardialGadget\Yaw%20Desired\data\useOpenGLFlag=false
+LineardialGadget\Yaw%20Desired\configInfo\version=0.0.0
+LineardialGadget\Yaw%20Desired\configInfo\locked=false
 ModelViewGadget\Aeroquad%20%2B\data\acFilename=%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds
 ModelViewGadget\Aeroquad%20%2B\data\bgFilename=%%DATAPATH%%models/backgrounds/default_background.png
 ModelViewGadget\Aeroquad%20%2B\data\enableVbo=false
@@ -1404,40 +1474,6 @@ OPMapGadget\Google%20Sat\data\showTileGridLines=false
 OPMapGadget\Google%20Sat\data\accessMode=ServerAndCache
 OPMapGadget\Google%20Sat\data\useMemoryCache=true
 OPMapGadget\Google%20Sat\data\uavSymbol=mapquad.png
-LineardialGadget\Pitch\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
-LineardialGadget\Pitch\data\sourceDataObject=ManualControlCommand
-LineardialGadget\Pitch\data\sourceObjectField=Pitch
-LineardialGadget\Pitch\data\minValue=-1
-LineardialGadget\Pitch\data\maxValue=1
-LineardialGadget\Pitch\data\redMin=-1
-LineardialGadget\Pitch\data\redMax=1
-LineardialGadget\Pitch\data\yellowMin=-0.8
-LineardialGadget\Pitch\data\yellowMax=0.8
-LineardialGadget\Pitch\data\greenMin=-0.5
-LineardialGadget\Pitch\data\greenMax=0.5
-LineardialGadget\Pitch\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
-LineardialGadget\Pitch\data\decimalPlaces=2
-LineardialGadget\Pitch\data\factor=1
-LineardialGadget\Pitch\data\useOpenGLFlag=false
-LineardialGadget\Pitch\configInfo\version=0.0.0
-LineardialGadget\Pitch\configInfo\locked=false
-LineardialGadget\Pitch%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
-LineardialGadget\Pitch%20Desired\data\sourceDataObject=ActuatorDesired
-LineardialGadget\Pitch%20Desired\data\sourceObjectField=Pitch
-LineardialGadget\Pitch%20Desired\data\minValue=-1
-LineardialGadget\Pitch%20Desired\data\maxValue=1
-LineardialGadget\Pitch%20Desired\data\redMin=-1
-LineardialGadget\Pitch%20Desired\data\redMax=1
-LineardialGadget\Pitch%20Desired\data\yellowMin=-0.8
-LineardialGadget\Pitch%20Desired\data\yellowMax=0.8
-LineardialGadget\Pitch%20Desired\data\greenMin=-0.5
-LineardialGadget\Pitch%20Desired\data\greenMax=0.5
-LineardialGadget\Pitch%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
-LineardialGadget\Pitch%20Desired\data\decimalPlaces=2
-LineardialGadget\Pitch%20Desired\data\factor=1
-LineardialGadget\Pitch%20Desired\data\useOpenGLFlag=false
-LineardialGadget\Pitch%20Desired\configInfo\version=0.0.0
-LineardialGadget\Pitch%20Desired\configInfo\locked=false
 OPMapGadget\Google%20Sat\data\cacheLocation=%%STOREPATH%%mapscache/
 OPMapGadget\Google%20Sat\configInfo\version=0.0.0
 OPMapGadget\Google%20Sat\configInfo\locked=false
@@ -1875,52 +1911,18 @@ Uploader\default\data\defaultStopBits=0
 Uploader\default\data\defaultPort=/dev/ttyS0
 Uploader\default\configInfo\version=0.0.0
 Uploader\default\configInfo\locked=false
-LineardialGadget\Roll%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
-LineardialGadget\Roll%20Desired\data\sourceDataObject=ActuatorDesired
-LineardialGadget\Roll%20Desired\data\sourceObjectField=Roll
-LineardialGadget\Roll%20Desired\data\minValue=-1
-LineardialGadget\Roll%20Desired\data\maxValue=1
-LineardialGadget\Roll%20Desired\data\redMin=-1
-LineardialGadget\Roll%20Desired\data\redMax=1
-LineardialGadget\Roll%20Desired\data\yellowMin=-0.8
-LineardialGadget\Roll%20Desired\data\yellowMax=0.8
-LineardialGadget\Roll%20Desired\data\greenMin=-0.5
-LineardialGadget\Roll%20Desired\data\greenMax=0.5
-LineardialGadget\Roll%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
-LineardialGadget\Roll%20Desired\data\decimalPlaces=2
-LineardialGadget\Roll%20Desired\data\factor=1
-LineardialGadget\Roll%20Desired\data\useOpenGLFlag=false
-LineardialGadget\Roll%20Desired\configInfo\version=0.0.0
-LineardialGadget\Roll%20Desired\configInfo\locked=false
-LineardialGadget\Yaw%20Desired\data\dFile=%%DATAPATH%%dials/default/lineardial-vertical.svg
-LineardialGadget\Yaw%20Desired\data\sourceDataObject=ActuatorDesired
-LineardialGadget\Yaw%20Desired\data\sourceObjectField=Yaw
-LineardialGadget\Yaw%20Desired\data\minValue=-1
-LineardialGadget\Yaw%20Desired\data\maxValue=1
-LineardialGadget\Yaw%20Desired\data\redMin=-1
-LineardialGadget\Yaw%20Desired\data\redMax=1
-LineardialGadget\Yaw%20Desired\data\yellowMin=-0.8
-LineardialGadget\Yaw%20Desired\data\yellowMax=0.8
-LineardialGadget\Yaw%20Desired\data\greenMin=-0.5
-LineardialGadget\Yaw%20Desired\data\greenMax=0.5
-LineardialGadget\Yaw%20Desired\data\font="Andale Mono,12,-1,5,75,0,0,0,0,0"
-LineardialGadget\Yaw%20Desired\data\decimalPlaces=2
-LineardialGadget\Yaw%20Desired\data\factor=1
-LineardialGadget\Yaw%20Desired\data\useOpenGLFlag=false
-LineardialGadget\Yaw%20Desired\configInfo\version=0.0.0
-LineardialGadget\Yaw%20Desired\configInfo\locked=false
 
 [Plugins]
-SoundNotifyPlugin\data\Current\1\SoundCollectionPath=%%DATAPATH%%sounds
-SoundNotifyPlugin\data\Current\1\CurrentLanguage=default
-SoundNotifyPlugin\data\Current\1\ObjectField=Channel
-SoundNotifyPlugin\data\Current\1\DataObject=ActuatorCommand
-SoundNotifyPlugin\data\Current\1\Value=Equal to
+SoundNotifyPlugin\data\Current\1\SoundCollectionPath=
+SoundNotifyPlugin\data\Current\1\CurrentLanguage=
+SoundNotifyPlugin\data\Current\1\ObjectField=
+SoundNotifyPlugin\data\Current\1\DataObject=
+SoundNotifyPlugin\data\Current\1\Value=
 SoundNotifyPlugin\data\Current\1\ValueSpinBox=0
 SoundNotifyPlugin\data\Current\1\Sound1=
 SoundNotifyPlugin\data\Current\1\Sound2=
 SoundNotifyPlugin\data\Current\1\Sound3=
-SoundNotifyPlugin\data\Current\1\SayOrder=Never
+SoundNotifyPlugin\data\Current\1\SayOrder=
 SoundNotifyPlugin\data\Current\1\Repeat=
 SoundNotifyPlugin\data\Current\1\ExpireTimeout=0
 SoundNotifyPlugin\data\Current\size=1
@@ -1928,9 +1930,3 @@ SoundNotifyPlugin\data\listNotifies\size=0
 SoundNotifyPlugin\data\EnableSound=false
 SoundNotifyPlugin\configInfo\version=1.0.0
 SoundNotifyPlugin\configInfo\locked=false
-
-[IPconnection]
-Current\1\HostName=
-Current\1\Port=1
-Current\1\UseTCP=0
-Current\size=1

ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.cpp

@@ -1,102 +1,116 @@
-/**
- ******************************************************************************
- *
- * @file       opmapgadgetconfiguration.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup OPMapPlugin OpenPilot Map Plugin
- * @{
- * @brief The OpenPilot Map plugin 
- *****************************************************************************/
-/*
- * 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 "opmapgadgetconfiguration.h"
-#include "utils/pathutils.h"
-#include <QDir>
-
-OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId,  QSettings* qSettings, QObject *parent) :
-    IUAVGadgetConfiguration(classId, parent),
-    m_mapProvider("GoogleHybrid"),
-    m_defaultZoom(2),
-    m_defaultLatitude(0),
-    m_defaultLongitude(0),
-    m_useOpenGL(false),
-    m_showTileGridLines(false),
-    m_accessMode("ServerAndCache"),
-    m_useMemoryCache(true),
-    m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
-    m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png"))
-{
-
-    //if a saved configuration exists load it
-    if(qSettings != 0) {
-        QString mapProvider  = qSettings->value("mapProvider").toString();
-        int zoom = qSettings->value("defaultZoom").toInt();
-        double latitude= qSettings->value("defaultLatitude").toDouble();
-        double longitude= qSettings->value("defaultLongitude").toDouble();
-        bool useOpenGL= qSettings->value("useOpenGL").toBool();
-        bool showTileGridLines= qSettings->value("showTileGridLines").toBool();
-        QString accessMode= qSettings->value("accessMode").toString();
-        bool useMemoryCache= qSettings->value("useMemoryCache").toBool();
-        QString cacheLocation= qSettings->value("cacheLocation").toString();
-        QString uavSymbol=qSettings->value("uavSymbol").toString();
-        if (!mapProvider.isEmpty()) m_mapProvider = mapProvider;
-        m_defaultZoom = zoom;
-        m_defaultLatitude = latitude;
-        m_defaultLongitude = longitude;
-        m_useOpenGL = useOpenGL;
-        m_showTileGridLines = showTileGridLines;
-        m_uavSymbol=uavSymbol;
-        if (!accessMode.isEmpty()) m_accessMode = accessMode;
-        m_useMemoryCache = useMemoryCache;
-        if (!cacheLocation.isEmpty()) m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation);
-    }
-}
-
-IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
-{
-    OPMapGadgetConfiguration *m = new OPMapGadgetConfiguration(this->classId());
-
-    m->m_mapProvider = m_mapProvider;
-    m->m_defaultZoom = m_defaultZoom;
-    m->m_defaultLatitude = m_defaultLatitude;
-    m->m_defaultLongitude = m_defaultLongitude;
-    m->m_useOpenGL = m_useOpenGL;
-    m->m_showTileGridLines = m_showTileGridLines;
-    m->m_accessMode = m_accessMode;
-    m->m_useMemoryCache = m_useMemoryCache;
-    m->m_cacheLocation = m_cacheLocation;
-    m->m_uavSymbol=m_uavSymbol;
-    return m;
-}
-
-void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
-   qSettings->setValue("mapProvider", m_mapProvider);
-   qSettings->setValue("defaultZoom", m_defaultZoom);
-   qSettings->setValue("defaultLatitude", m_defaultLatitude);
-   qSettings->setValue("defaultLongitude", m_defaultLongitude);
-   qSettings->setValue("useOpenGL", m_useOpenGL);
-   qSettings->setValue("showTileGridLines", m_showTileGridLines);
-   qSettings->setValue("accessMode", m_accessMode);
-   qSettings->setValue("useMemoryCache", m_useMemoryCache);
-   qSettings->setValue("uavSymbol", m_uavSymbol);
-   qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
-}
-void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){
-    m_cacheLocation = cacheLocation;
-}
+/**
+ ******************************************************************************
+ *
+ * @file       opmapgadgetconfiguration.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup OPMapPlugin OpenPilot Map Plugin
+ * @{
+ * @brief The OpenPilot Map plugin 
+ *****************************************************************************/
+/*
+ * 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 "opmapgadgetconfiguration.h"
+#include "utils/pathutils.h"
+#include <QDir>
+
+OPMapGadgetConfiguration::OPMapGadgetConfiguration(QString classId,  QSettings* qSettings, QObject *parent) :
+    IUAVGadgetConfiguration(classId, parent),
+    m_mapProvider("GoogleHybrid"),
+    m_defaultZoom(2),
+    m_defaultLatitude(0),
+    m_defaultLongitude(0),
+    m_useOpenGL(false),
+    m_showTileGridLines(false),
+    m_accessMode("ServerAndCache"),
+    m_useMemoryCache(true),
+    m_cacheLocation(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator()),
+	m_uavSymbol(QString::fromUtf8(":/uavs/images/mapquad.png")),
+	m_maxUpdateRate(2000)	// ms
+{
+
+    //if a saved configuration exists load it
+	if (qSettings != 0) {
+
+        QString mapProvider  = qSettings->value("mapProvider").toString();
+        int zoom = qSettings->value("defaultZoom").toInt();
+        double latitude= qSettings->value("defaultLatitude").toDouble();
+        double longitude= qSettings->value("defaultLongitude").toDouble();
+        bool useOpenGL= qSettings->value("useOpenGL").toBool();
+        bool showTileGridLines= qSettings->value("showTileGridLines").toBool();
+        QString accessMode= qSettings->value("accessMode").toString();
+        bool useMemoryCache= qSettings->value("useMemoryCache").toBool();
+        QString cacheLocation= qSettings->value("cacheLocation").toString();
+        QString uavSymbol=qSettings->value("uavSymbol").toString();
+		int max_update_rate = qSettings->value("maxUpdateRate").toInt();
+
+        if (!mapProvider.isEmpty()) m_mapProvider = mapProvider;
+        m_defaultZoom = zoom;
+        m_defaultLatitude = latitude;
+        m_defaultLongitude = longitude;
+        m_useOpenGL = useOpenGL;
+        m_showTileGridLines = showTileGridLines;
+		m_uavSymbol = uavSymbol;
+
+		m_maxUpdateRate = max_update_rate;
+		if (m_maxUpdateRate < 100 || m_maxUpdateRate > 5000)
+			m_maxUpdateRate = 2000;
+
+		if (!accessMode.isEmpty())
+			m_accessMode = accessMode;
+        m_useMemoryCache = useMemoryCache;
+		if (!cacheLocation.isEmpty())
+			m_cacheLocation = Utils::PathUtils().InsertStoragePath(cacheLocation);
+    }
+}
+
+IUAVGadgetConfiguration * OPMapGadgetConfiguration::clone()
+{
+    OPMapGadgetConfiguration *m = new OPMapGadgetConfiguration(this->classId());
+
+    m->m_mapProvider = m_mapProvider;
+    m->m_defaultZoom = m_defaultZoom;
+    m->m_defaultLatitude = m_defaultLatitude;
+    m->m_defaultLongitude = m_defaultLongitude;
+    m->m_useOpenGL = m_useOpenGL;
+    m->m_showTileGridLines = m_showTileGridLines;
+    m->m_accessMode = m_accessMode;
+    m->m_useMemoryCache = m_useMemoryCache;
+    m->m_cacheLocation = m_cacheLocation;
+	m->m_uavSymbol = m_uavSymbol;
+	m->m_maxUpdateRate = m_maxUpdateRate;
+
+    return m;
+}
+
+void OPMapGadgetConfiguration::saveConfig(QSettings* qSettings) const {
+   qSettings->setValue("mapProvider", m_mapProvider);
+   qSettings->setValue("defaultZoom", m_defaultZoom);
+   qSettings->setValue("defaultLatitude", m_defaultLatitude);
+   qSettings->setValue("defaultLongitude", m_defaultLongitude);
+   qSettings->setValue("useOpenGL", m_useOpenGL);
+   qSettings->setValue("showTileGridLines", m_showTileGridLines);
+   qSettings->setValue("accessMode", m_accessMode);
+   qSettings->setValue("useMemoryCache", m_useMemoryCache);
+   qSettings->setValue("uavSymbol", m_uavSymbol);
+   qSettings->setValue("cacheLocation", Utils::PathUtils().RemoveStoragePath(m_cacheLocation));
+   qSettings->setValue("maxUpdateRate", m_maxUpdateRate);
+}
+void OPMapGadgetConfiguration::setCacheLocation(QString cacheLocation){
+    m_cacheLocation = cacheLocation;
+}

ground/openpilotgcs/src/plugins/opmap/opmapgadgetconfiguration.h

@@ -1,93 +1,97 @@
-/**
- ******************************************************************************
- *
- * @file       opmapgadgetconfiguration.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup OPMapPlugin OpenPilot Map Plugin
- * @{
- * @brief The OpenPilot Map plugin 
- *****************************************************************************/
-/*
- * 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 OPMAP_GADGETCONFIGURATION_H
-#define OPMAP_GADGETCONFIGURATION_H
-
-#include <coreplugin/iuavgadgetconfiguration.h>
-#include <QtCore/QString>
-
-using namespace Core;
-
-class OPMapGadgetConfiguration : public IUAVGadgetConfiguration
-{
-Q_OBJECT
-
-Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider)
-Q_PROPERTY(int zoommo READ zoom WRITE setZoom)
-Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
-Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
-Q_PROPERTY(bool useOpenGL READ useOpenGL WRITE setUseOpenGL)
-Q_PROPERTY(bool showTileGridLines READ showTileGridLines WRITE setShowTileGridLines)
-Q_PROPERTY(QString accessMode READ accessMode WRITE setAccessMode)
-Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache)
-Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
-Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
-
-public:
-    explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
-
-    void saveConfig(QSettings* settings) const;
-    IUAVGadgetConfiguration *clone();
-
-    QString mapProvider() const { return m_mapProvider; }
-    int zoom() const { return m_defaultZoom; }
-    double latitude() const { return m_defaultLatitude; }
-    double longitude() const { return m_defaultLongitude; }
-    bool useOpenGL() const { return m_useOpenGL; }
-    bool showTileGridLines() const { return m_showTileGridLines; }
-    QString accessMode() const { return m_accessMode; }
-    bool useMemoryCache() const { return m_useMemoryCache; }
-    QString cacheLocation() const { return m_cacheLocation; }
-    QString uavSymbol() const { return m_uavSymbol; }
-
-public slots:
-    void setMapProvider(QString provider) { m_mapProvider = provider; }
-    void setZoom(int zoom) { m_defaultZoom = zoom; }
-    void setLatitude(double latitude) { m_defaultLatitude = latitude; }
-    void setLongitude(double longitude) { m_defaultLongitude = longitude; }
-    void setUseOpenGL(bool useOpenGL) { m_useOpenGL = useOpenGL; }
-    void setShowTileGridLines(bool showTileGridLines) { m_showTileGridLines = showTileGridLines; }
-    void setAccessMode(QString accessMode) { m_accessMode = accessMode; }
-    void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; }
-    void setCacheLocation(QString cacheLocation);
-    void setUavSymbol(QString symbol){m_uavSymbol=symbol;}
-private:
-    QString m_mapProvider;
-    int m_defaultZoom;
-    double m_defaultLatitude;
-    double m_defaultLongitude;
-    bool m_useOpenGL;
-    bool m_showTileGridLines;
-    QString m_accessMode;
-    bool m_useMemoryCache;
-    QString m_cacheLocation;
-    QString m_uavSymbol;
-
-};
-
-#endif // OPMAP_GADGETCONFIGURATION_H
+/**
+ ******************************************************************************
+ *
+ * @file       opmapgadgetconfiguration.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup OPMapPlugin OpenPilot Map Plugin
+ * @{
+ * @brief The OpenPilot Map plugin 
+ *****************************************************************************/
+/*
+ * 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 OPMAP_GADGETCONFIGURATION_H
+#define OPMAP_GADGETCONFIGURATION_H
+
+#include <coreplugin/iuavgadgetconfiguration.h>
+#include <QtCore/QString>
+
+using namespace Core;
+
+class OPMapGadgetConfiguration : public IUAVGadgetConfiguration
+{
+Q_OBJECT
+
+Q_PROPERTY(QString mapProvider READ mapProvider WRITE setMapProvider)
+Q_PROPERTY(int zoommo READ zoom WRITE setZoom)
+Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
+Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
+Q_PROPERTY(bool useOpenGL READ useOpenGL WRITE setUseOpenGL)
+Q_PROPERTY(bool showTileGridLines READ showTileGridLines WRITE setShowTileGridLines)
+Q_PROPERTY(QString accessMode READ accessMode WRITE setAccessMode)
+Q_PROPERTY(bool useMemoryCache READ useMemoryCache WRITE setUseMemoryCache)
+Q_PROPERTY(QString cacheLocation READ cacheLocation WRITE setCacheLocation)
+Q_PROPERTY(QString uavSymbol READ uavSymbol WRITE setUavSymbol)
+Q_PROPERTY(int maxUpdateRate READ maxUpdateRate WRITE setMaxUpdateRate)
+
+public:
+    explicit OPMapGadgetConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
+
+    void saveConfig(QSettings* settings) const;
+    IUAVGadgetConfiguration *clone();
+
+    QString mapProvider() const { return m_mapProvider; }
+    int zoom() const { return m_defaultZoom; }
+    double latitude() const { return m_defaultLatitude; }
+    double longitude() const { return m_defaultLongitude; }
+    bool useOpenGL() const { return m_useOpenGL; }
+    bool showTileGridLines() const { return m_showTileGridLines; }
+    QString accessMode() const { return m_accessMode; }
+    bool useMemoryCache() const { return m_useMemoryCache; }
+    QString cacheLocation() const { return m_cacheLocation; }
+    QString uavSymbol() const { return m_uavSymbol; }
+	int maxUpdateRate() const { return m_maxUpdateRate; }
+
+public slots:
+    void setMapProvider(QString provider) { m_mapProvider = provider; }
+    void setZoom(int zoom) { m_defaultZoom = zoom; }
+    void setLatitude(double latitude) { m_defaultLatitude = latitude; }
+    void setLongitude(double longitude) { m_defaultLongitude = longitude; }
+    void setUseOpenGL(bool useOpenGL) { m_useOpenGL = useOpenGL; }
+    void setShowTileGridLines(bool showTileGridLines) { m_showTileGridLines = showTileGridLines; }
+    void setAccessMode(QString accessMode) { m_accessMode = accessMode; }
+    void setUseMemoryCache(bool useMemoryCache) { m_useMemoryCache = useMemoryCache; }
+    void setCacheLocation(QString cacheLocation);
+    void setUavSymbol(QString symbol){m_uavSymbol=symbol;}
+	void setMaxUpdateRate(int update_rate){m_maxUpdateRate = update_rate;}
+
+private:
+    QString m_mapProvider;
+    int m_defaultZoom;
+    double m_defaultLatitude;
+    double m_defaultLongitude;
+    bool m_useOpenGL;
+    bool m_showTileGridLines;
+    QString m_accessMode;
+    bool m_useMemoryCache;
+    QString m_cacheLocation;
+    QString m_uavSymbol;
+	int m_maxUpdateRate;
+};
+
+#endif // OPMAP_GADGETCONFIGURATION_H

ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.cpp

@@ -1,133 +1,149 @@
-/**
- ******************************************************************************
- *
- * @file       opmapgadgetoptionspage.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup OPMapPlugin OpenPilot Map Plugin
- * @{
- * @brief The OpenPilot Map plugin 
- *****************************************************************************/
-/*
- * 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 "opmapgadgetoptionspage.h"
-#include "opmapgadgetconfiguration.h"
-#include <QtGui/QLabel>
-#include <QtGui/QComboBox>
-#include <QtGui/QSpinBox>
-#include <QtGui/QDoubleSpinBox>
-#include <QtGui/QHBoxLayout>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QFileDialog>
-
-#include "opmapcontrol/opmapcontrol.h"
-#include "utils/pathutils.h"
-#include "ui_opmapgadgetoptionspage.h"
-
-// *********************************************
-
-OPMapGadgetOptionsPage::OPMapGadgetOptionsPage(OPMapGadgetConfiguration *config, QObject *parent) :
-    IOptionsPage(parent),
-    m_config(config)
-{
-}
-
-QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
-{
-    m_page = new Ui::OPMapGadgetOptionsPage();
-    QWidget *w = new QWidget(parent);
-    m_page->setupUi(w);
-
-    // populate the map provider combobox
-    m_page->providerComboBox->clear();
-    m_page->providerComboBox->addItems(mapcontrol::Helper::MapTypes());
-
-    // populate the access mode combobox
-    m_page->accessModeComboBox->clear();
-    m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes());
-
-    int index = m_page->providerComboBox->findText(m_config->mapProvider());
-    index = (index >= 0) ? index : 0;
-    m_page->providerComboBox->setCurrentIndex(index);
-
-    m_page->zoomSpinBox->setValue(m_config->zoom());
-    m_page->latitudeSpinBox->setValue(m_config->latitude());
-    m_page->longitudeSpinBox->setValue(m_config->longitude());
-
-    m_page->checkBoxUseOpenGL->setChecked(m_config->useOpenGL());
-    m_page->checkBoxShowTileGridLines->setChecked(m_config->showTileGridLines());
-
-    index = m_page->accessModeComboBox->findText(m_config->accessMode());
-    index = (index >= 0) ? index : 0;
-    m_page->accessModeComboBox->setCurrentIndex(index);
-
-    m_page->checkBoxUseMemoryCache->setChecked(m_config->useMemoryCache());
-
-    m_page->lineEditCacheLocation->setExpectedKind(Utils::PathChooser::Directory);
-    m_page->lineEditCacheLocation->setPromptDialogTitle(tr("Choose Cache Directory"));
-    m_page->lineEditCacheLocation->setPath(m_config->cacheLocation());
-
-    QDir dir(":/uavs/images/");
-    QStringList list=dir.entryList();
-    foreach(QString i,list)
-    {
-        QIcon icon(QPixmap(":/uavs/images/"+i));
-        m_page->uavSymbolComboBox->addItem(icon,QString(),i);
-    }
-    for(int x=0;x<m_page->uavSymbolComboBox->count();++x)
-    {
-        if(m_page->uavSymbolComboBox->itemData(x).toString()==m_config->uavSymbol())
-        {
-            m_page->uavSymbolComboBox->setCurrentIndex(x);
-        }
-    }
-
-    connect(m_page->pushButtonCacheDefaults, SIGNAL(clicked()), this, SLOT(on_pushButtonCacheDefaults_clicked()));
-
-    return w;
-}
-
-void OPMapGadgetOptionsPage::on_pushButtonCacheDefaults_clicked()
-{
-    int index = m_page->accessModeComboBox->findText("ServerAndCache");
-    index = (index >= 0) ? index : 0;
-    m_page->accessModeComboBox->setCurrentIndex(index);
-
-    m_page->checkBoxUseMemoryCache->setChecked(true);
-    m_page->lineEditCacheLocation->setPath(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator());
-
-}
-
-void OPMapGadgetOptionsPage::apply()
-{
-    m_config->setMapProvider(m_page->providerComboBox->currentText());
-    m_config->setZoom(m_page->zoomSpinBox->value());
-    m_config->setLatitude(m_page->latitudeSpinBox->value());
-    m_config->setLongitude(m_page->longitudeSpinBox->value());
-    m_config->setUseOpenGL(m_page->checkBoxUseOpenGL->isChecked());
-    m_config->setShowTileGridLines(m_page->checkBoxShowTileGridLines->isChecked());
-    m_config->setAccessMode(m_page->accessModeComboBox->currentText());
-    m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked());
-    m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
-    m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
-}
-
-void OPMapGadgetOptionsPage::finish()
-{
-    delete m_page;
-}
+/**
+ ******************************************************************************
+ *
+ * @file       opmapgadgetoptionspage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup OPMapPlugin OpenPilot Map Plugin
+ * @{
+ * @brief The OpenPilot Map plugin 
+ *****************************************************************************/
+/*
+ * 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 "opmapgadgetoptionspage.h"
+#include "opmapgadgetconfiguration.h"
+#include <QtGui/QLabel>
+#include <QtGui/QComboBox>
+#include <QtGui/QSpinBox>
+#include <QtGui/QDoubleSpinBox>
+#include <QtGui/QHBoxLayout>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QFileDialog>
+
+#include "opmapcontrol/opmapcontrol.h"
+#include "utils/pathutils.h"
+#include "ui_opmapgadgetoptionspage.h"
+
+// *********************************************
+
+OPMapGadgetOptionsPage::OPMapGadgetOptionsPage(OPMapGadgetConfiguration *config, QObject *parent) :
+    IOptionsPage(parent),
+    m_config(config)
+{
+}
+
+QWidget *OPMapGadgetOptionsPage::createPage(QWidget *parent)
+{
+	int index;
+
+	m_page = new Ui::OPMapGadgetOptionsPage();
+    QWidget *w = new QWidget(parent);
+    m_page->setupUi(w);
+
+    // populate the map provider combobox
+    m_page->providerComboBox->clear();
+    m_page->providerComboBox->addItems(mapcontrol::Helper::MapTypes());
+
+    // populate the access mode combobox
+    m_page->accessModeComboBox->clear();
+    m_page->accessModeComboBox->addItems(mapcontrol::Helper::AccessModeTypes());
+
+	index = m_page->providerComboBox->findText(m_config->mapProvider());
+	index = (index >= 0) ? index : 0;
+	m_page->providerComboBox->setCurrentIndex(index);
+
+	// populate the map max update rate combobox
+	m_page->maxUpdateRateComboBox->clear();
+	m_page->maxUpdateRateComboBox->addItem("100ms", 100);
+	m_page->maxUpdateRateComboBox->addItem("200ms", 200);
+	m_page->maxUpdateRateComboBox->addItem("500ms", 500);
+	m_page->maxUpdateRateComboBox->addItem("1 sec", 1000);
+	m_page->maxUpdateRateComboBox->addItem("2 sec", 2000);
+	m_page->maxUpdateRateComboBox->addItem("5 sec", 5000);
+
+	index = m_page->maxUpdateRateComboBox->findData(m_config->maxUpdateRate());
+	index = (index >= 0) ? index : 4;
+	m_page->maxUpdateRateComboBox->setCurrentIndex(index);
+
+    m_page->zoomSpinBox->setValue(m_config->zoom());
+    m_page->latitudeSpinBox->setValue(m_config->latitude());
+    m_page->longitudeSpinBox->setValue(m_config->longitude());
+
+    m_page->checkBoxUseOpenGL->setChecked(m_config->useOpenGL());
+    m_page->checkBoxShowTileGridLines->setChecked(m_config->showTileGridLines());
+
+    index = m_page->accessModeComboBox->findText(m_config->accessMode());
+    index = (index >= 0) ? index : 0;
+    m_page->accessModeComboBox->setCurrentIndex(index);
+
+    m_page->checkBoxUseMemoryCache->setChecked(m_config->useMemoryCache());
+
+    m_page->lineEditCacheLocation->setExpectedKind(Utils::PathChooser::Directory);
+    m_page->lineEditCacheLocation->setPromptDialogTitle(tr("Choose Cache Directory"));
+    m_page->lineEditCacheLocation->setPath(m_config->cacheLocation());
+
+    QDir dir(":/uavs/images/");
+    QStringList list=dir.entryList();
+    foreach(QString i,list)
+    {
+        QIcon icon(QPixmap(":/uavs/images/"+i));
+        m_page->uavSymbolComboBox->addItem(icon,QString(),i);
+    }
+    for(int x=0;x<m_page->uavSymbolComboBox->count();++x)
+    {
+        if(m_page->uavSymbolComboBox->itemData(x).toString()==m_config->uavSymbol())
+        {
+            m_page->uavSymbolComboBox->setCurrentIndex(x);
+        }
+    }
+
+    connect(m_page->pushButtonCacheDefaults, SIGNAL(clicked()), this, SLOT(on_pushButtonCacheDefaults_clicked()));
+
+    return w;
+}
+
+void OPMapGadgetOptionsPage::on_pushButtonCacheDefaults_clicked()
+{
+    int index = m_page->accessModeComboBox->findText("ServerAndCache");
+    index = (index >= 0) ? index : 0;
+    m_page->accessModeComboBox->setCurrentIndex(index);
+
+    m_page->checkBoxUseMemoryCache->setChecked(true);
+    m_page->lineEditCacheLocation->setPath(Utils::PathUtils().GetStoragePath() + "mapscache" + QDir::separator());
+
+}
+
+void OPMapGadgetOptionsPage::apply()
+{
+    m_config->setMapProvider(m_page->providerComboBox->currentText());
+    m_config->setZoom(m_page->zoomSpinBox->value());
+    m_config->setLatitude(m_page->latitudeSpinBox->value());
+    m_config->setLongitude(m_page->longitudeSpinBox->value());
+    m_config->setUseOpenGL(m_page->checkBoxUseOpenGL->isChecked());
+    m_config->setShowTileGridLines(m_page->checkBoxShowTileGridLines->isChecked());
+    m_config->setAccessMode(m_page->accessModeComboBox->currentText());
+    m_config->setUseMemoryCache(m_page->checkBoxUseMemoryCache->isChecked());
+    m_config->setCacheLocation(m_page->lineEditCacheLocation->path());
+    m_config->setUavSymbol(m_page->uavSymbolComboBox->itemData(m_page->uavSymbolComboBox->currentIndex()).toString());
+	m_config->setMaxUpdateRate(m_page->maxUpdateRateComboBox->itemData(m_page->maxUpdateRateComboBox->currentIndex()).toInt());
+}
+
+void OPMapGadgetOptionsPage::finish()
+{
+    delete m_page;
+}

ground/openpilotgcs/src/plugins/opmap/opmapgadgetoptionspage.ui

@@ -30,7 +30,7 @@
     <number>5</number>
    </property>
    <item row="1" column="0">
-    <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0" rowminimumheight="22,22,22,0,22">
+    <layout class="QGridLayout" name="gridLayout_3" rowstretch="0,0,0,0,0,0" rowminimumheight="22,22,22,0,22,0">
      <item row="2" column="0">
       <spacer name="horizontalSpacer_4">
        <property name="orientation">
@@ -249,6 +249,19 @@
        </property>
       </widget>
      </item>
+     <item row="5" column="3">
+      <widget class="QComboBox" name="maxUpdateRateComboBox"/>
+     </item>
+     <item row="5" column="2">
+      <widget class="QLabel" name="label_9">
+       <property name="text">
+        <string>Default Max Update Rate </string>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+       </property>
+      </widget>
+     </item>
     </layout>
    </item>
    <item row="8" column="0">

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -1,2371 +1,2451 @@
-/**
- ******************************************************************************
- *
- * @file       opmapgadgetwidget.cpp
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup OPMapPlugin OpenPilot Map Plugin
- * @{
- * @brief The OpenPilot Map plugin 
- *****************************************************************************/
-/*
- * 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 "opmapgadgetwidget.h"
-#include "ui_opmap_widget.h"
-
-#include <QtGui/QApplication>
-#include <QtGui/QHBoxLayout>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QClipboard>
-#include <QtGui/QMenu>
-#include <QStringList>
-#include <QDir>
-#include <QFile>
-#include <QDateTime>
-
-#include <math.h>
-
-#include "utils/stylehelper.h"
-#include "utils/homelocationutil.h"
-#include "utils/worldmagmodel.h"
-
-#include "uavtalk/telemetrymanager.h"
-
-#include "positionactual.h"
-#include "homelocation.h"
-
-#define allow_manual_home_location_move
-
-// *************************************************************************************
-
-#define deg_to_rad          ((double)M_PI / 180.0)
-#define rad_to_deg          (180.0 / (double)M_PI)
-
-#define earth_mean_radius   6371    // kilometers
-
-#define	max_digital_zoom    3       // maximum allowed digital zoom level
-
-const int safe_area_radius_list[] = {5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000};   // meters
-
-const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};                      // seconds
-
-const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500};             // meters
-
-// *************************************************************************************
-
-
-// *************************************************************************************
-//  NOTE: go back to SVN REV 2137 and earlier to get back to experimental waypoint support.
-// *************************************************************************************
-
-
-// constructor
-OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
-{
-    // **************
-
-    m_widget = NULL;
-    m_map = NULL;
-    findPlaceCompleter = NULL;
-
-    m_mouse_waypoint = NULL;
-
-	pm = NULL;
-	obm = NULL;
-	obum = NULL;
-
-    prev_tile_number = 0;
-
-    min_zoom = max_zoom = 0;
-
-    m_map_mode = Normal_MapMode;
-
-    telemetry_connected = false;
-
-    context_menu_lat_lon = mouse_lat_lon = internals::PointLatLng(0, 0);
-
-    setMouseTracking(true);
-
-	pm = ExtensionSystem::PluginManager::instance();
-	if (pm)
-	{
-		obm = pm->getObject<UAVObjectManager>();
-		obum = pm->getObject<UAVObjectUtilManager>();
-	}
-
-	// **************
-    // get current location
-
-    double latitude = 0;
-    double longitude = 0;
-    double altitude = 0;
-
-	// current position
-	getUAVPosition(latitude, longitude, altitude);
-
-    internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
-
-    // **************
-    // default home position
-
-    home_position.coord = pos_lat_lon;
-    home_position.altitude = altitude;
-    home_position.locked = false;
-
-    // **************
-    // default magic waypoint params
-
-    magic_waypoint.map_wp_item = NULL;
-    magic_waypoint.coord = home_position.coord;
-    magic_waypoint.altitude = altitude;
-    magic_waypoint.description = "Magic waypoint";
-    magic_waypoint.locked = false;
-    magic_waypoint.time_seconds = 0;
-    magic_waypoint.hold_time_seconds = 0;
-
-    // **************
-    // create the widget that holds the user controls and the map
-
-    m_widget = new Ui::OPMap_Widget();
-    m_widget->setupUi(this);
-
-    // **************
-    // create the central map widget
-
-    m_map = new mapcontrol::OPMapWidget();	// create the map object
-
-    m_map->setFrameStyle(QFrame::NoFrame);      // no border frame
-    m_map->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); // tile background
-
-    m_map->configuration->DragButton = Qt::LeftButton;  // use the left mouse button for map dragging
-
-    m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom());			//
-    m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom);	//
-
-    min_zoom = m_widget->horizontalSliderZoom->minimum();	// minimum zoom we can accept
-    max_zoom = m_widget->horizontalSliderZoom->maximum();	// maximum zoom we can accept
-
-    m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter);	    // set how the mouse wheel zoom functions
-    m_map->SetFollowMouse(true);				    // we want a contiuous mouse position reading
-
-    m_map->SetShowHome(true);					    // display the HOME position on the map
-    m_map->SetShowUAV(true);					    // display the UAV position on the map
-
-	m_map->Home->SetSafeArea(safe_area_radius_list[0]);                         // set radius (meters)
-    m_map->Home->SetShowSafeArea(true);                                         // show the safe area
-
-    m_map->UAV->SetTrailTime(uav_trail_time_list[0]);                           // seconds
-    m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]);                   // meters
-
-    m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
-//  m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
-
-    m_map->GPS->SetTrailTime(uav_trail_time_list[0]);                           // seconds
-    m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]);                   // meters
-
-    m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
-//  m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
-
-    // **************
-
-    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
-
-    QVBoxLayout *layout = new QVBoxLayout;
-    layout->setSpacing(0);
-    layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(m_map);
-    m_widget->mapWidget->setLayout(layout);
-
-    // **************
-    // set the user control options
-
-    // TODO: this switch does not make sense, does it??
-
-    switch (m_map_mode)
-    {
-        case Normal_MapMode:
-            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
-            m_widget->toolButtonNormalMapMode->setChecked(true);
-            hideMagicWaypointControls();
-            break;
-
-        case MagicWaypoint_MapMode:
-            m_widget->toolButtonNormalMapMode->setChecked(false);
-            m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
-            showMagicWaypointControls();
-            break;
-
-        default:
-            m_map_mode = Normal_MapMode;
-            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
-            m_widget->toolButtonNormalMapMode->setChecked(true);
-            hideMagicWaypointControls();
-            break;
-    }
-
-    m_widget->labelUAVPos->setText("---");
-    m_widget->labelMapPos->setText("---");
-    m_widget->labelMousePos->setText("---");
-    m_widget->labelMapZoom->setText("---");
-
-
-    // Splitter is not used at the moment:
-    // m_widget->splitter->setCollapsible(1, false);
-
-    // set the size of the collapsable widgets
-    //QList<int> m_SizeList;
-    //m_SizeList << 0 << 0 << 0;
-    //m_widget->splitter->setSizes(m_SizeList);
-
-    m_widget->progressBarMap->setMaximum(1);
-
-/*
-    #if defined(Q_OS_MAC)
-    #elif defined(Q_OS_WIN)
-	m_widget->comboBoxFindPlace->clear();
-	loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
-	m_widget->comboBoxFindPlace->setCurrentIndex(-1);
-    #else
-    #endif
-*/
-
-
-    // **************
-    // map stuff
-
-    connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double)));					// map zoom change signals
-    connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng)));    // map poisition change signals
-    connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete()));					// tile loading stop signals
-    connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart()));					// tile loading start signals
-    connect(m_map, SIGNAL(OnMapDrag()), this, SLOT(OnMapDrag()));							// map drag signals
-    connect(m_map, SIGNAL(OnMapZoomChanged()), this, SLOT(OnMapZoomChanged()));					// map zoom changed
-    connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types)));		// map type changed
-    connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point)));	// tile error
-    connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int)));				// tile loading signals
-    connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
-    connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
-    connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
-    connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
-
-    m_map->SetCurrentPosition(home_position.coord);         // set the map position
-    m_map->Home->SetCoord(home_position.coord);             // set the HOME position
-    m_map->UAV->SetUAVPos(home_position.coord, 0.0);        // set the UAV position
-    m_map->GPS->SetUAVPos(home_position.coord, 0.0);        // set the UAV position
-
-    // **************
-    // create various context menu (mouse right click menu) actions
-
-    createActions();
-
-    // **************
-    // connect to the UAVObject updates we require to become a bit aware of our environment:
-
-    if (pm)
-    {
-        // Register for Home Location state changes
-        if (obm)
-        {
-			UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
-            if (obj)
-            {
-				connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
-            }
-        }
-
-        // Listen to telemetry connection events
-        TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
-        if (telMngr)
-        {
-            connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
-            connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
-        }
-    }
-
-    // **************
-    // create the desired timers
-
-    m_updateTimer = new QTimer();
-    m_updateTimer->setInterval(200);
-    connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
-    m_updateTimer->start();
-
-    m_statusUpdateTimer = new QTimer();
-    m_statusUpdateTimer->setInterval(100);
-    connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
-    m_statusUpdateTimer->start();
-
-    // **************
-
-    m_map->setFocus();
-}
-
-// destructor
-OPMapGadgetWidget::~OPMapGadgetWidget()
-{
-	if (m_map)
-	{
-		disconnect(m_map, 0, 0, 0);
-		m_map->SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
-		m_map->SetShowUAV(false);	//   "          "
-	}
-
-
-    // this destructor doesn't appear to be called at shutdown???
-
-//    #if defined(Q_OS_MAC)
-//    #elif defined(Q_OS_WIN)
-//	saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
-//    #else
-//    #endif
-
-    m_waypoint_list_mutex.lock();
-    foreach (t_waypoint *wp, m_waypoint_list)
-    {
-        if (!wp) continue;
-
-
-        // todo:
-
-
-        delete wp->map_wp_item;
-    }
-    m_waypoint_list_mutex.unlock();
-    m_waypoint_list.clear();
-
-	if (m_map)
-	{
-		delete m_map;
-		m_map = NULL;
-	}
-}
-
-// *************************************************************************************
-// widget signals .. the mouseMoveEvent does not get called - don't yet know why
-
-void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
-{
-    qDebug("opmap: resizeEvent");
-
-    QWidget::resizeEvent(event);
-}
-
-void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
-{
-    qDebug("opmap: mouseMoveEvent");
-
-    if (m_widget && m_map)
-    {
-    }
-
-    if (event->buttons() & Qt::LeftButton)
-    {
-//        QPoint pos = event->pos();
-    }
-
-    QWidget::mouseMoveEvent(event);
-}
-
-void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
-{   // the user has right clicked on the map - create the pop-up context menu and display it
-
-    QString s;
-
-    if (!m_widget || !m_map)
-        return;
-
-    if (event->reason() != QContextMenuEvent::Mouse)
-        return;	// not a mouse click event
-
-    // current mouse position
-    QPoint p = m_map->mapFromGlobal(event->globalPos());
-    context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
-//    context_menu_lat_lon = m_map->currentMousePosition();
-
-    if (!m_map->contentsRect().contains(p))
-        return;					    // the mouse click was not on the map
-
-    // show the mouse position
-    s = QString::number(context_menu_lat_lon.Lat(), 'f', 7) + "  " + QString::number(context_menu_lat_lon.Lng(), 'f', 7);
-    m_widget->labelMousePos->setText(s);
-
-    // find out if we have a waypoint under the mouse cursor
-    QGraphicsItem *item = m_map->itemAt(p);
-    m_mouse_waypoint = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
-
-    // find out if the waypoint is locked (or not)
-    bool waypoint_locked = false;
-    if (m_mouse_waypoint)
-        waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
-
-    // ****************
-    // Dynamically create the popup menu
-
-    QMenu menu(this);
-
-    menu.addAction(closeAct1);
-
-    menu.addSeparator();
-
-    menu.addAction(reloadAct);
-
-    menu.addSeparator();
-
-    switch (m_map_mode)
-    {
-        case Normal_MapMode: s = tr(" (Normal)"); break;
-        case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
-        default: s = tr(" (Unknown)"); break;
-    }
-    for (int i = 0; i < mapModeAct.count(); i++)
-    {   // set the menu to checked (or not)
-        QAction *act = mapModeAct.at(i);
-        if (!act) continue;
-        if (act->data().toInt() == (int)m_map_mode)
-            act->setChecked(true);
-    }
-    QMenu mapModeSubMenu(tr("Map mode") + s, this);
-    for (int i = 0; i < mapModeAct.count(); i++)
-        mapModeSubMenu.addAction(mapModeAct.at(i));
-    menu.addMenu(&mapModeSubMenu);
-
-    menu.addSeparator();
-
-    QMenu copySubMenu(tr("Copy"), this);
-    copySubMenu.addAction(copyMouseLatLonToClipAct);
-    copySubMenu.addAction(copyMouseLatToClipAct);
-    copySubMenu.addAction(copyMouseLonToClipAct);
-    menu.addMenu(&copySubMenu);
-
-    menu.addSeparator();
-
-    /*
-    menu.addAction(findPlaceAct);
-
-    menu.addSeparator();
-    */
-
-    menu.addAction(showSafeAreaAct);
-    QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
-    for (int i = 0; i < safeAreaAct.count(); i++)
-        safeAreaSubMenu.addAction(safeAreaAct.at(i));
-    menu.addMenu(&safeAreaSubMenu);
-
-    menu.addSeparator();
-
-    menu.addAction(showCompassAct);
-
-    menu.addAction(showDiagnostics);
-
-    menu.addSeparator()->setText(tr("Zoom"));
-
-    menu.addAction(zoomInAct);
-    menu.addAction(zoomOutAct);
-
-    QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
-    for (int i = 0; i < zoomAct.count(); i++)
-        zoomSubMenu.addAction(zoomAct.at(i));
-    menu.addMenu(&zoomSubMenu);
-
-    menu.addSeparator();
-
-    menu.addAction(goMouseClickAct);
-
-    menu.addSeparator()->setText(tr("HOME"));
-
-    menu.addAction(setHomeAct);
-    menu.addAction(showHomeAct);
-    menu.addAction(goHomeAct);
-
-    // ****
-    // uav trails
-
-    menu.addSeparator()->setText(tr("UAV Trail"));
-
-    QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
-    for (int i = 0; i < uavTrailTypeAct.count(); i++)
-        uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
-    menu.addMenu(&uavTrailTypeSubMenu);
-
-    QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
-    for (int i = 0; i < uavTrailTimeAct.count(); i++)
-        uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
-    menu.addMenu(&uavTrailTimeSubMenu);
-
-    QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
-    for (int i = 0; i < uavTrailDistanceAct.count(); i++)
-        uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
-    menu.addMenu(&uavTrailDistanceSubMenu);
-
-    menu.addAction(showTrailAct);
-
-    menu.addAction(showTrailLineAct);
-
-    menu.addAction(clearUAVtrailAct);
-
-    // ****
-
-    menu.addSeparator()->setText(tr("UAV"));
-
-    menu.addAction(showUAVAct);
-    menu.addAction(followUAVpositionAct);
-    menu.addAction(followUAVheadingAct);
-    menu.addAction(goUAVAct);
-
-    // *********
-
-    switch (m_map_mode)
-    {
-        case Normal_MapMode:
-        // only show the waypoint stuff if not in 'magic waypoint' mode
-            /*
-            menu.addSeparator()->setText(tr("Waypoints"));
-
-            menu.addAction(wayPointEditorAct);
-            menu.addAction(addWayPointAct);
-
-            if (m_mouse_waypoint)
-            {	// we have a waypoint under the mouse
-                menu.addAction(editWayPointAct);
-
-                lockWayPointAct->setChecked(waypoint_locked);
-                menu.addAction(lockWayPointAct);
-
-                if (!waypoint_locked)
-                    menu.addAction(deleteWayPointAct);
-            }
-
-            m_waypoint_list_mutex.lock();
-            if (m_waypoint_list.count() > 0)
-                menu.addAction(clearWayPointsAct);	// we have waypoints
-            m_waypoint_list_mutex.unlock();
-            */
-
-            break;
-
-        case MagicWaypoint_MapMode:
-            menu.addSeparator()->setText(tr("Waypoints"));
-            menu.addAction(homeMagicWaypointAct);
-            break;
-    }
-
-    // *********
-
-    menu.addSeparator();
-
-    menu.addAction(closeAct2);
-
-    menu.exec(event->globalPos());  // popup the menu
-
-    // ****************
-}
-
-void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
-{
-    qDebug() << "opmap: keyPressEvent, key =" << event->key() << endl;
-
-    switch (event->key())
-    {
-        case Qt::Key_Escape:
-            break;
-
-        case Qt::Key_F1:
-            break;
-
-        case Qt::Key_F2:
-            break;
-
-        case Qt::Key_Up:
-            break;
-
-        case Qt::Key_Down:
-            break;
-
-        case Qt::Key_Left:
-            break;
-
-        case Qt::Key_Right:
-            break;
-
-        case Qt::Key_PageUp:
-            break;
-
-        case Qt::Key_PageDown:
-            break;
-    }
-}
-
-// *************************************************************************************
-// timer signals
-
-
-/**
-  Updates the UAV position on the map. It is called every 200ms
-  by a timer.
-
-  TODO: consider updating upon object update, not timer.
-  */
-void OPMapGadgetWidget::updatePosition()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QMutexLocker locker(&m_map_mutex);
-//Pip I'm sorry, I know this was here with a purpose vvv
-    //if (!telemetry_connected)
-      //  return;
-
-    double latitude;
-    double longitude;
-    double altitude;
-
-    // get current UAV position
-	if (!getUAVPosition(latitude, longitude, altitude))
-        return;
-
-    // get current UAV heading
-    float yaw = getUAV_Yaw();
-
-    internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);	// current UAV position
-    float uav_heading_degrees = yaw;                                                // current UAV heading
-    float uav_altitude_meters = altitude;                                           // current UAV height
-    float uav_ground_speed_meters_per_second = 0; //data.Groundspeed;               // current UAV ground speed
-
-    // display the UAV lat/lon position
-    QString str =
-            "lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
-            " lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
-            " " + QString::number(uav_heading_degrees, 'f', 1) + "deg" +
-            " " + QString::number(uav_altitude_meters, 'f', 1) + "m" +
-            " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
-    m_widget->labelUAVPos->setText(str);
-
-    m_map->UAV->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
-   // qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
-    m_map->UAV->SetUAVHeading(uav_heading_degrees);      // set the maps UAV heading
-
-	if (!getGPSPosition(latitude, longitude, altitude))
-        return;
-
-    uav_pos = internals::PointLatLng(latitude, longitude);	// current UAV position
-    m_map->GPS->SetUAVPos(uav_pos, uav_altitude_meters); // set the maps UAV position
-    m_map->GPS->SetUAVHeading(uav_heading_degrees);      // set the maps UAV heading
-}
-
-/**
-  Update plugin behaviour based on mouse position; Called every few ms by a
-  timer.
- */
-void OPMapGadgetWidget::updateMousePos()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QMutexLocker locker(&m_map_mutex);
-
-    QPoint p = m_map->mapFromGlobal(QCursor::pos());
-    internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p);    // fetch the current lat/lon mouse position
-
-    if (!m_map->contentsRect().contains(p))
-        return;					    // the mouse is not on the map
-
-//    internals::PointLatLng lat_lon = m_map->currentMousePosition();     // fetch the current lat/lon mouse position
-
-    QGraphicsItem *item = m_map->itemAt(p);
-
-    // find out if we are over the home position
-    mapcontrol::HomeItem *home = qgraphicsitem_cast<mapcontrol::HomeItem *>(item);
-
-    // find out if we are over the UAV
-    mapcontrol::UAVItem *uav = qgraphicsitem_cast<mapcontrol::UAVItem *>(item);
-
-    // find out if we have a waypoint under the mouse cursor
-    mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
-
-    if (mouse_lat_lon == lat_lon)
-        return;                 // the mouse has not moved
-
-    mouse_lat_lon = lat_lon;    // yes it has!
-
-    internals::PointLatLng home_lat_lon = m_map->Home->Coord();
-
-    QString s = QString::number(mouse_lat_lon.Lat(), 'f', 7) + "  " + QString::number(mouse_lat_lon.Lng(), 'f', 7);
-    if (wp)
-    {
-        s += "  wp[" + QString::number(wp->Number()) + "]";
-
-        double dist = distance(home_lat_lon, wp->Coord());
-        double bear = bearing(home_lat_lon, wp->Coord());
-        s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
-        s += "  " + QString::number(bear, 'f', 1) + "deg";
-    }
-    else
-    if (home)
-    {
-        s += "  home";
-
-        double dist = distance(home_lat_lon, mouse_lat_lon);
-        double bear = bearing(home_lat_lon, mouse_lat_lon);
-        s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
-        s += "  " + QString::number(bear, 'f', 1) + "deg";
-    }
-    else
-    if (uav)
-    {
-        s += "  uav";
-
-        double latitude;
-        double longitude;
-        double altitude;
-		if (getUAVPosition(latitude, longitude, altitude))  // get current UAV position
-        {
-            internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
-
-//          double dist = distance(home_lat_lon, uav_pos);
-//          double bear = bearing(home_lat_lon, uav_pos);
-//          s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
-//          s += "  " + QString::number(bear, 'f', 1) + "deg";
-        }
-    }
-    m_widget->labelMousePos->setText(s);
-}
-
-// *************************************************************************************
-// map signals
-
-
-/**
-  Update the Plugin UI to reflect a change in zoom level
-  */
-void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
-    m_widget->labelMapZoom->setText(s);
-
-    int i_zoom = (int)(zoomt + 0.5);
-
-    if (i_zoom < min_zoom) i_zoom = min_zoom;
-    else
-    if (i_zoom > max_zoom) i_zoom = max_zoom;
-
-    if (m_widget->horizontalSliderZoom->value() != i_zoom)
-	m_widget->horizontalSliderZoom->setValue(i_zoom);	// set the GUI zoom slider position
-
-    int index0_zoom = i_zoom - min_zoom;			// zoom level starting at index level '0'
-    if (index0_zoom < zoomAct.count())
-	zoomAct.at(index0_zoom)->setChecked(true);		// set the right-click context menu zoom level
-}
-
-void OPMapGadgetWidget::OnMapDrag()
-{
-}
-
-void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QString coord_str = QString::number(point.Lat(), 'f', 7) + "   " + QString::number(point.Lng(), 'f', 7) + " ";
-    m_widget->labelMapPos->setText(coord_str);
-}
-
-/**
-  Update the progress bar while there are still tiles to load
-  */
-void OPMapGadgetWidget::OnTilesStillToLoad(int number)
-{
-    if (!m_widget || !m_map)
-        return;
-
-//	if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
-//	    m_widget->progressBarMap->setMaximum(number);
-
-	if (m_widget->progressBarMap->maximum() < number)
-	    m_widget->progressBarMap->setMaximum(number);
-
-	m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number);	// update the progress bar
-
-//	m_widget->labelNumTilesToLoad->setText(QString::number(number));
-
-	prev_tile_number = number;
-}
-
-/**
-  Show the progress bar as soon as the map lib starts downloading
-  */
-void OPMapGadgetWidget::OnTileLoadStart()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_widget->progressBarMap->setVisible(true);
-}
-
-/**
-  Hide the progress bar once the map lib has finished downloading
-
-  TODO: somehow this gets called before tile load is actually complete?
-  */
-
-void OPMapGadgetWidget::OnTileLoadComplete()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_widget->progressBarMap->setVisible(false);
-}
-
-void OPMapGadgetWidget::OnMapZoomChanged()
-{
-}
-
-void OPMapGadgetWidget::OnMapTypeChanged(MapType::Types type)
-{
-    Q_UNUSED(type);
-}
-
-void OPMapGadgetWidget::OnEmptyTileError(int zoom, core::Point pos)
-{
-    Q_UNUSED(zoom);
-    Q_UNUSED(pos);
-}
-
-void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumber, WayPointItem *waypoint)
-{
-    Q_UNUSED(oldnumber);
-    Q_UNUSED(newnumber);
-    Q_UNUSED(waypoint);
-}
-
-void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
-{
-//    qDebug("opmap: WPValuesChanged");
-
-    switch (m_map_mode)
-    {
-        case Normal_MapMode:
-            m_waypoint_list_mutex.lock();
-            foreach (t_waypoint *wp, m_waypoint_list)
-            {   // search for the waypoint in our own waypoint list and update it
-                if (!wp) continue;
-                if (!wp->map_wp_item) continue;
-                if (wp->map_wp_item != waypoint) continue;
-                // found the waypoint in our list
-                wp->coord = waypoint->Coord();
-                wp->altitude = waypoint->Altitude();
-                wp->description = waypoint->Description();
-                break;
-            }
-            m_waypoint_list_mutex.unlock();
-            break;
-
-        case MagicWaypoint_MapMode:
-            // update our copy of the magic waypoint
-            if (magic_waypoint.map_wp_item && magic_waypoint.map_wp_item == waypoint)
-            {
-                magic_waypoint.coord = waypoint->Coord();
-                magic_waypoint.altitude = waypoint->Altitude();
-                magic_waypoint.description = waypoint->Description();
-
-                // move the UAV to the magic waypoint position
-                // moveToMagicWaypointPosition();
-            }
-            break;
-    }
-
-}
-
-/**
-  TODO: slot to do something upon Waypoint insertion
-  */
-void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
-{
-    Q_UNUSED(number);
-    Q_UNUSED(waypoint);
-}
-
-/**
-  TODO: slot to do something upon Waypoint deletion
-  */
-void OPMapGadgetWidget::WPDeleted(int const &number)
-{
-    Q_UNUSED(number);
-}
-
-
-void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
-{
-    QMutexLocker locker(&m_map_mutex);
-    zoomIn();
-}
-
-void OPMapGadgetWidget::on_toolButtonZoomM_clicked()
-{
-    QMutexLocker locker(&m_map_mutex);
-    zoomOut();
-}
-
-void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
-{
-    QMutexLocker locker(&m_map_mutex);
-    goHome();
-}
-
-void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QMutexLocker locker(&m_map_mutex);
-
-    followUAVpositionAct->toggle();
-}
-
-void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    followUAVheadingAct->toggle();
-}
-
-void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    QMutexLocker locker(&m_map_mutex);
-
-    setZoom(position);
-}
-
-
-void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
-{
-    setMapMode(Normal_MapMode);
-}
-
-void OPMapGadgetWidget::on_toolButtonMagicWaypointMapMode_clicked()
-{
-    setMapMode(MagicWaypoint_MapMode);
-}
-
-void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
-{
-    homeMagicWaypoint();
-}
-
-void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
-{
-    moveToMagicWaypointPosition();
-}
-
-// *************************************************************************************
-// public slots
-
-void OPMapGadgetWidget::onTelemetryConnect()
-{
-    telemetry_connected = true;
-
-	if (!obum) return;
-
-	bool set;
-	double LLA[3];
-
-	// ***********************
-	// fetch the home location
-
-	if (obum->getHomeLocation(set, LLA) < 0)
-		return;	// error
-
-	setHome(internals::PointLatLng(LLA[0], LLA[1]));
-
-    if (m_map)
-        m_map->SetCurrentPosition(home_position.coord);         // set the map position
-
-    // ***********************
-}
-
-void OPMapGadgetWidget::onTelemetryDisconnect()
-{
-    telemetry_connected = false;
-}
-
-// Updates the Home position icon whenever the HomePosition object is updated
-void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
-{
-    if (!hp)
-        return;
-
-    double lat = hp->getField("Latitude")->getDouble() * 1e-7;
-    double lon = hp->getField("Longitude")->getDouble() * 1e-7;
-    setHome(internals::PointLatLng(lat, lon));
-}
-
-// *************************************************************************************
-// public functions
-
-/**
-  Sets the home position on the map widget
-  */
-void OPMapGadgetWidget::setHome(QPointF pos)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    double latitude = pos.x();
-    double longitude = pos.y();
-
-    if (latitude >  90) latitude =  90;
-    else
-    if (latitude < -90) latitude = -90;
-
-    if (longitude != longitude) longitude = 0; // nan detection
-    else
-    if (longitude >  180) longitude =  180;
-    else
-    if (longitude < -180) longitude = -180;
-
-    setHome(internals::PointLatLng(latitude, longitude));
-}
-
-/**
-  Sets the home position on the map widget
-  */
-void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
-        return;; // nan prevention
-
-    double latitude = pos_lat_lon.Lat();
-    double longitude = pos_lat_lon.Lng();
-
-    if (latitude != latitude) latitude = 0; // nan detection
-    else
-    if (latitude >  90) latitude =  90;
-    else
-    if (latitude < -90) latitude = -90;
-
-    if (longitude != longitude) longitude = 0; // nan detection
-    else
-    if (longitude >  180) longitude =  180;
-    else
-    if (longitude < -180) longitude = -180;
-
-    // *********
-
-    home_position.coord = internals::PointLatLng(latitude, longitude);
-
-    m_map->Home->SetCoord(home_position.coord);
-    m_map->Home->RefreshPos();
-
-    // move the magic waypoint to keep it within the safe area boundry
-    keepMagicWaypointWithInSafeArea();
-}
-
-
-/**
-  Centers the map over the home position
-  */
-void OPMapGadgetWidget::goHome()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    followUAVpositionAct->setChecked(false);
-
-    internals::PointLatLng home_pos = home_position.coord;	// get the home location
-    m_map->SetCurrentPosition(home_pos);                    // center the map onto the home location
-}
-
-
-void OPMapGadgetWidget::zoomIn()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int zoom = m_map->ZoomTotal() + 1;
-
-    if (zoom < min_zoom) zoom = min_zoom;
-    else
-    if (zoom > max_zoom) zoom = max_zoom;
-
-    m_map->SetZoom(zoom);
-}
-
-void OPMapGadgetWidget::zoomOut()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int zoom = m_map->ZoomTotal() - 1;
-
-    if (zoom < min_zoom) zoom = min_zoom;
-    else
-    if (zoom > max_zoom) zoom = max_zoom;
-
-    m_map->SetZoom(zoom);
-}
-
-void OPMapGadgetWidget::setZoom(int zoom)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (zoom < min_zoom) zoom = min_zoom;
-    else
-    if (zoom > max_zoom) zoom = max_zoom;
-
-    internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
-    m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
-
-    m_map->SetZoom(zoom);
-
-    m_map->SetMouseWheelZoomType(zoom_type);
-}
-
-void OPMapGadgetWidget::setPosition(QPointF pos)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    double latitude = pos.y();
-    double longitude = pos.x();
-
-    if (latitude != latitude || longitude != longitude)
-        return; // nan prevention
-
-    if (latitude >  90) latitude =  90;
-    else
-    if (latitude < -90) latitude = -90;
-
-    if (longitude >  180) longitude =  180;
-    else
-    if (longitude < -180) longitude = -180;
-
-    m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
-}
-
-void OPMapGadgetWidget::setMapProvider(QString provider)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
-}
-
-void OPMapGadgetWidget::setAccessMode(QString accessMode)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
-}
-
-void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetUseOpenGL(useOpenGL);
-}
-
-void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetShowTileGridLines(showTileGridLines);
-}
-
-void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->configuration->SetUseMemoryCache(useMemoryCache);
-}
-
-void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    cacheLocation = cacheLocation.simplified();	// remove any surrounding spaces
-
-    if (cacheLocation.isEmpty()) return;
-
-//    #if defined(Q_WS_WIN)
-//	if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
-//    #elif defined(Q_WS_X11)
-	if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
-//    #elif defined(Q_WS_MAC)
-//	if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
-//    #endif
-
-    QDir dir;
-    if (!dir.exists(cacheLocation))
-        if (!dir.mkpath(cacheLocation))
-            return;
-
-//    qDebug() << "opmap: map cache dir: " << cacheLocation;
-
-    m_map->configuration->SetCacheLocation(cacheLocation);
-}
-
-void OPMapGadgetWidget::setMapMode(opMapModeType mode)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
-        mode = Normal_MapMode;  // fix error
-
-    if (m_map_mode == mode)
-    {   // no change in map mode
-        switch (mode)
-        {   // make sure the UI buttons are set correctly
-            case Normal_MapMode:
-                m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
-                m_widget->toolButtonNormalMapMode->setChecked(true);
-                break;
-            case MagicWaypoint_MapMode:
-                m_widget->toolButtonNormalMapMode->setChecked(false);
-                m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
-                break;
-        }
-        return;
-    }
-
-    switch (mode)
-    {
-        case Normal_MapMode:
-            m_map_mode = Normal_MapMode;
-
-            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
-            m_widget->toolButtonNormalMapMode->setChecked(true);
-
-            hideMagicWaypointControls();
-
-            // delete the magic waypoint from the map
-            if (magic_waypoint.map_wp_item)
-            {
-                magic_waypoint.coord = magic_waypoint.map_wp_item->Coord();
-                magic_waypoint.altitude = magic_waypoint.map_wp_item->Altitude();
-                magic_waypoint.description = magic_waypoint.map_wp_item->Description();
-                magic_waypoint.map_wp_item = NULL;
-            }
-            m_map->WPDeleteAll();
-
-            // restore the normal waypoints on the map
-            m_waypoint_list_mutex.lock();
-            foreach (t_waypoint *wp, m_waypoint_list)
-            {
-                if (!wp) continue;
-                wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
-                if (!wp->map_wp_item) continue;
-                wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
-                wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
-                if (!wp->locked)
-                    wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
-                else
-                    wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
-                wp->map_wp_item->update();
-            }
-            m_waypoint_list_mutex.unlock();
-
-            break;
-
-        case MagicWaypoint_MapMode:
-            m_map_mode = MagicWaypoint_MapMode;
-
-            m_widget->toolButtonNormalMapMode->setChecked(false);
-            m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
-
-            showMagicWaypointControls();
-
-            // delete the normal waypoints from the map
-            m_waypoint_list_mutex.lock();
-            foreach (t_waypoint *wp, m_waypoint_list)
-            {
-                if (!wp) continue;
-                if (!wp->map_wp_item) continue;
-                wp->coord = wp->map_wp_item->Coord();
-                wp->altitude = wp->map_wp_item->Altitude();
-                wp->description = wp->map_wp_item->Description();
-                wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
-                wp->map_wp_item = NULL;
-            }
-            m_map->WPDeleteAll();
-            m_waypoint_list_mutex.unlock();
-
-            // restore the magic waypoint on the map
-            magic_waypoint.map_wp_item = m_map->WPCreate(magic_waypoint.coord, magic_waypoint.altitude, magic_waypoint.description);
-            magic_waypoint.map_wp_item->setZValue(10 + magic_waypoint.map_wp_item->Number());
-            magic_waypoint.map_wp_item->SetShowNumber(false);
-            magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
-
-            break;
-    }
-}
-
-// *************************************************************************************
-// Context menu stuff
-
-void OPMapGadgetWidget::createActions()
-{
-    if (!m_widget)
-	return;
-
-    // ***********************
-    // create menu actions
-
-    closeAct1 = new QAction(tr("Close menu"), this);
-    closeAct1->setStatusTip(tr("Close the context menu"));
-
-    closeAct2 = new QAction(tr("Close menu"), this);
-    closeAct2->setStatusTip(tr("Close the context menu"));
-
-    reloadAct = new QAction(tr("&Reload map"), this);
-    reloadAct->setShortcut(tr("F5"));
-    reloadAct->setStatusTip(tr("Reload the map tiles"));
-    connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
-
-    copyMouseLatLonToClipAct = new QAction(tr("Mouse latitude and longitude"), this);
-    copyMouseLatLonToClipAct->setStatusTip(tr("Copy the mouse latitude and longitude to the clipboard"));
-    connect(copyMouseLatLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatLonToClipAct_triggered()));
-
-    copyMouseLatToClipAct = new QAction(tr("Mouse latitude"), this);
-    copyMouseLatToClipAct->setStatusTip(tr("Copy the mouse latitude to the clipboard"));
-    connect(copyMouseLatToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatToClipAct_triggered()));
-
-    copyMouseLonToClipAct = new QAction(tr("Mouse longitude"), this);
-    copyMouseLonToClipAct->setStatusTip(tr("Copy the mouse longitude to the clipboard"));
-    connect(copyMouseLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLonToClipAct_triggered()));
-
-    /*
-    findPlaceAct = new QAction(tr("&Find place"), this);
-    findPlaceAct->setShortcut(tr("Ctrl+F"));
-    findPlaceAct->setStatusTip(tr("Find a location"));
-    connect(findPlaceAct, SIGNAL(triggered()), this, SLOT(onFindPlaceAct_triggered()));
-    */
-
-    showCompassAct = new QAction(tr("Show compass"), this);
-    showCompassAct->setStatusTip(tr("Show/Hide the compass"));
-    showCompassAct->setCheckable(true);
-    showCompassAct->setChecked(true);
-    connect(showCompassAct, SIGNAL(toggled(bool)), this, SLOT(onShowCompassAct_toggled(bool)));
-
-    showDiagnostics = new QAction(tr("Show Diagnostics"), this);
-    showDiagnostics->setStatusTip(tr("Show/Hide the diagnostics"));
-    showDiagnostics->setCheckable(true);
-    showDiagnostics->setChecked(false);
-    connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
-
-    showHomeAct = new QAction(tr("Show Home"), this);
-    showHomeAct->setStatusTip(tr("Show/Hide the Home location"));
-    showHomeAct->setCheckable(true);
-    showHomeAct->setChecked(true);
-    connect(showHomeAct, SIGNAL(toggled(bool)), this, SLOT(onShowHomeAct_toggled(bool)));
-
-    showUAVAct = new QAction(tr("Show UAV"), this);
-    showUAVAct->setStatusTip(tr("Show/Hide the UAV"));
-    showUAVAct->setCheckable(true);
-    showUAVAct->setChecked(true);
-    connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
-
-    zoomInAct = new QAction(tr("Zoom &In"), this);
-    zoomInAct->setShortcut(Qt::Key_PageUp);
-    zoomInAct->setStatusTip(tr("Zoom the map in"));
-    connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
-
-    zoomOutAct = new QAction(tr("Zoom &Out"), this);
-    zoomOutAct->setShortcut(Qt::Key_PageDown);
-    zoomOutAct->setStatusTip(tr("Zoom the map out"));
-    connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
-
-    goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
-    goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
-    connect(goMouseClickAct, SIGNAL(triggered()), this, SLOT(onGoMouseClickAct_triggered()));
-
-    setHomeAct = new QAction(tr("Set the home location"), this);
-    setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
-    #if !defined(allow_manual_home_location_move)
-        setHomeAct->setEnabled(false);
-    #endif
-    connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
-
-    goHomeAct = new QAction(tr("Go to &Home location"), this);
-    goHomeAct->setShortcut(tr("Ctrl+H"));
-    goHomeAct->setStatusTip(tr("Center the map onto the home location"));
-    connect(goHomeAct, SIGNAL(triggered()), this, SLOT(onGoHomeAct_triggered()));
-
-    goUAVAct = new QAction(tr("Go to &UAV location"), this);
-    goUAVAct->setShortcut(tr("Ctrl+U"));
-    goUAVAct->setStatusTip(tr("Center the map onto the UAV location"));
-    connect(goUAVAct, SIGNAL(triggered()), this, SLOT(onGoUAVAct_triggered()));
-
-    followUAVpositionAct = new QAction(tr("Follow UAV position"), this);
-    followUAVpositionAct->setShortcut(tr("Ctrl+F"));
-    followUAVpositionAct->setStatusTip(tr("Keep the map centered onto the UAV"));
-    followUAVpositionAct->setCheckable(true);
-    followUAVpositionAct->setChecked(false);
-    connect(followUAVpositionAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVpositionAct_toggled(bool)));
-
-    followUAVheadingAct = new QAction(tr("Follow UAV heading"), this);
-    followUAVheadingAct->setShortcut(tr("Ctrl+F"));
-    followUAVheadingAct->setStatusTip(tr("Keep the map rotation to the UAV heading"));
-    followUAVheadingAct->setCheckable(true);
-    followUAVheadingAct->setChecked(false);
-    connect(followUAVheadingAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVheadingAct_toggled(bool)));
-
-    /*
-      TODO: Waypoint support is disabled for v1.0
-      */
-
-    /*
-    wayPointEditorAct = new QAction(tr("&Waypoint editor"), this);
-    wayPointEditorAct->setShortcut(tr("Ctrl+W"));
-    wayPointEditorAct->setStatusTip(tr("Open the waypoint editor"));
-    wayPointEditorAct->setEnabled(false);   // temporary
-    connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
-
-    addWayPointAct = new QAction(tr("&Add waypoint"), this);
-    addWayPointAct->setShortcut(tr("Ctrl+A"));
-    addWayPointAct->setStatusTip(tr("Add waypoint"));
-    connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered()));
-
-    editWayPointAct = new QAction(tr("&Edit waypoint"), this);
-    editWayPointAct->setShortcut(tr("Ctrl+E"));
-    editWayPointAct->setStatusTip(tr("Edit waypoint"));
-    connect(editWayPointAct, SIGNAL(triggered()), this, SLOT(onEditWayPointAct_triggered()));
-
-    lockWayPointAct = new QAction(tr("&Lock waypoint"), this);
-    lockWayPointAct->setStatusTip(tr("Lock/Unlock a waypoint"));
-    lockWayPointAct->setCheckable(true);
-    lockWayPointAct->setChecked(false);
-    connect(lockWayPointAct, SIGNAL(triggered()), this, SLOT(onLockWayPointAct_triggered()));
-
-    deleteWayPointAct = new QAction(tr("&Delete waypoint"), this);
-    deleteWayPointAct->setShortcut(tr("Ctrl+D"));
-    deleteWayPointAct->setStatusTip(tr("Delete waypoint"));
-    connect(deleteWayPointAct, SIGNAL(triggered()), this, SLOT(onDeleteWayPointAct_triggered()));
-
-    clearWayPointsAct = new QAction(tr("&Clear waypoints"), this);
-    clearWayPointsAct->setShortcut(tr("Ctrl+C"));
-    clearWayPointsAct->setStatusTip(tr("Clear waypoints"));
-    connect(clearWayPointsAct, SIGNAL(triggered()), this, SLOT(onClearWayPointsAct_triggered()));
-    */
-
-    homeMagicWaypointAct = new QAction(tr("Home magic waypoint"), this);
-    homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
-    connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
-
-    mapModeActGroup = new QActionGroup(this);
-    connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
-    mapModeAct.clear();
-    {
-        QAction *map_mode_act;
-
-        map_mode_act = new QAction(tr("Normal"), mapModeActGroup);
-        map_mode_act->setCheckable(true);
-        map_mode_act->setChecked(m_map_mode == Normal_MapMode);
-        map_mode_act->setData((int)Normal_MapMode);
-        mapModeAct.append(map_mode_act);
-
-        map_mode_act = new QAction(tr("Magic Waypoint"), mapModeActGroup);
-        map_mode_act->setCheckable(true);
-        map_mode_act->setChecked(m_map_mode == MagicWaypoint_MapMode);
-        map_mode_act->setData((int)MagicWaypoint_MapMode);
-        mapModeAct.append(map_mode_act);
-    }
-
-    zoomActGroup = new QActionGroup(this);
-    connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
-    zoomAct.clear();
-    for (int i = min_zoom; i <= max_zoom; i++)
-    {
-        QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
-        zoom_act->setCheckable(true);
-        zoom_act->setData(i);
-        zoomAct.append(zoom_act);
-    }
-
-    // *****
-    // safe area
-
-    showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
-    showSafeAreaAct->setStatusTip(tr("Show/Hide the Safe Area around the home location"));
-    showSafeAreaAct->setCheckable(true);
-    showSafeAreaAct->setChecked(m_map->Home->ShowSafeArea());
-    connect(showSafeAreaAct, SIGNAL(toggled(bool)), this, SLOT(onShowSafeAreaAct_toggled(bool)));
-
-    safeAreaActGroup = new QActionGroup(this);
-    connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
-    safeAreaAct.clear();
-    for (int i = 0; i < (int)(sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0])); i++)
-    {
-        int safeArea = safe_area_radius_list[i];
-        QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
-        safeArea_act->setCheckable(true);
-        safeArea_act->setChecked(safeArea == m_map->Home->SafeArea());
-        safeArea_act->setData(safeArea);
-        safeAreaAct.append(safeArea_act);
-    }
-
-    // *****
-    // UAV trail
-
-    uavTrailTypeActGroup = new QActionGroup(this);
-    connect(uavTrailTypeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTypeActGroup_triggered(QAction *)));
-    uavTrailTypeAct.clear();
-    QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
-    for (int i = 0; i < uav_trail_type_list.count(); i++)
-    {
-        mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[i]);
-        QAction *uavTrailType_act = new QAction(mapcontrol::Helper::StrFromUAVTrailType(uav_trail_type), uavTrailTypeActGroup);
-        uavTrailType_act->setCheckable(true);
-        uavTrailType_act->setChecked(uav_trail_type == m_map->UAV->GetTrailType());
-        uavTrailType_act->setData(i);
-        uavTrailTypeAct.append(uavTrailType_act);
-    }
-
-    showTrailAct = new QAction(tr("Show Trail dots"), this);
-    showTrailAct->setStatusTip(tr("Show/Hide the Trail dots"));
-    showTrailAct->setCheckable(true);
-    showTrailAct->setChecked(true);
-    connect(showTrailAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailAct_toggled(bool)));
-
-    showTrailLineAct = new QAction(tr("Show Trail lines"), this);
-    showTrailLineAct->setStatusTip(tr("Show/Hide the Trail lines"));
-    showTrailLineAct->setCheckable(true);
-    showTrailLineAct->setChecked(true);
-    connect(showTrailLineAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailLineAct_toggled(bool)));
-
-    clearUAVtrailAct = new QAction(tr("Clear UAV trail"), this);
-    clearUAVtrailAct->setStatusTip(tr("Clear the UAV trail"));
-    connect(clearUAVtrailAct, SIGNAL(triggered()), this, SLOT(onClearUAVtrailAct_triggered()));
-
-    uavTrailTimeActGroup = new QActionGroup(this);
-    connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
-    uavTrailTimeAct.clear();
-    for (int i = 0; i < (int)(sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0])); i++)
-    {
-        int uav_trail_time = uav_trail_time_list[i];
-        QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
-        uavTrailTime_act->setCheckable(true);
-        uavTrailTime_act->setChecked(uav_trail_time == m_map->UAV->TrailTime());
-        uavTrailTime_act->setData(uav_trail_time);
-        uavTrailTimeAct.append(uavTrailTime_act);
-    }
-
-    uavTrailDistanceActGroup = new QActionGroup(this);
-    connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
-    uavTrailDistanceAct.clear();
-    for (int i = 0; i < (int)(sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0])); i++)
-    {
-        int uav_trail_distance = uav_trail_distance_list[i];
-        QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
-        uavTrailDistance_act->setCheckable(true);
-        uavTrailDistance_act->setChecked(uav_trail_distance == m_map->UAV->TrailDistance());
-        uavTrailDistance_act->setData(uav_trail_distance);
-        uavTrailDistanceAct.append(uavTrailDistance_act);
-    }
-
-    // *****
-
-    // ***********************
-}
-
-void OPMapGadgetWidget::onReloadAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->ReloadMap();
-}
-
-void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
-{
-//    QClipboard *clipboard = qApp->clipboard();
-    QClipboard *clipboard = QApplication::clipboard();
-    clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
-}
-
-void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
-{
-//    QClipboard *clipboard = qApp->clipboard();
-    QClipboard *clipboard = QApplication::clipboard();
-    clipboard->setText(QString::number(context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
-}
-
-void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
-{
-//    QClipboard *clipboard = qApp->clipboard();
-    QClipboard *clipboard = QApplication::clipboard();
-    clipboard->setText(QString::number(context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
-}
-
-
-void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetShowCompass(show);
-}
-
-void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetShowDiagnostics(show);
-}
-
-void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->Home->setVisible(show);
-}
-
-void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->UAV->setVisible(show);
-    m_map->GPS->setVisible(show);
-}
-
-void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->UAV->SetShowTrail(show);
-    m_map->GPS->SetShowTrail(show);
-}
-
-void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->UAV->SetShowTrailLine(show);
-    m_map->GPS->SetShowTrailLine(show);
-}
-
-void OPMapGadgetWidget::onMapModeActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !m_map || !action)
-        return;
-
-    opMapModeType mode = (opMapModeType)action->data().toInt();
-
-    setMapMode(mode);
-}
-
-void OPMapGadgetWidget::onGoZoomInAct_triggered()
-{
-    zoomIn();
-}
-
-void OPMapGadgetWidget::onGoZoomOutAct_triggered()
-{
-    zoomOut();
-}
-
-void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !action)
-        return;
-
-    setZoom(action->data().toInt());
-}
-
-void OPMapGadgetWidget::onGoMouseClickAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->SetCurrentPosition(m_map->currentMousePosition());   // center the map onto the mouse position
-}
-
-void OPMapGadgetWidget::onSetHomeAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    setHome(context_menu_lat_lon);
-
-    setHomeLocationObject();  // update the HomeLocation UAVObject
-}
-
-void OPMapGadgetWidget::onGoHomeAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    goHome();
-}
-
-void OPMapGadgetWidget::onGoUAVAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    double latitude;
-    double longitude;
-    double altitude;
-	if (getUAVPosition(latitude, longitude, altitude))  // get current UAV position
-    {
-        internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);	// current UAV position
-        internals::PointLatLng map_pos = m_map->CurrentPosition();                      // current MAP position
-        if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos);                     // center the map onto the UAV
-    }
-}
-
-void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_widget->toolButtonMapUAV->isChecked() != checked)
-        m_widget->toolButtonMapUAV->setChecked(checked);
-
-    setMapFollowingMode();
-}
-
-void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
-        m_widget->toolButtonMapUAVheading->setChecked(checked);
-
-    setMapFollowingMode();
-}
-
-void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int trail_type_idx = action->data().toInt();
-
-    QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
-    mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[trail_type_idx]);
-
-    m_map->UAV->SetTrailType(uav_trail_type);
-}
-
-void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->UAV->DeleteTrail();
-    m_map->GPS->DeleteTrail();
-}
-
-void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int trail_time = (double)action->data().toInt();
-
-    m_map->UAV->SetTrailTime(trail_time);
-}
-
-void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int trail_distance = action->data().toInt();
-
-    m_map->UAV->SetTrailDistance(trail_distance);
-}
-
-/**
-  * TODO: unused for v1.0
-  **/
-/*
-void OPMapGadgetWidget::onAddWayPointAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != Normal_MapMode)
-        return;
-
-    m_waypoint_list_mutex.lock();
-
-	// create a waypoint on the map at the last known mouse position
-    t_waypoint *wp = new t_waypoint;
-    wp->map_wp_item = NULL;
-    wp->coord = context_menu_lat_lon;
-    wp->altitude = 0;
-    wp->description = "";
-    wp->locked = false;
-    wp->time_seconds = 0;
-    wp->hold_time_seconds = 0;
-    wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
-
-    wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
-
-    wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
-
-    if (wp->map_wp_item)
-    {
-        if (!wp->locked)
-            wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
-        else
-            wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
-        wp->map_wp_item->update();
-    }
-
-    // and remember it in our own local waypoint list
-    m_waypoint_list.append(wp);
-
-    m_waypoint_list_mutex.unlock();
-}
-*/
-
-/**
-  * Called when the user asks to edit a waypoint from the map
-  *
-  * TODO: should open an interface to edit waypoint properties, or
-  *       propagate the signal to a specific WP plugin (tbd).
-  **/
-/*
-void OPMapGadgetWidget::onEditWayPointAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != Normal_MapMode)
-        return;
-
-    if (!m_mouse_waypoint)
-        return;
-
-    //waypoint_edit_dialog.editWaypoint(m_mouse_waypoint);
-
-    m_mouse_waypoint = NULL;
-}
-*/
-
-/**
-  * TODO: unused for v1.0
-  */
-/*
-void OPMapGadgetWidget::onLockWayPointAct_triggered()
-{
-    if (!m_widget || !m_map || !m_mouse_waypoint)
-        return;
-
-    if (m_map_mode != Normal_MapMode)
-        return;
-
-    bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
-    m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
-
-    if (!locked)
-        m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
-    else
-        m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
-    m_mouse_waypoint->update();
-
-    m_mouse_waypoint = NULL;
-}
-*/
-
-/**
-  * TODO: unused for v1.0
-  */
-/*
-void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != Normal_MapMode)
-        return;
-
-    if (!m_mouse_waypoint)
-        return;
-
-    bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
-
-    if (locked) return;	// waypoint is locked
-
-    QMutexLocker locker(&m_waypoint_list_mutex);
-
-    for (int i = 0; i < m_waypoint_list.count(); i++)
-    {
-        t_waypoint *wp = m_waypoint_list.at(i);
-        if (!wp) continue;
-        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
-
-        // delete the waypoint from the map
-        m_map->WPDelete(wp->map_wp_item);
-
-        // delete the waypoint from our local waypoint list
-        m_waypoint_list.removeAt(i);
-
-        delete wp;
-
-        break;
-    }
-//
-//    foreach (t_waypoint *wp, m_waypoint_list)
-//    {
-//        if (!wp) continue;
-//        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
-//
-//	    // delete the waypoint from the map
-//      m_map->WPDelete(wp->map_wp_item);
-//
-//	    // delete the waypoint from our local waypoint list
-//        m_waypoint_list.removeOne(wp);
-//
-//        delete wp;
-//
-//	    break;
-//	}
-
-    m_mouse_waypoint = NULL;
-}
-*/
-
-/**
-  * TODO: No Waypoint support in v1.0
-  */
-/*
-void OPMapGadgetWidget::onClearWayPointsAct_triggered()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != Normal_MapMode)
-        return;
-
-    QMutexLocker locker(&m_waypoint_list_mutex);
-
-	m_map->WPDeleteAll();
-
-    foreach (t_waypoint *wp, m_waypoint_list)
-    {
-        if (wp)
-        {
-            delete wp;
-            wp = NULL;
-        }
-    }
-
-    m_waypoint_list.clear();
-}
-*/
-
-void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
-{
-    // center the magic waypoint on the home position
-    homeMagicWaypoint();
-}
-
-void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    m_map->Home->SetShowSafeArea(show);             // show the safe area
-    m_map->Home->RefreshPos();
-}
-
-void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
-{
-    if (!m_widget || !m_map)
-        return;
-
-    int radius = action->data().toInt();
-
-    m_map->Home->SetSafeArea(radius);               // set the radius (meters)
-    m_map->Home->RefreshPos();
-
-    // move the magic waypoint if need be to keep it within the safe area around the home position
-    keepMagicWaypointWithInSafeArea();
-}
-
-/**
-* move the magic waypoint to the home position
-**/
-void OPMapGadgetWidget::homeMagicWaypoint()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != MagicWaypoint_MapMode)
-        return;
-
-    magic_waypoint.coord = home_position.coord;
-
-    if (magic_waypoint.map_wp_item)
-        magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
-}
-
-// *************************************************************************************
-// move the UAV to the magic waypoint position
-
-void OPMapGadgetWidget::moveToMagicWaypointPosition()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != MagicWaypoint_MapMode)
-        return;
-
-//    internals::PointLatLng coord = magic_waypoint.coord;
-//    double altitude = magic_waypoint.altitude;
-
-
-    // ToDo:
-
-}
-
-// *************************************************************************************
-// temporary until an object is created for managing the save/restore
-
-// load the contents of a simple text file into a combobox
-void OPMapGadgetWidget::loadComboBoxLines(QComboBox *comboBox, QString filename)
-{
-    if (!comboBox) return;
-    if (filename.isNull() || filename.isEmpty()) return;
-
-    QFile file(filename);
-    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
-        return;
-
-    QTextStream in(&file);
-
-    while (!in.atEnd())
-    {
-        QString line = in.readLine().simplified();
-        if (line.isNull() || line.isEmpty()) continue;
-        comboBox->addItem(line);
-    }
-
-    file.close();
-}
-
-// save a combobox text contents to a simple text file
-void OPMapGadgetWidget::saveComboBoxLines(QComboBox *comboBox, QString filename)
-{
-    if (!comboBox) return;
-    if (filename.isNull() || filename.isEmpty()) return;
-
-    QFile file(filename);
-    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
-        return;
-
-    QTextStream out(&file);
-
-    for (int i = 0; i < comboBox->count(); i++)
-    {
-        QString line = comboBox->itemText(i).simplified();
-        if (line.isNull() || line.isEmpty()) continue;
-        out << line << "\n";
-    }
-
-    file.close();
-}
-
-// *************************************************************************************
-// show/hide the magic waypoint controls
-
-void OPMapGadgetWidget::hideMagicWaypointControls()
-{
-    m_widget->lineWaypoint->setVisible(false);
-    m_widget->toolButtonHomeWaypoint->setVisible(false);
-    m_widget->toolButtonMoveToWP->setVisible(false);
-}
-
-void OPMapGadgetWidget::showMagicWaypointControls()
-{
-    m_widget->lineWaypoint->setVisible(true);
-    m_widget->toolButtonHomeWaypoint->setVisible(true);
-
-    #if defined(allow_manual_home_location_move)
-        m_widget->toolButtonMoveToWP->setVisible(true);
-    #else
-        m_widget->toolButtonMoveToWP->setVisible(false);
-    #endif
-}
-
-// *************************************************************************************
-// move the magic waypoint to keep it within the safe area boundry
-
-void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
-{
-
-    // calcute the bearing and distance from the home position to the magic waypoint
-    double dist = distance(home_position.coord, magic_waypoint.coord);
-    double bear = bearing(home_position.coord, magic_waypoint.coord);
-
-    // get the maximum safe distance - in kilometers
-    double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
-
-//    if (dist <= boundry_dist)
-//        return; // the magic waypoint is still within the safe area, don't move it
-
-    if (dist > boundry_dist) dist = boundry_dist;
-
-    // move the magic waypoint
-
-    magic_waypoint.coord = destPoint(home_position.coord, bear, dist);
-
-    if (m_map_mode == MagicWaypoint_MapMode)
-    {   // move the on-screen waypoint
-        if (magic_waypoint.map_wp_item)
-            magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
-    }
-}
-
-// *************************************************************************************
-// return the distance between two points .. in kilometers
-
-double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::PointLatLng to)
-{
-    double lat1 = from.Lat() * deg_to_rad;
-    double lon1 = from.Lng() * deg_to_rad;
-
-    double lat2 = to.Lat() * deg_to_rad;
-    double lon2 = to.Lng() * deg_to_rad;
-
-    // ***********************
-    // Haversine formula
-/*
-    double delta_lat = lat2 - lat1;
-    double delta_lon = lon2 - lon1;
-
-    double t1 = sin(delta_lat / 2);
-    double t2 = sin(delta_lon / 2);
-    double a = (t1 * t1) + cos(lat1) * cos(lat2) * (t2 * t2);
-    double c = 2 * atan2(sqrt(a), sqrt(1 - a));
-
-    return (earth_mean_radius * c);
-*/
-    // ***********************
-    // Spherical Law of Cosines
-
-    return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
-
-    // ***********************
-}
-
-// *************************************************************************************
-// return the bearing from one point to another .. in degrees
-
-double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointLatLng to)
-{
-    double lat1 = from.Lat() * deg_to_rad;
-    double lon1 = from.Lng() * deg_to_rad;
-
-    double lat2 = to.Lat() * deg_to_rad;
-    double lon2 = to.Lng() * deg_to_rad;
-
-//    double delta_lat = lat2 - lat1;
-    double delta_lon = lon2 - lon1;
-
-    double y = sin(delta_lon) * cos(lat2);
-    double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
-    double bear = atan2(y, x) * rad_to_deg;
-
-    bear += 360;
-    while (bear < 0) bear += 360;
-    while (bear >= 360) bear -= 360;
-
-    return bear;
-}
-
-// *************************************************************************************
-// return a destination lat/lon point given a source lat/lon point and the bearing and distance from the source point
-
-internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng source, double bear, double dist)
-{
-    double lat1 = source.Lat() * deg_to_rad;
-    double lon1 = source.Lng() * deg_to_rad;
-
-    bear *= deg_to_rad;
-
-    double ad = dist / earth_mean_radius;
-
-    double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(bear));
-    double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
-
-    return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
-}
-
-// *************************************************************************************
-
-bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
-{
-    double BaseECEF[3];
-    double NED[3];
-    double LLA[3];
-    UAVObject *obj;
-
-	if (!obm)
-		return false;
-
-	obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
-    if (!obj) return false;
-    BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
-    BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
-    BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
-
-	obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
-    if (!obj) return false;
-    NED[0] = obj->getField(QString("North"))->getDouble() / 100;
-    NED[1] = obj->getField(QString("East"))->getDouble() / 100;
-    NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
-
-//    obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionDesired")));
-
-//    obj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual"));      // air speed
-
-    Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
-
-    latitude = LLA[0];
-    longitude = LLA[1];
-    altitude = LLA[2];
-
-    if (latitude != latitude) latitude = 0; // nan detection
-//    if (isNan(latitude)) latitude = 0; // nan detection
-    else
-//    if (!isFinite(latitude)) latitude = 0;
-//    else
-    if (latitude >  90) latitude =  90;
-    else
-    if (latitude < -90) latitude = -90;
-
-    if (longitude != longitude) longitude = 0; // nan detection
-    else
-//    if (longitude > std::numeric_limits<double>::max()) longitude = 0;  // +infinite
-//    else
-//    if (longitude < -std::numeric_limits<double>::max()) longitude = 0;  // -infinite
-//    else
-    if (longitude >  180) longitude =  180;
-    else
-    if (longitude < -180) longitude = -180;
-
-    if (altitude != altitude) altitude = 0; // nan detection
-
-    return true;
-}
-
-// *************************************************************************************
-
-bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
-{
-	double LLA[3];
-
-	if (!obum)
-		return false;
-
-	if (obum->getGPSPosition(LLA) < 0)
-		return false;	// error
-
-	latitude = LLA[0];
-	longitude = LLA[1];
-	altitude = LLA[2];
-
-    return true;
-}
-
-double OPMapGadgetWidget::getUAV_Yaw()
-{
-	if (!obm)
-		return 0;
-
-	UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
-    double yaw = obj->getField(QString("Yaw"))->getDouble();
-
-    if (yaw != yaw) yaw = 0; // nan detection
-
-    while (yaw < 0) yaw += 360;
-    while (yaw >= 360) yaw -= 360;
-
-    return yaw;
-}
-
-// *************************************************************************************
-
-void OPMapGadgetWidget::setMapFollowingMode()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (!followUAVpositionAct->isChecked())
-    {
-        m_map->UAV->SetMapFollowType(UAVMapFollowType::None);
-        m_map->SetRotate(0);								// reset map rotation to 0deg
-    }
-    else
-    if (!followUAVheadingAct->isChecked())
-    {
-        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
-        m_map->SetRotate(0);								// reset map rotation to 0deg
-    }
-    else
-    {
-        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);      // the map library won't let you reset the uav rotation if it's already in rotate mode
-
-        m_map->UAV->SetUAVHeading(0);                                   // reset the UAV heading to 0deg
-        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
-    }
-}
-
-// *************************************************************************************
-// update the HomeLocation UAV Object
-
-bool OPMapGadgetWidget::setHomeLocationObject()
-{
-	if (!obum)
-		return false;
-
-	double LLA[3] = {home_position.coord.Lat(), home_position.coord.Lng(), home_position.altitude};
-	return (obum->setHomeLocation(LLA, true) >= 0);
-}
-
-// *************************************************************************************
-
-void OPMapGadgetWidget::SetUavPic(QString UAVPic)
-{
-    m_map->SetUavPic(UAVPic);
-}
+/**
+ ******************************************************************************
+ *
+ * @file       opmapgadgetwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup OPMapPlugin OpenPilot Map Plugin
+ * @{
+ * @brief The OpenPilot Map plugin 
+ *****************************************************************************/
+/*
+ * 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 "opmapgadgetwidget.h"
+#include "ui_opmap_widget.h"
+
+#include <QtGui/QApplication>
+#include <QtGui/QHBoxLayout>
+#include <QtGui/QVBoxLayout>
+#include <QtGui/QClipboard>
+#include <QtGui/QMenu>
+#include <QStringList>
+#include <QDir>
+#include <QFile>
+#include <QDateTime>
+
+#include <math.h>
+
+#include "utils/stylehelper.h"
+#include "utils/homelocationutil.h"
+#include "utils/worldmagmodel.h"
+
+#include "uavtalk/telemetrymanager.h"
+
+#include "positionactual.h"
+#include "homelocation.h"
+
+#define allow_manual_home_location_move
+
+// *************************************************************************************
+
+#define deg_to_rad          ((double)M_PI / 180.0)
+#define rad_to_deg          (180.0 / (double)M_PI)
+
+#define earth_mean_radius   6371    // kilometers
+
+#define	max_digital_zoom    3       // maximum allowed digital zoom level
+
+const int safe_area_radius_list[] = {5, 10, 20, 50, 100, 200, 500, 1000, 2000, 5000};   // meters
+
+const int uav_trail_time_list[] = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10};                      // seconds
+
+const int uav_trail_distance_list[] = {1, 2, 5, 10, 20, 50, 100, 200, 500};             // meters
+
+const int max_update_rate_list[] = {100, 200, 500, 1000, 2000, 5000};                   // milliseconds
+
+// *************************************************************************************
+
+
+// *************************************************************************************
+//  NOTE: go back to SVN REV 2137 and earlier to get back to experimental waypoint support.
+// *************************************************************************************
+
+
+// constructor
+OPMapGadgetWidget::OPMapGadgetWidget(QWidget *parent) : QWidget(parent)
+{
+    // **************
+
+    m_widget = NULL;
+    m_map = NULL;
+    findPlaceCompleter = NULL;
+
+    m_mouse_waypoint = NULL;
+
+	pm = NULL;
+	obm = NULL;
+	obum = NULL;
+
+	m_prev_tile_number = 0;
+
+	m_min_zoom = m_max_zoom = 0;
+
+    m_map_mode = Normal_MapMode;
+
+	m_maxUpdateRate = max_update_rate_list[4];	// 2 seconds
+
+	m_telemetry_connected = false;
+
+	m_context_menu_lat_lon = m_mouse_lat_lon = internals::PointLatLng(0, 0);
+
+    setMouseTracking(true);
+
+	pm = ExtensionSystem::PluginManager::instance();
+	if (pm)
+	{
+		obm = pm->getObject<UAVObjectManager>();
+		obum = pm->getObject<UAVObjectUtilManager>();
+	}
+
+	// **************
+    // get current location
+
+    double latitude = 0;
+    double longitude = 0;
+    double altitude = 0;
+
+	// current position
+	getUAVPosition(latitude, longitude, altitude);
+
+    internals::PointLatLng pos_lat_lon = internals::PointLatLng(latitude, longitude);
+
+    // **************
+    // default home position
+
+	m_home_position.coord = pos_lat_lon;
+	m_home_position.altitude = altitude;
+	m_home_position.locked = false;
+
+    // **************
+    // default magic waypoint params
+
+	m_magic_waypoint.map_wp_item = NULL;
+	m_magic_waypoint.coord = m_home_position.coord;
+	m_magic_waypoint.altitude = altitude;
+	m_magic_waypoint.description = "Magic waypoint";
+	m_magic_waypoint.locked = false;
+	m_magic_waypoint.time_seconds = 0;
+	m_magic_waypoint.hold_time_seconds = 0;
+
+    // **************
+    // create the widget that holds the user controls and the map
+
+    m_widget = new Ui::OPMap_Widget();
+    m_widget->setupUi(this);
+
+    // **************
+    // create the central map widget
+
+    m_map = new mapcontrol::OPMapWidget();	// create the map object
+
+    m_map->setFrameStyle(QFrame::NoFrame);      // no border frame
+    m_map->setBackgroundBrush(QBrush(Utils::StyleHelper::baseColor())); // tile background
+
+    m_map->configuration->DragButton = Qt::LeftButton;  // use the left mouse button for map dragging
+
+    m_widget->horizontalSliderZoom->setMinimum(m_map->MinZoom());			//
+    m_widget->horizontalSliderZoom->setMaximum(m_map->MaxZoom() + max_digital_zoom);	//
+
+	m_min_zoom = m_widget->horizontalSliderZoom->minimum();	// minimum zoom we can accept
+	m_max_zoom = m_widget->horizontalSliderZoom->maximum();	// maximum zoom we can accept
+
+    m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::MousePositionWithoutCenter);	    // set how the mouse wheel zoom functions
+    m_map->SetFollowMouse(true);				    // we want a contiuous mouse position reading
+
+    m_map->SetShowHome(true);					    // display the HOME position on the map
+    m_map->SetShowUAV(true);					    // display the UAV position on the map
+
+	m_map->Home->SetSafeArea(safe_area_radius_list[0]);                         // set radius (meters)
+    m_map->Home->SetShowSafeArea(true);                                         // show the safe area
+
+    m_map->UAV->SetTrailTime(uav_trail_time_list[0]);                           // seconds
+    m_map->UAV->SetTrailDistance(uav_trail_distance_list[1]);                   // meters
+
+    m_map->UAV->SetTrailType(UAVTrailType::ByTimeElapsed);
+//  m_map->UAV->SetTrailType(UAVTrailType::ByDistance);
+
+    m_map->GPS->SetTrailTime(uav_trail_time_list[0]);                           // seconds
+    m_map->GPS->SetTrailDistance(uav_trail_distance_list[1]);                   // meters
+
+    m_map->GPS->SetTrailType(UAVTrailType::ByTimeElapsed);
+//  m_map->GPS->SetTrailType(UAVTrailType::ByDistance);
+
+    // **************
+
+    setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::MinimumExpanding);
+
+    QVBoxLayout *layout = new QVBoxLayout;
+    layout->setSpacing(0);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(m_map);
+    m_widget->mapWidget->setLayout(layout);
+
+    // **************
+    // set the user control options
+
+    // TODO: this switch does not make sense, does it??
+
+    switch (m_map_mode)
+    {
+        case Normal_MapMode:
+            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
+            m_widget->toolButtonNormalMapMode->setChecked(true);
+            hideMagicWaypointControls();
+            break;
+
+        case MagicWaypoint_MapMode:
+            m_widget->toolButtonNormalMapMode->setChecked(false);
+            m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
+            showMagicWaypointControls();
+            break;
+
+        default:
+            m_map_mode = Normal_MapMode;
+            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
+            m_widget->toolButtonNormalMapMode->setChecked(true);
+            hideMagicWaypointControls();
+            break;
+    }
+
+    m_widget->labelUAVPos->setText("---");
+    m_widget->labelMapPos->setText("---");
+    m_widget->labelMousePos->setText("---");
+    m_widget->labelMapZoom->setText("---");
+
+
+    // Splitter is not used at the moment:
+    // m_widget->splitter->setCollapsible(1, false);
+
+    // set the size of the collapsable widgets
+    //QList<int> m_SizeList;
+    //m_SizeList << 0 << 0 << 0;
+    //m_widget->splitter->setSizes(m_SizeList);
+
+    m_widget->progressBarMap->setMaximum(1);
+
+/*
+    #if defined(Q_OS_MAC)
+    #elif defined(Q_OS_WIN)
+	m_widget->comboBoxFindPlace->clear();
+	loadComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
+	m_widget->comboBoxFindPlace->setCurrentIndex(-1);
+    #else
+    #endif
+*/
+
+
+    // **************
+    // map stuff
+
+    connect(m_map, SIGNAL(zoomChanged(double, double, double)), this, SLOT(zoomChanged(double, double, double)));					// map zoom change signals
+    connect(m_map, SIGNAL(OnCurrentPositionChanged(internals::PointLatLng)), this, SLOT(OnCurrentPositionChanged(internals::PointLatLng)));    // map poisition change signals
+    connect(m_map, SIGNAL(OnTileLoadComplete()), this, SLOT(OnTileLoadComplete()));					// tile loading stop signals
+    connect(m_map, SIGNAL(OnTileLoadStart()), this, SLOT(OnTileLoadStart()));					// tile loading start signals
+    connect(m_map, SIGNAL(OnMapDrag()), this, SLOT(OnMapDrag()));							// map drag signals
+    connect(m_map, SIGNAL(OnMapZoomChanged()), this, SLOT(OnMapZoomChanged()));					// map zoom changed
+    connect(m_map, SIGNAL(OnMapTypeChanged(MapType::Types)), this, SLOT(OnMapTypeChanged(MapType::Types)));		// map type changed
+    connect(m_map, SIGNAL(OnEmptyTileError(int, core::Point)), this, SLOT(OnEmptyTileError(int, core::Point)));	// tile error
+    connect(m_map, SIGNAL(OnTilesStillToLoad(int)), this, SLOT(OnTilesStillToLoad(int)));				// tile loading signals
+    connect(m_map, SIGNAL(WPNumberChanged(int const&,int const&,WayPointItem*)), this, SLOT(WPNumberChanged(int const&,int const&,WayPointItem*)));
+    connect(m_map, SIGNAL(WPValuesChanged(WayPointItem*)), this, SLOT(WPValuesChanged(WayPointItem*)));
+    connect(m_map, SIGNAL(WPInserted(int const&, WayPointItem*)), this, SLOT(WPInserted(int const&, WayPointItem*)));
+    connect(m_map, SIGNAL(WPDeleted(int const&)), this, SLOT(WPDeleted(int const&)));
+
+	m_map->SetCurrentPosition(m_home_position.coord);         // set the map position
+	m_map->Home->SetCoord(m_home_position.coord);             // set the HOME position
+	m_map->UAV->SetUAVPos(m_home_position.coord, 0.0);        // set the UAV position
+	m_map->GPS->SetUAVPos(m_home_position.coord, 0.0);        // set the UAV position
+
+    // **************
+    // create various context menu (mouse right click menu) actions
+
+    createActions();
+
+    // **************
+    // connect to the UAVObject updates we require to become a bit aware of our environment:
+
+    if (pm)
+    {
+        // Register for Home Location state changes
+        if (obm)
+        {
+			UAVDataObject *obj = dynamic_cast<UAVDataObject *>(obm->getObject(QString("HomeLocation")));
+            if (obj)
+            {
+				connect(obj, SIGNAL(objectUpdated(UAVObject *)), this , SLOT(homePositionUpdated(UAVObject *)));
+            }
+        }
+
+        // Listen to telemetry connection events
+        TelemetryManager *telMngr = pm->getObject<TelemetryManager>();
+        if (telMngr)
+        {
+            connect(telMngr, SIGNAL(connected()), this, SLOT(onTelemetryConnect()));
+            connect(telMngr, SIGNAL(disconnected()), this, SLOT(onTelemetryDisconnect()));
+        }
+    }
+
+    // **************
+    // create the desired timers
+
+    m_updateTimer = new QTimer();
+	m_updateTimer->setInterval(m_maxUpdateRate);
+    connect(m_updateTimer, SIGNAL(timeout()), this, SLOT(updatePosition()));
+    m_updateTimer->start();
+
+    m_statusUpdateTimer = new QTimer();
+	m_statusUpdateTimer->setInterval(200);
+//	m_statusUpdateTimer->setInterval(m_maxUpdateRate);
+	connect(m_statusUpdateTimer, SIGNAL(timeout()), this, SLOT(updateMousePos()));
+    m_statusUpdateTimer->start();
+
+    // **************
+
+    m_map->setFocus();
+}
+
+// destructor
+OPMapGadgetWidget::~OPMapGadgetWidget()
+{
+	if (m_map)
+	{
+		disconnect(m_map, 0, 0, 0);
+		m_map->SetShowHome(false);	// doing this appears to stop the map lib crashing on exit
+		m_map->SetShowUAV(false);	//   "          "
+	}
+
+
+    // this destructor doesn't appear to be called at shutdown???
+
+//    #if defined(Q_OS_MAC)
+//    #elif defined(Q_OS_WIN)
+//	saveComboBoxLines(m_widget->comboBoxFindPlace, QCoreApplication::applicationDirPath() + "/opmap_find_place_history.txt");
+//    #else
+//    #endif
+
+    m_waypoint_list_mutex.lock();
+    foreach (t_waypoint *wp, m_waypoint_list)
+    {
+        if (!wp) continue;
+
+
+        // todo:
+
+
+        delete wp->map_wp_item;
+    }
+    m_waypoint_list_mutex.unlock();
+    m_waypoint_list.clear();
+
+	if (m_map)
+	{
+		delete m_map;
+		m_map = NULL;
+	}
+}
+
+// *************************************************************************************
+// widget signals .. the mouseMoveEvent does not get called - don't yet know why
+
+void OPMapGadgetWidget::resizeEvent(QResizeEvent *event)
+{
+    qDebug("opmap: resizeEvent");
+
+    QWidget::resizeEvent(event);
+}
+
+void OPMapGadgetWidget::mouseMoveEvent(QMouseEvent *event)
+{
+    qDebug("opmap: mouseMoveEvent");
+
+    if (m_widget && m_map)
+    {
+    }
+
+    if (event->buttons() & Qt::LeftButton)
+    {
+//        QPoint pos = event->pos();
+    }
+
+    QWidget::mouseMoveEvent(event);
+}
+
+void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
+{   // the user has right clicked on the map - create the pop-up context menu and display it
+
+    QString s;
+
+	if (!m_widget || !m_map)
+		return;
+
+    if (event->reason() != QContextMenuEvent::Mouse)
+        return;	// not a mouse click event
+
+    // current mouse position
+    QPoint p = m_map->mapFromGlobal(event->globalPos());
+	m_context_menu_lat_lon = m_map->GetFromLocalToLatLng(p);
+//    m_context_menu_lat_lon = m_map->currentMousePosition();
+
+    if (!m_map->contentsRect().contains(p))
+        return;					    // the mouse click was not on the map
+
+    // show the mouse position
+	s = QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + "  " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7);
+    m_widget->labelMousePos->setText(s);
+
+    // find out if we have a waypoint under the mouse cursor
+    QGraphicsItem *item = m_map->itemAt(p);
+    m_mouse_waypoint = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
+
+    // find out if the waypoint is locked (or not)
+    bool waypoint_locked = false;
+    if (m_mouse_waypoint)
+        waypoint_locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
+
+    // ****************
+    // Dynamically create the popup menu
+
+    QMenu menu(this);
+
+    menu.addAction(closeAct1);
+
+    menu.addSeparator();
+
+    menu.addAction(reloadAct);
+
+    menu.addSeparator();
+
+	QMenu maxUpdateRateSubMenu(tr("&Max Update Rate ") + "(" + QString::number(m_maxUpdateRate) + " ms)", this);
+	for (int i = 0; i < maxUpdateRateAct.count(); i++)
+		maxUpdateRateSubMenu.addAction(maxUpdateRateAct.at(i));
+	menu.addMenu(&maxUpdateRateSubMenu);
+
+	menu.addSeparator();
+
+    switch (m_map_mode)
+    {
+        case Normal_MapMode: s = tr(" (Normal)"); break;
+        case MagicWaypoint_MapMode: s = tr(" (Magic Waypoint)"); break;
+        default: s = tr(" (Unknown)"); break;
+    }
+    for (int i = 0; i < mapModeAct.count(); i++)
+    {   // set the menu to checked (or not)
+        QAction *act = mapModeAct.at(i);
+        if (!act) continue;
+        if (act->data().toInt() == (int)m_map_mode)
+            act->setChecked(true);
+    }
+    QMenu mapModeSubMenu(tr("Map mode") + s, this);
+    for (int i = 0; i < mapModeAct.count(); i++)
+        mapModeSubMenu.addAction(mapModeAct.at(i));
+    menu.addMenu(&mapModeSubMenu);
+
+    menu.addSeparator();
+
+    QMenu copySubMenu(tr("Copy"), this);
+    copySubMenu.addAction(copyMouseLatLonToClipAct);
+    copySubMenu.addAction(copyMouseLatToClipAct);
+    copySubMenu.addAction(copyMouseLonToClipAct);
+    menu.addMenu(&copySubMenu);
+
+    menu.addSeparator();
+
+    /*
+    menu.addAction(findPlaceAct);
+
+    menu.addSeparator();
+    */
+
+    menu.addAction(showSafeAreaAct);
+    QMenu safeAreaSubMenu(tr("Safe Area Radius") + " (" + QString::number(m_map->Home->SafeArea()) + "m)", this);
+    for (int i = 0; i < safeAreaAct.count(); i++)
+        safeAreaSubMenu.addAction(safeAreaAct.at(i));
+    menu.addMenu(&safeAreaSubMenu);
+
+    menu.addSeparator();
+
+    menu.addAction(showCompassAct);
+
+    menu.addAction(showDiagnostics);
+
+    menu.addSeparator()->setText(tr("Zoom"));
+
+    menu.addAction(zoomInAct);
+    menu.addAction(zoomOutAct);
+
+    QMenu zoomSubMenu(tr("&Zoom ") + "(" + QString::number(m_map->ZoomTotal()) + ")", this);
+    for (int i = 0; i < zoomAct.count(); i++)
+        zoomSubMenu.addAction(zoomAct.at(i));
+    menu.addMenu(&zoomSubMenu);
+
+    menu.addSeparator();
+
+    menu.addAction(goMouseClickAct);
+
+    menu.addSeparator()->setText(tr("HOME"));
+
+    menu.addAction(setHomeAct);
+    menu.addAction(showHomeAct);
+    menu.addAction(goHomeAct);
+
+    // ****
+    // uav trails
+
+    menu.addSeparator()->setText(tr("UAV Trail"));
+
+    QMenu uavTrailTypeSubMenu(tr("UAV trail type") + " (" + mapcontrol::Helper::StrFromUAVTrailType(m_map->UAV->GetTrailType()) + ")", this);
+    for (int i = 0; i < uavTrailTypeAct.count(); i++)
+        uavTrailTypeSubMenu.addAction(uavTrailTypeAct.at(i));
+    menu.addMenu(&uavTrailTypeSubMenu);
+
+    QMenu uavTrailTimeSubMenu(tr("UAV trail time") + " (" + QString::number(m_map->UAV->TrailTime()) + " sec)", this);
+    for (int i = 0; i < uavTrailTimeAct.count(); i++)
+        uavTrailTimeSubMenu.addAction(uavTrailTimeAct.at(i));
+    menu.addMenu(&uavTrailTimeSubMenu);
+
+    QMenu uavTrailDistanceSubMenu(tr("UAV trail distance") + " (" + QString::number(m_map->UAV->TrailDistance()) + " meters)", this);
+    for (int i = 0; i < uavTrailDistanceAct.count(); i++)
+        uavTrailDistanceSubMenu.addAction(uavTrailDistanceAct.at(i));
+    menu.addMenu(&uavTrailDistanceSubMenu);
+
+    menu.addAction(showTrailAct);
+
+    menu.addAction(showTrailLineAct);
+
+    menu.addAction(clearUAVtrailAct);
+
+    // ****
+
+    menu.addSeparator()->setText(tr("UAV"));
+
+    menu.addAction(showUAVAct);
+    menu.addAction(followUAVpositionAct);
+    menu.addAction(followUAVheadingAct);
+    menu.addAction(goUAVAct);
+
+    // *********
+
+    switch (m_map_mode)
+    {
+        case Normal_MapMode:
+        // only show the waypoint stuff if not in 'magic waypoint' mode
+            /*
+            menu.addSeparator()->setText(tr("Waypoints"));
+
+            menu.addAction(wayPointEditorAct);
+            menu.addAction(addWayPointAct);
+
+            if (m_mouse_waypoint)
+            {	// we have a waypoint under the mouse
+                menu.addAction(editWayPointAct);
+
+                lockWayPointAct->setChecked(waypoint_locked);
+                menu.addAction(lockWayPointAct);
+
+                if (!waypoint_locked)
+                    menu.addAction(deleteWayPointAct);
+            }
+
+            m_waypoint_list_mutex.lock();
+            if (m_waypoint_list.count() > 0)
+                menu.addAction(clearWayPointsAct);	// we have waypoints
+            m_waypoint_list_mutex.unlock();
+            */
+
+            break;
+
+        case MagicWaypoint_MapMode:
+            menu.addSeparator()->setText(tr("Waypoints"));
+            menu.addAction(homeMagicWaypointAct);
+            break;
+    }
+
+    // *********
+
+    menu.addSeparator();
+
+    menu.addAction(closeAct2);
+
+    menu.exec(event->globalPos());  // popup the menu
+
+    // ****************
+}
+
+void OPMapGadgetWidget::keyPressEvent(QKeyEvent* event)
+{
+    qDebug() << "opmap: keyPressEvent, key =" << event->key() << endl;
+
+    switch (event->key())
+    {
+        case Qt::Key_Escape:
+            break;
+
+        case Qt::Key_F1:
+            break;
+
+        case Qt::Key_F2:
+            break;
+
+        case Qt::Key_Up:
+            break;
+
+        case Qt::Key_Down:
+            break;
+
+        case Qt::Key_Left:
+            break;
+
+        case Qt::Key_Right:
+            break;
+
+        case Qt::Key_PageUp:
+            break;
+
+        case Qt::Key_PageDown:
+            break;
+    }
+}
+
+// *************************************************************************************
+// timer signals
+
+/**
+  Updates the UAV position on the map. It is called every 200ms
+  by a timer.
+
+  TODO: consider updating upon object update, not timer.
+
+  from Pip: No don't update on object update - had reports that peoples PC's can't cope with high update rates - have had to allow user to set map update from 100ms to 5 seconds (depending on their PC's graphics processing ability), so this needs to be kept on a timer.
+  */
+void OPMapGadgetWidget::updatePosition()
+{
+	double uav_latitude, uav_longitude, uav_altitude, uav_yaw;
+	double gps_latitude, gps_longitude, gps_altitude, gps_heading;
+
+	internals::PointLatLng uav_pos;
+	internals::PointLatLng gps_pos;
+
+	if (!m_widget || !m_map)
+		return;
+
+    QMutexLocker locker(&m_map_mutex);
+// Pip I'm sorry, I know this was here with a purpose vvv
+// from Pip: let you off :)
+	//if (!telemetry_connected)
+	//	return;
+
+	// *************
+	// get the current UAV details
+
+    // get current UAV position
+	if (!getUAVPosition(uav_latitude, uav_longitude, uav_altitude))
+        return;
+
+    // get current UAV heading
+	uav_yaw = getUAV_Yaw();
+
+	uav_pos = internals::PointLatLng(uav_latitude, uav_longitude);
+
+	// *************
+	// get the current GPS details
+
+	// get current GPS position
+	if (!getGPSPosition(gps_latitude, gps_longitude, gps_altitude))
+		return;
+
+	// get current GPS heading
+//	gps_heading = getGPS_Heading();
+	gps_heading = 0;
+
+	gps_pos = internals::PointLatLng(gps_latitude, gps_longitude);
+
+	// *************
+	// display the UAV position
+
+    QString str =
+            "lat: " + QString::number(uav_pos.Lat(), 'f', 7) +
+            " lon: " + QString::number(uav_pos.Lng(), 'f', 7) +
+			" " + QString::number(uav_yaw, 'f', 1) + "deg" +
+			" " + QString::number(uav_altitude, 'f', 1) + "m";
+//            " " + QString::number(uav_ground_speed_meters_per_second, 'f', 1) + "m/s";
+    m_widget->labelUAVPos->setText(str);
+
+	// *************
+	// set the UAV icon position on the map
+
+	m_map->UAV->SetUAVPos(uav_pos, uav_altitude);        // set the maps UAV position
+//	qDebug()<<"UAVPOSITION"<<uav_pos.ToString();
+	m_map->UAV->SetUAVHeading(uav_yaw);                  // set the maps UAV heading
+
+	// *************
+	// set the GPS icon position on the map
+
+	m_map->GPS->SetUAVPos(gps_pos, gps_altitude); // set the maps GPS position
+	m_map->GPS->SetUAVHeading(gps_heading);       // set the maps GPS heading
+
+	// *************
+}
+
+/**
+  Update plugin behaviour based on mouse position; Called every few ms by a
+  timer.
+ */
+void OPMapGadgetWidget::updateMousePos()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    QMutexLocker locker(&m_map_mutex);
+
+    QPoint p = m_map->mapFromGlobal(QCursor::pos());
+    internals::PointLatLng lat_lon = m_map->GetFromLocalToLatLng(p);    // fetch the current lat/lon mouse position
+
+    if (!m_map->contentsRect().contains(p))
+        return;					    // the mouse is not on the map
+
+//    internals::PointLatLng lat_lon = m_map->currentMousePosition();     // fetch the current lat/lon mouse position
+
+    QGraphicsItem *item = m_map->itemAt(p);
+
+    // find out if we are over the home position
+    mapcontrol::HomeItem *home = qgraphicsitem_cast<mapcontrol::HomeItem *>(item);
+
+    // find out if we are over the UAV
+    mapcontrol::UAVItem *uav = qgraphicsitem_cast<mapcontrol::UAVItem *>(item);
+
+    // find out if we have a waypoint under the mouse cursor
+    mapcontrol::WayPointItem *wp = qgraphicsitem_cast<mapcontrol::WayPointItem *>(item);
+
+	if (m_mouse_lat_lon == lat_lon)
+        return;                 // the mouse has not moved
+
+	m_mouse_lat_lon = lat_lon;    // yes it has!
+
+    internals::PointLatLng home_lat_lon = m_map->Home->Coord();
+
+	QString s = QString::number(m_mouse_lat_lon.Lat(), 'f', 7) + "  " + QString::number(m_mouse_lat_lon.Lng(), 'f', 7);
+    if (wp)
+    {
+        s += "  wp[" + QString::number(wp->Number()) + "]";
+
+        double dist = distance(home_lat_lon, wp->Coord());
+        double bear = bearing(home_lat_lon, wp->Coord());
+        s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
+        s += "  " + QString::number(bear, 'f', 1) + "deg";
+    }
+    else
+    if (home)
+    {
+        s += "  home";
+
+		double dist = distance(home_lat_lon, m_mouse_lat_lon);
+		double bear = bearing(home_lat_lon, m_mouse_lat_lon);
+        s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
+        s += "  " + QString::number(bear, 'f', 1) + "deg";
+    }
+    else
+    if (uav)
+    {
+        s += "  uav";
+
+        double latitude;
+        double longitude;
+        double altitude;
+		if (getUAVPosition(latitude, longitude, altitude))  // get current UAV position
+        {
+            internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);
+
+//          double dist = distance(home_lat_lon, uav_pos);
+//          double bear = bearing(home_lat_lon, uav_pos);
+//          s += "  " + QString::number(dist * 1000, 'f', 1) + "m";
+//          s += "  " + QString::number(bear, 'f', 1) + "deg";
+        }
+    }
+    m_widget->labelMousePos->setText(s);
+}
+
+// *************************************************************************************
+// map signals
+
+
+/**
+  Update the Plugin UI to reflect a change in zoom level
+  */
+void OPMapGadgetWidget::zoomChanged(double zoomt, double zoom, double zoomd)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    QString s = "tot:" + QString::number(zoomt, 'f', 1) + " rea:" + QString::number(zoom, 'f', 1) + " dig:" + QString::number(zoomd, 'f', 1);
+    m_widget->labelMapZoom->setText(s);
+
+    int i_zoom = (int)(zoomt + 0.5);
+
+	if (i_zoom < m_min_zoom) i_zoom = m_min_zoom;
+    else
+	if (i_zoom > m_max_zoom) i_zoom = m_max_zoom;
+
+    if (m_widget->horizontalSliderZoom->value() != i_zoom)
+	m_widget->horizontalSliderZoom->setValue(i_zoom);	// set the GUI zoom slider position
+
+	int index0_zoom = i_zoom - m_min_zoom;			// zoom level starting at index level '0'
+    if (index0_zoom < zoomAct.count())
+	zoomAct.at(index0_zoom)->setChecked(true);		// set the right-click context menu zoom level
+}
+
+void OPMapGadgetWidget::OnMapDrag()
+{
+}
+
+void OPMapGadgetWidget::OnCurrentPositionChanged(internals::PointLatLng point)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    QString coord_str = QString::number(point.Lat(), 'f', 7) + "   " + QString::number(point.Lng(), 'f', 7) + " ";
+    m_widget->labelMapPos->setText(coord_str);
+}
+
+/**
+  Update the progress bar while there are still tiles to load
+  */
+void OPMapGadgetWidget::OnTilesStillToLoad(int number)
+{
+	if (!m_widget || !m_map)
+		return;
+
+//	if (prev_tile_number < number || m_widget->progressBarMap->maximum() < number)
+//	    m_widget->progressBarMap->setMaximum(number);
+
+	if (m_widget->progressBarMap->maximum() < number)
+	    m_widget->progressBarMap->setMaximum(number);
+
+	m_widget->progressBarMap->setValue(m_widget->progressBarMap->maximum() - number);	// update the progress bar
+
+//	m_widget->labelNumTilesToLoad->setText(QString::number(number));
+
+	m_prev_tile_number = number;
+}
+
+/**
+  Show the progress bar as soon as the map lib starts downloading
+  */
+void OPMapGadgetWidget::OnTileLoadStart()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_widget->progressBarMap->setVisible(true);
+}
+
+/**
+  Hide the progress bar once the map lib has finished downloading
+
+  TODO: somehow this gets called before tile load is actually complete?
+  */
+
+void OPMapGadgetWidget::OnTileLoadComplete()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_widget->progressBarMap->setVisible(false);
+}
+
+void OPMapGadgetWidget::OnMapZoomChanged()
+{
+}
+
+void OPMapGadgetWidget::OnMapTypeChanged(MapType::Types type)
+{
+    Q_UNUSED(type);
+}
+
+void OPMapGadgetWidget::OnEmptyTileError(int zoom, core::Point pos)
+{
+    Q_UNUSED(zoom);
+    Q_UNUSED(pos);
+}
+
+void OPMapGadgetWidget::WPNumberChanged(int const &oldnumber, int const &newnumber, WayPointItem *waypoint)
+{
+    Q_UNUSED(oldnumber);
+    Q_UNUSED(newnumber);
+    Q_UNUSED(waypoint);
+}
+
+void OPMapGadgetWidget::WPValuesChanged(WayPointItem *waypoint)
+{
+//    qDebug("opmap: WPValuesChanged");
+
+    switch (m_map_mode)
+    {
+        case Normal_MapMode:
+            m_waypoint_list_mutex.lock();
+            foreach (t_waypoint *wp, m_waypoint_list)
+            {   // search for the waypoint in our own waypoint list and update it
+                if (!wp) continue;
+                if (!wp->map_wp_item) continue;
+                if (wp->map_wp_item != waypoint) continue;
+                // found the waypoint in our list
+                wp->coord = waypoint->Coord();
+                wp->altitude = waypoint->Altitude();
+                wp->description = waypoint->Description();
+                break;
+            }
+            m_waypoint_list_mutex.unlock();
+            break;
+
+        case MagicWaypoint_MapMode:
+            // update our copy of the magic waypoint
+			if (m_magic_waypoint.map_wp_item && m_magic_waypoint.map_wp_item == waypoint)
+            {
+				m_magic_waypoint.coord = waypoint->Coord();
+				m_magic_waypoint.altitude = waypoint->Altitude();
+				m_magic_waypoint.description = waypoint->Description();
+
+                // move the UAV to the magic waypoint position
+                // moveToMagicWaypointPosition();
+            }
+            break;
+    }
+
+}
+
+/**
+  TODO: slot to do something upon Waypoint insertion
+  */
+void OPMapGadgetWidget::WPInserted(int const &number, WayPointItem *waypoint)
+{
+    Q_UNUSED(number);
+    Q_UNUSED(waypoint);
+}
+
+/**
+  TODO: slot to do something upon Waypoint deletion
+  */
+void OPMapGadgetWidget::WPDeleted(int const &number)
+{
+    Q_UNUSED(number);
+}
+
+
+void OPMapGadgetWidget::on_toolButtonZoomP_clicked()
+{
+    QMutexLocker locker(&m_map_mutex);
+    zoomIn();
+}
+
+void OPMapGadgetWidget::on_toolButtonZoomM_clicked()
+{
+    QMutexLocker locker(&m_map_mutex);
+    zoomOut();
+}
+
+void OPMapGadgetWidget::on_toolButtonMapHome_clicked()
+{
+    QMutexLocker locker(&m_map_mutex);
+    goHome();
+}
+
+void OPMapGadgetWidget::on_toolButtonMapUAV_clicked()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    QMutexLocker locker(&m_map_mutex);
+
+    followUAVpositionAct->toggle();
+}
+
+void OPMapGadgetWidget::on_toolButtonMapUAVheading_clicked()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    followUAVheadingAct->toggle();
+}
+
+void OPMapGadgetWidget::on_horizontalSliderZoom_sliderMoved(int position)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    QMutexLocker locker(&m_map_mutex);
+
+    setZoom(position);
+}
+
+
+void OPMapGadgetWidget::on_toolButtonNormalMapMode_clicked()
+{
+    setMapMode(Normal_MapMode);
+}
+
+void OPMapGadgetWidget::on_toolButtonMagicWaypointMapMode_clicked()
+{
+    setMapMode(MagicWaypoint_MapMode);
+}
+
+void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
+{
+    homeMagicWaypoint();
+}
+
+void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
+{
+    moveToMagicWaypointPosition();
+}
+
+// *************************************************************************************
+// public slots
+
+void OPMapGadgetWidget::onTelemetryConnect()
+{
+	m_telemetry_connected = true;
+
+	if (!obum) return;
+
+	bool set;
+	double LLA[3];
+
+	// ***********************
+	// fetch the home location
+
+	if (obum->getHomeLocation(set, LLA) < 0)
+		return;	// error
+
+	setHome(internals::PointLatLng(LLA[0], LLA[1]));
+
+    if (m_map)
+		m_map->SetCurrentPosition(m_home_position.coord);         // set the map position
+
+    // ***********************
+}
+
+void OPMapGadgetWidget::onTelemetryDisconnect()
+{
+	m_telemetry_connected = false;
+}
+
+// Updates the Home position icon whenever the HomePosition object is updated
+void OPMapGadgetWidget::homePositionUpdated(UAVObject *hp)
+{
+    if (!hp)
+        return;
+
+    double lat = hp->getField("Latitude")->getDouble() * 1e-7;
+    double lon = hp->getField("Longitude")->getDouble() * 1e-7;
+    setHome(internals::PointLatLng(lat, lon));
+}
+
+// *************************************************************************************
+// public functions
+
+/**
+  Sets the home position on the map widget
+  */
+void OPMapGadgetWidget::setHome(QPointF pos)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    double latitude = pos.x();
+    double longitude = pos.y();
+
+    if (latitude >  90) latitude =  90;
+    else
+    if (latitude < -90) latitude = -90;
+
+    if (longitude != longitude) longitude = 0; // nan detection
+    else
+    if (longitude >  180) longitude =  180;
+    else
+    if (longitude < -180) longitude = -180;
+
+    setHome(internals::PointLatLng(latitude, longitude));
+}
+
+/**
+  Sets the home position on the map widget
+  */
+void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (pos_lat_lon.Lat() != pos_lat_lon.Lat() || pos_lat_lon.Lng() != pos_lat_lon.Lng())
+        return;; // nan prevention
+
+    double latitude = pos_lat_lon.Lat();
+    double longitude = pos_lat_lon.Lng();
+
+    if (latitude != latitude) latitude = 0; // nan detection
+    else
+    if (latitude >  90) latitude =  90;
+    else
+    if (latitude < -90) latitude = -90;
+
+    if (longitude != longitude) longitude = 0; // nan detection
+    else
+    if (longitude >  180) longitude =  180;
+    else
+    if (longitude < -180) longitude = -180;
+
+    // *********
+
+	m_home_position.coord = internals::PointLatLng(latitude, longitude);
+
+	m_map->Home->SetCoord(m_home_position.coord);
+    m_map->Home->RefreshPos();
+
+    // move the magic waypoint to keep it within the safe area boundry
+    keepMagicWaypointWithInSafeArea();
+}
+
+
+/**
+  Centers the map over the home position
+  */
+void OPMapGadgetWidget::goHome()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    followUAVpositionAct->setChecked(false);
+
+	internals::PointLatLng home_pos = m_home_position.coord;	// get the home location
+    m_map->SetCurrentPosition(home_pos);                    // center the map onto the home location
+}
+
+
+void OPMapGadgetWidget::zoomIn()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    int zoom = m_map->ZoomTotal() + 1;
+
+	if (zoom < m_min_zoom) zoom = m_min_zoom;
+    else
+	if (zoom > m_max_zoom) zoom = m_max_zoom;
+
+    m_map->SetZoom(zoom);
+}
+
+void OPMapGadgetWidget::zoomOut()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    int zoom = m_map->ZoomTotal() - 1;
+
+	if (zoom < m_min_zoom) zoom = m_min_zoom;
+    else
+	if (zoom > m_max_zoom) zoom = m_max_zoom;
+
+    m_map->SetZoom(zoom);
+}
+
+void OPMapGadgetWidget::setMaxUpdateRate(int update_rate)
+{
+	if (!m_widget || !m_map)
+		return;
+
+	int list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
+	int min_rate = max_update_rate_list[0];
+	int max_rate = max_update_rate_list[list_size - 1];
+
+	if (update_rate < min_rate) update_rate = min_rate;
+	else
+	if (update_rate > max_rate) update_rate = max_rate;
+
+	m_maxUpdateRate = update_rate;
+
+	if (m_updateTimer)
+		m_updateTimer->setInterval(m_maxUpdateRate);
+
+//	if (m_statusUpdateTimer)
+//		m_statusUpdateTimer->setInterval(m_maxUpdateRate);
+}
+
+void OPMapGadgetWidget::setZoom(int zoom)
+{
+	if (!m_widget || !m_map)
+		return;
+
+	if (zoom < m_min_zoom) zoom = m_min_zoom;
+    else
+	if (zoom > m_max_zoom) zoom = m_max_zoom;
+
+    internals::MouseWheelZoomType::Types zoom_type = m_map->GetMouseWheelZoomType();
+    m_map->SetMouseWheelZoomType(internals::MouseWheelZoomType::ViewCenter);
+
+    m_map->SetZoom(zoom);
+
+    m_map->SetMouseWheelZoomType(zoom_type);
+}
+
+void OPMapGadgetWidget::setPosition(QPointF pos)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    double latitude = pos.y();
+    double longitude = pos.x();
+
+    if (latitude != latitude || longitude != longitude)
+        return; // nan prevention
+
+    if (latitude >  90) latitude =  90;
+    else
+    if (latitude < -90) latitude = -90;
+
+    if (longitude >  180) longitude =  180;
+    else
+    if (longitude < -180) longitude = -180;
+
+    m_map->SetCurrentPosition(internals::PointLatLng(latitude, longitude));
+}
+
+void OPMapGadgetWidget::setMapProvider(QString provider)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetMapType(mapcontrol::Helper::MapTypeFromString(provider));
+}
+
+void OPMapGadgetWidget::setAccessMode(QString accessMode)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->configuration->SetAccessMode(mapcontrol::Helper::AccessModeFromString(accessMode));
+}
+
+void OPMapGadgetWidget::setUseOpenGL(bool useOpenGL)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetUseOpenGL(useOpenGL);
+}
+
+void OPMapGadgetWidget::setShowTileGridLines(bool showTileGridLines)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetShowTileGridLines(showTileGridLines);
+}
+
+void OPMapGadgetWidget::setUseMemoryCache(bool useMemoryCache)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->configuration->SetUseMemoryCache(useMemoryCache);
+}
+
+void OPMapGadgetWidget::setCacheLocation(QString cacheLocation)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    cacheLocation = cacheLocation.simplified();	// remove any surrounding spaces
+
+    if (cacheLocation.isEmpty()) return;
+
+//    #if defined(Q_WS_WIN)
+//	if (!cacheLocation.endsWith('\\')) cacheLocation += '\\';
+//    #elif defined(Q_WS_X11)
+	if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
+//    #elif defined(Q_WS_MAC)
+//	if (!cacheLocation.endsWith(QDir::separator())) cacheLocation += QDir::separator();
+//    #endif
+
+    QDir dir;
+    if (!dir.exists(cacheLocation))
+        if (!dir.mkpath(cacheLocation))
+            return;
+
+//    qDebug() << "opmap: map cache dir: " << cacheLocation;
+
+    m_map->configuration->SetCacheLocation(cacheLocation);
+}
+
+void OPMapGadgetWidget::setMapMode(opMapModeType mode)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (mode != Normal_MapMode && mode != MagicWaypoint_MapMode)
+        mode = Normal_MapMode;  // fix error
+
+    if (m_map_mode == mode)
+    {   // no change in map mode
+        switch (mode)
+        {   // make sure the UI buttons are set correctly
+            case Normal_MapMode:
+                m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
+                m_widget->toolButtonNormalMapMode->setChecked(true);
+                break;
+            case MagicWaypoint_MapMode:
+                m_widget->toolButtonNormalMapMode->setChecked(false);
+                m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
+                break;
+        }
+        return;
+    }
+
+    switch (mode)
+    {
+        case Normal_MapMode:
+            m_map_mode = Normal_MapMode;
+
+            m_widget->toolButtonMagicWaypointMapMode->setChecked(false);
+            m_widget->toolButtonNormalMapMode->setChecked(true);
+
+            hideMagicWaypointControls();
+
+            // delete the magic waypoint from the map
+			if (m_magic_waypoint.map_wp_item)
+            {
+				m_magic_waypoint.coord = m_magic_waypoint.map_wp_item->Coord();
+				m_magic_waypoint.altitude = m_magic_waypoint.map_wp_item->Altitude();
+				m_magic_waypoint.description = m_magic_waypoint.map_wp_item->Description();
+				m_magic_waypoint.map_wp_item = NULL;
+            }
+            m_map->WPDeleteAll();
+
+            // restore the normal waypoints on the map
+            m_waypoint_list_mutex.lock();
+            foreach (t_waypoint *wp, m_waypoint_list)
+            {
+                if (!wp) continue;
+                wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
+                if (!wp->map_wp_item) continue;
+                wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
+                wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
+                if (!wp->locked)
+                    wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
+                else
+                    wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
+                wp->map_wp_item->update();
+            }
+            m_waypoint_list_mutex.unlock();
+
+            break;
+
+        case MagicWaypoint_MapMode:
+            m_map_mode = MagicWaypoint_MapMode;
+
+            m_widget->toolButtonNormalMapMode->setChecked(false);
+            m_widget->toolButtonMagicWaypointMapMode->setChecked(true);
+
+            showMagicWaypointControls();
+
+            // delete the normal waypoints from the map
+            m_waypoint_list_mutex.lock();
+            foreach (t_waypoint *wp, m_waypoint_list)
+            {
+                if (!wp) continue;
+                if (!wp->map_wp_item) continue;
+                wp->coord = wp->map_wp_item->Coord();
+                wp->altitude = wp->map_wp_item->Altitude();
+                wp->description = wp->map_wp_item->Description();
+                wp->locked = (wp->map_wp_item->flags() & QGraphicsItem::ItemIsMovable) == 0;
+                wp->map_wp_item = NULL;
+            }
+            m_map->WPDeleteAll();
+            m_waypoint_list_mutex.unlock();
+
+            // restore the magic waypoint on the map
+			m_magic_waypoint.map_wp_item = m_map->WPCreate(m_magic_waypoint.coord, m_magic_waypoint.altitude, m_magic_waypoint.description);
+			m_magic_waypoint.map_wp_item->setZValue(10 + m_magic_waypoint.map_wp_item->Number());
+			m_magic_waypoint.map_wp_item->SetShowNumber(false);
+			m_magic_waypoint.map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker3.png"));
+
+            break;
+    }
+}
+
+// *************************************************************************************
+// Context menu stuff
+
+void OPMapGadgetWidget::createActions()
+{
+	int list_size;
+
+	if (!m_widget || !m_map)
+		return;
+
+    // ***********************
+    // create menu actions
+
+    closeAct1 = new QAction(tr("Close menu"), this);
+    closeAct1->setStatusTip(tr("Close the context menu"));
+
+    closeAct2 = new QAction(tr("Close menu"), this);
+    closeAct2->setStatusTip(tr("Close the context menu"));
+
+    reloadAct = new QAction(tr("&Reload map"), this);
+    reloadAct->setShortcut(tr("F5"));
+    reloadAct->setStatusTip(tr("Reload the map tiles"));
+    connect(reloadAct, SIGNAL(triggered()), this, SLOT(onReloadAct_triggered()));
+
+    copyMouseLatLonToClipAct = new QAction(tr("Mouse latitude and longitude"), this);
+    copyMouseLatLonToClipAct->setStatusTip(tr("Copy the mouse latitude and longitude to the clipboard"));
+    connect(copyMouseLatLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatLonToClipAct_triggered()));
+
+    copyMouseLatToClipAct = new QAction(tr("Mouse latitude"), this);
+    copyMouseLatToClipAct->setStatusTip(tr("Copy the mouse latitude to the clipboard"));
+    connect(copyMouseLatToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLatToClipAct_triggered()));
+
+    copyMouseLonToClipAct = new QAction(tr("Mouse longitude"), this);
+    copyMouseLonToClipAct->setStatusTip(tr("Copy the mouse longitude to the clipboard"));
+    connect(copyMouseLonToClipAct, SIGNAL(triggered()), this, SLOT(onCopyMouseLonToClipAct_triggered()));
+
+    /*
+    findPlaceAct = new QAction(tr("&Find place"), this);
+    findPlaceAct->setShortcut(tr("Ctrl+F"));
+    findPlaceAct->setStatusTip(tr("Find a location"));
+    connect(findPlaceAct, SIGNAL(triggered()), this, SLOT(onFindPlaceAct_triggered()));
+    */
+
+    showCompassAct = new QAction(tr("Show compass"), this);
+    showCompassAct->setStatusTip(tr("Show/Hide the compass"));
+    showCompassAct->setCheckable(true);
+    showCompassAct->setChecked(true);
+    connect(showCompassAct, SIGNAL(toggled(bool)), this, SLOT(onShowCompassAct_toggled(bool)));
+
+    showDiagnostics = new QAction(tr("Show Diagnostics"), this);
+    showDiagnostics->setStatusTip(tr("Show/Hide the diagnostics"));
+    showDiagnostics->setCheckable(true);
+    showDiagnostics->setChecked(false);
+    connect(showDiagnostics, SIGNAL(toggled(bool)), this, SLOT(onShowDiagnostics_toggled(bool)));
+
+    showHomeAct = new QAction(tr("Show Home"), this);
+    showHomeAct->setStatusTip(tr("Show/Hide the Home location"));
+    showHomeAct->setCheckable(true);
+    showHomeAct->setChecked(true);
+    connect(showHomeAct, SIGNAL(toggled(bool)), this, SLOT(onShowHomeAct_toggled(bool)));
+
+    showUAVAct = new QAction(tr("Show UAV"), this);
+    showUAVAct->setStatusTip(tr("Show/Hide the UAV"));
+    showUAVAct->setCheckable(true);
+    showUAVAct->setChecked(true);
+    connect(showUAVAct, SIGNAL(toggled(bool)), this, SLOT(onShowUAVAct_toggled(bool)));
+
+    zoomInAct = new QAction(tr("Zoom &In"), this);
+    zoomInAct->setShortcut(Qt::Key_PageUp);
+    zoomInAct->setStatusTip(tr("Zoom the map in"));
+    connect(zoomInAct, SIGNAL(triggered()), this, SLOT(onGoZoomInAct_triggered()));
+
+    zoomOutAct = new QAction(tr("Zoom &Out"), this);
+    zoomOutAct->setShortcut(Qt::Key_PageDown);
+    zoomOutAct->setStatusTip(tr("Zoom the map out"));
+    connect(zoomOutAct, SIGNAL(triggered()), this, SLOT(onGoZoomOutAct_triggered()));
+
+    goMouseClickAct = new QAction(tr("Go to where you right clicked the mouse"), this);
+    goMouseClickAct->setStatusTip(tr("Center the map onto where you right clicked the mouse"));
+    connect(goMouseClickAct, SIGNAL(triggered()), this, SLOT(onGoMouseClickAct_triggered()));
+
+    setHomeAct = new QAction(tr("Set the home location"), this);
+    setHomeAct->setStatusTip(tr("Set the home location to where you clicked"));
+    #if !defined(allow_manual_home_location_move)
+        setHomeAct->setEnabled(false);
+    #endif
+    connect(setHomeAct, SIGNAL(triggered()), this, SLOT(onSetHomeAct_triggered()));
+
+    goHomeAct = new QAction(tr("Go to &Home location"), this);
+    goHomeAct->setShortcut(tr("Ctrl+H"));
+    goHomeAct->setStatusTip(tr("Center the map onto the home location"));
+    connect(goHomeAct, SIGNAL(triggered()), this, SLOT(onGoHomeAct_triggered()));
+
+    goUAVAct = new QAction(tr("Go to &UAV location"), this);
+    goUAVAct->setShortcut(tr("Ctrl+U"));
+    goUAVAct->setStatusTip(tr("Center the map onto the UAV location"));
+    connect(goUAVAct, SIGNAL(triggered()), this, SLOT(onGoUAVAct_triggered()));
+
+    followUAVpositionAct = new QAction(tr("Follow UAV position"), this);
+    followUAVpositionAct->setShortcut(tr("Ctrl+F"));
+    followUAVpositionAct->setStatusTip(tr("Keep the map centered onto the UAV"));
+    followUAVpositionAct->setCheckable(true);
+    followUAVpositionAct->setChecked(false);
+    connect(followUAVpositionAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVpositionAct_toggled(bool)));
+
+    followUAVheadingAct = new QAction(tr("Follow UAV heading"), this);
+    followUAVheadingAct->setShortcut(tr("Ctrl+F"));
+    followUAVheadingAct->setStatusTip(tr("Keep the map rotation to the UAV heading"));
+    followUAVheadingAct->setCheckable(true);
+    followUAVheadingAct->setChecked(false);
+    connect(followUAVheadingAct, SIGNAL(toggled(bool)), this, SLOT(onFollowUAVheadingAct_toggled(bool)));
+
+    /*
+      TODO: Waypoint support is disabled for v1.0
+      */
+
+    /*
+    wayPointEditorAct = new QAction(tr("&Waypoint editor"), this);
+    wayPointEditorAct->setShortcut(tr("Ctrl+W"));
+    wayPointEditorAct->setStatusTip(tr("Open the waypoint editor"));
+    wayPointEditorAct->setEnabled(false);   // temporary
+    connect(wayPointEditorAct, SIGNAL(triggered()), this, SLOT(onOpenWayPointEditorAct_triggered()));
+
+    addWayPointAct = new QAction(tr("&Add waypoint"), this);
+    addWayPointAct->setShortcut(tr("Ctrl+A"));
+    addWayPointAct->setStatusTip(tr("Add waypoint"));
+    connect(addWayPointAct, SIGNAL(triggered()), this, SLOT(onAddWayPointAct_triggered()));
+
+    editWayPointAct = new QAction(tr("&Edit waypoint"), this);
+    editWayPointAct->setShortcut(tr("Ctrl+E"));
+    editWayPointAct->setStatusTip(tr("Edit waypoint"));
+    connect(editWayPointAct, SIGNAL(triggered()), this, SLOT(onEditWayPointAct_triggered()));
+
+    lockWayPointAct = new QAction(tr("&Lock waypoint"), this);
+    lockWayPointAct->setStatusTip(tr("Lock/Unlock a waypoint"));
+    lockWayPointAct->setCheckable(true);
+    lockWayPointAct->setChecked(false);
+    connect(lockWayPointAct, SIGNAL(triggered()), this, SLOT(onLockWayPointAct_triggered()));
+
+    deleteWayPointAct = new QAction(tr("&Delete waypoint"), this);
+    deleteWayPointAct->setShortcut(tr("Ctrl+D"));
+    deleteWayPointAct->setStatusTip(tr("Delete waypoint"));
+    connect(deleteWayPointAct, SIGNAL(triggered()), this, SLOT(onDeleteWayPointAct_triggered()));
+
+    clearWayPointsAct = new QAction(tr("&Clear waypoints"), this);
+    clearWayPointsAct->setShortcut(tr("Ctrl+C"));
+    clearWayPointsAct->setStatusTip(tr("Clear waypoints"));
+    connect(clearWayPointsAct, SIGNAL(triggered()), this, SLOT(onClearWayPointsAct_triggered()));
+    */
+
+    homeMagicWaypointAct = new QAction(tr("Home magic waypoint"), this);
+    homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
+    connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
+
+    mapModeActGroup = new QActionGroup(this);
+    connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
+    mapModeAct.clear();
+    {
+        QAction *map_mode_act;
+
+        map_mode_act = new QAction(tr("Normal"), mapModeActGroup);
+        map_mode_act->setCheckable(true);
+        map_mode_act->setChecked(m_map_mode == Normal_MapMode);
+        map_mode_act->setData((int)Normal_MapMode);
+        mapModeAct.append(map_mode_act);
+
+        map_mode_act = new QAction(tr("Magic Waypoint"), mapModeActGroup);
+        map_mode_act->setCheckable(true);
+        map_mode_act->setChecked(m_map_mode == MagicWaypoint_MapMode);
+        map_mode_act->setData((int)MagicWaypoint_MapMode);
+        mapModeAct.append(map_mode_act);
+    }
+
+    zoomActGroup = new QActionGroup(this);
+    connect(zoomActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onZoomActGroup_triggered(QAction *)));
+    zoomAct.clear();
+	for (int i = m_min_zoom; i <= m_max_zoom; i++)
+    {
+        QAction *zoom_act = new QAction(QString::number(i), zoomActGroup);
+        zoom_act->setCheckable(true);
+        zoom_act->setData(i);
+        zoomAct.append(zoom_act);
+    }
+
+	maxUpdateRateActGroup = new QActionGroup(this);
+	connect(maxUpdateRateActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMaxUpdateRateActGroup_triggered(QAction *)));
+	maxUpdateRateAct.clear();
+	list_size = sizeof(max_update_rate_list) / sizeof(max_update_rate_list[0]);
+	for (int i = 0; i < list_size; i++)
+	{
+		QAction *maxUpdateRate_act;
+		int j = max_update_rate_list[i];
+		maxUpdateRate_act = new QAction(QString::number(j), maxUpdateRateActGroup);
+		maxUpdateRate_act->setCheckable(true);
+		maxUpdateRate_act->setData(j);
+		maxUpdateRate_act->setChecked(j == m_maxUpdateRate);
+		maxUpdateRateAct.append(maxUpdateRate_act);
+	}
+
+	// *****
+    // safe area
+
+    showSafeAreaAct = new QAction(tr("Show Safe Area"), this);
+    showSafeAreaAct->setStatusTip(tr("Show/Hide the Safe Area around the home location"));
+    showSafeAreaAct->setCheckable(true);
+    showSafeAreaAct->setChecked(m_map->Home->ShowSafeArea());
+    connect(showSafeAreaAct, SIGNAL(toggled(bool)), this, SLOT(onShowSafeAreaAct_toggled(bool)));
+
+    safeAreaActGroup = new QActionGroup(this);
+    connect(safeAreaActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onSafeAreaActGroup_triggered(QAction *)));
+    safeAreaAct.clear();
+	list_size = sizeof(safe_area_radius_list) / sizeof(safe_area_radius_list[0]);
+	for (int i = 0; i < list_size; i++)
+    {
+        int safeArea = safe_area_radius_list[i];
+        QAction *safeArea_act = new QAction(QString::number(safeArea) + "m", safeAreaActGroup);
+        safeArea_act->setCheckable(true);
+        safeArea_act->setChecked(safeArea == m_map->Home->SafeArea());
+        safeArea_act->setData(safeArea);
+        safeAreaAct.append(safeArea_act);
+    }
+
+    // *****
+    // UAV trail
+
+    uavTrailTypeActGroup = new QActionGroup(this);
+    connect(uavTrailTypeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTypeActGroup_triggered(QAction *)));
+    uavTrailTypeAct.clear();
+    QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
+    for (int i = 0; i < uav_trail_type_list.count(); i++)
+    {
+        mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[i]);
+        QAction *uavTrailType_act = new QAction(mapcontrol::Helper::StrFromUAVTrailType(uav_trail_type), uavTrailTypeActGroup);
+        uavTrailType_act->setCheckable(true);
+        uavTrailType_act->setChecked(uav_trail_type == m_map->UAV->GetTrailType());
+        uavTrailType_act->setData(i);
+        uavTrailTypeAct.append(uavTrailType_act);
+    }
+
+    showTrailAct = new QAction(tr("Show Trail dots"), this);
+    showTrailAct->setStatusTip(tr("Show/Hide the Trail dots"));
+    showTrailAct->setCheckable(true);
+    showTrailAct->setChecked(true);
+    connect(showTrailAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailAct_toggled(bool)));
+
+    showTrailLineAct = new QAction(tr("Show Trail lines"), this);
+    showTrailLineAct->setStatusTip(tr("Show/Hide the Trail lines"));
+    showTrailLineAct->setCheckable(true);
+    showTrailLineAct->setChecked(true);
+    connect(showTrailLineAct, SIGNAL(toggled(bool)), this, SLOT(onShowTrailLineAct_toggled(bool)));
+
+    clearUAVtrailAct = new QAction(tr("Clear UAV trail"), this);
+    clearUAVtrailAct->setStatusTip(tr("Clear the UAV trail"));
+    connect(clearUAVtrailAct, SIGNAL(triggered()), this, SLOT(onClearUAVtrailAct_triggered()));
+
+    uavTrailTimeActGroup = new QActionGroup(this);
+    connect(uavTrailTimeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailTimeActGroup_triggered(QAction *)));
+    uavTrailTimeAct.clear();
+	list_size = sizeof(uav_trail_time_list) / sizeof(uav_trail_time_list[0]);
+	for (int i = 0; i < list_size; i++)
+    {
+        int uav_trail_time = uav_trail_time_list[i];
+        QAction *uavTrailTime_act = new QAction(QString::number(uav_trail_time) + " sec", uavTrailTimeActGroup);
+        uavTrailTime_act->setCheckable(true);
+        uavTrailTime_act->setChecked(uav_trail_time == m_map->UAV->TrailTime());
+        uavTrailTime_act->setData(uav_trail_time);
+        uavTrailTimeAct.append(uavTrailTime_act);
+    }
+
+    uavTrailDistanceActGroup = new QActionGroup(this);
+    connect(uavTrailDistanceActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onUAVTrailDistanceActGroup_triggered(QAction *)));
+    uavTrailDistanceAct.clear();
+	list_size = sizeof(uav_trail_distance_list) / sizeof(uav_trail_distance_list[0]);
+	for (int i = 0; i < list_size; i++)
+    {
+        int uav_trail_distance = uav_trail_distance_list[i];
+        QAction *uavTrailDistance_act = new QAction(QString::number(uav_trail_distance) + " meters", uavTrailDistanceActGroup);
+        uavTrailDistance_act->setCheckable(true);
+        uavTrailDistance_act->setChecked(uav_trail_distance == m_map->UAV->TrailDistance());
+        uavTrailDistance_act->setData(uav_trail_distance);
+        uavTrailDistanceAct.append(uavTrailDistance_act);
+    }
+
+    // *****
+
+    // ***********************
+}
+
+void OPMapGadgetWidget::onReloadAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->ReloadMap();
+}
+
+void OPMapGadgetWidget::onCopyMouseLatLonToClipAct_triggered()
+{
+    QClipboard *clipboard = QApplication::clipboard();
+	clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7) + ", " + QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
+}
+
+void OPMapGadgetWidget::onCopyMouseLatToClipAct_triggered()
+{
+    QClipboard *clipboard = QApplication::clipboard();
+	clipboard->setText(QString::number(m_context_menu_lat_lon.Lat(), 'f', 7), QClipboard::Clipboard);
+}
+
+void OPMapGadgetWidget::onCopyMouseLonToClipAct_triggered()
+{
+    QClipboard *clipboard = QApplication::clipboard();
+	clipboard->setText(QString::number(m_context_menu_lat_lon.Lng(), 'f', 7), QClipboard::Clipboard);
+}
+
+
+void OPMapGadgetWidget::onShowCompassAct_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetShowCompass(show);
+}
+
+void OPMapGadgetWidget::onShowDiagnostics_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetShowDiagnostics(show);
+}
+
+void OPMapGadgetWidget::onShowHomeAct_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->Home->setVisible(show);
+}
+
+void OPMapGadgetWidget::onShowUAVAct_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->UAV->setVisible(show);
+    m_map->GPS->setVisible(show);
+}
+
+void OPMapGadgetWidget::onShowTrailAct_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->UAV->SetShowTrail(show);
+    m_map->GPS->SetShowTrail(show);
+}
+
+void OPMapGadgetWidget::onShowTrailLineAct_toggled(bool show)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->UAV->SetShowTrailLine(show);
+    m_map->GPS->SetShowTrailLine(show);
+}
+
+void OPMapGadgetWidget::onMapModeActGroup_triggered(QAction *action)
+{
+    if (!m_widget || !m_map || !action)
+        return;
+
+    opMapModeType mode = (opMapModeType)action->data().toInt();
+
+    setMapMode(mode);
+}
+
+void OPMapGadgetWidget::onGoZoomInAct_triggered()
+{
+    zoomIn();
+}
+
+void OPMapGadgetWidget::onGoZoomOutAct_triggered()
+{
+    zoomOut();
+}
+
+void OPMapGadgetWidget::onZoomActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+		return;
+
+    setZoom(action->data().toInt());
+}
+
+void OPMapGadgetWidget::onMaxUpdateRateActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+		return;
+
+	setMaxUpdateRate(action->data().toInt());
+}
+
+void OPMapGadgetWidget::onGoMouseClickAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->SetCurrentPosition(m_map->currentMousePosition());   // center the map onto the mouse position
+}
+
+void OPMapGadgetWidget::onSetHomeAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+	setHome(m_context_menu_lat_lon);
+
+    setHomeLocationObject();  // update the HomeLocation UAVObject
+}
+
+void OPMapGadgetWidget::onGoHomeAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    goHome();
+}
+
+void OPMapGadgetWidget::onGoUAVAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    double latitude;
+    double longitude;
+    double altitude;
+	if (getUAVPosition(latitude, longitude, altitude))  // get current UAV position
+    {
+        internals::PointLatLng uav_pos = internals::PointLatLng(latitude, longitude);	// current UAV position
+        internals::PointLatLng map_pos = m_map->CurrentPosition();                      // current MAP position
+        if (map_pos != uav_pos) m_map->SetCurrentPosition(uav_pos);                     // center the map onto the UAV
+    }
+}
+
+void OPMapGadgetWidget::onFollowUAVpositionAct_toggled(bool checked)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (m_widget->toolButtonMapUAV->isChecked() != checked)
+        m_widget->toolButtonMapUAV->setChecked(checked);
+
+    setMapFollowingMode();
+}
+
+void OPMapGadgetWidget::onFollowUAVheadingAct_toggled(bool checked)
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (m_widget->toolButtonMapUAVheading->isChecked() != checked)
+        m_widget->toolButtonMapUAVheading->setChecked(checked);
+
+    setMapFollowingMode();
+}
+
+void OPMapGadgetWidget::onUAVTrailTypeActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+		return;
+
+    int trail_type_idx = action->data().toInt();
+
+    QStringList uav_trail_type_list = mapcontrol::Helper::UAVTrailTypes();
+    mapcontrol::UAVTrailType::Types uav_trail_type = mapcontrol::Helper::UAVTrailTypeFromString(uav_trail_type_list[trail_type_idx]);
+
+    m_map->UAV->SetTrailType(uav_trail_type);
+}
+
+void OPMapGadgetWidget::onClearUAVtrailAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    m_map->UAV->DeleteTrail();
+    m_map->GPS->DeleteTrail();
+}
+
+void OPMapGadgetWidget::onUAVTrailTimeActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+		return;
+
+    int trail_time = (double)action->data().toInt();
+
+    m_map->UAV->SetTrailTime(trail_time);
+}
+
+void OPMapGadgetWidget::onUAVTrailDistanceActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+		return;
+
+    int trail_distance = action->data().toInt();
+
+    m_map->UAV->SetTrailDistance(trail_distance);
+}
+
+/**
+  * TODO: unused for v1.0
+  **/
+/*
+void OPMapGadgetWidget::onAddWayPointAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (m_map_mode != Normal_MapMode)
+        return;
+
+    m_waypoint_list_mutex.lock();
+
+	// create a waypoint on the map at the last known mouse position
+    t_waypoint *wp = new t_waypoint;
+    wp->map_wp_item = NULL;
+    wp->coord = context_menu_lat_lon;
+    wp->altitude = 0;
+    wp->description = "";
+    wp->locked = false;
+    wp->time_seconds = 0;
+    wp->hold_time_seconds = 0;
+    wp->map_wp_item = m_map->WPCreate(wp->coord, wp->altitude, wp->description);
+
+    wp->map_wp_item->setZValue(10 + wp->map_wp_item->Number());
+
+    wp->map_wp_item->setFlag(QGraphicsItem::ItemIsMovable, !wp->locked);
+
+    if (wp->map_wp_item)
+    {
+        if (!wp->locked)
+            wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
+        else
+            wp->map_wp_item->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
+        wp->map_wp_item->update();
+    }
+
+    // and remember it in our own local waypoint list
+    m_waypoint_list.append(wp);
+
+    m_waypoint_list_mutex.unlock();
+}
+*/
+
+/**
+  * Called when the user asks to edit a waypoint from the map
+  *
+  * TODO: should open an interface to edit waypoint properties, or
+  *       propagate the signal to a specific WP plugin (tbd).
+  **/
+/*
+void OPMapGadgetWidget::onEditWayPointAct_triggered()
+{
+	if (!m_widget || !m_map)
+		return;
+
+    if (m_map_mode != Normal_MapMode)
+        return;
+
+    if (!m_mouse_waypoint)
+        return;
+
+    //waypoint_edit_dialog.editWaypoint(m_mouse_waypoint);
+
+    m_mouse_waypoint = NULL;
+}
+*/
+
+/**
+  * TODO: unused for v1.0
+  */
+/*
+void OPMapGadgetWidget::onLockWayPointAct_triggered()
+{
+    if (!m_widget || !m_map || !m_mouse_waypoint)
+        return;
+
+    if (m_map_mode != Normal_MapMode)
+        return;
+
+    bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
+    m_mouse_waypoint->setFlag(QGraphicsItem::ItemIsMovable, locked);
+
+    if (!locked)
+        m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker2.png"));
+    else
+        m_mouse_waypoint->picture.load(QString::fromUtf8(":/opmap/images/waypoint_marker1.png"));
+    m_mouse_waypoint->update();
+
+    m_mouse_waypoint = NULL;
+}
+*/
+
+/**
+  * TODO: unused for v1.0
+  */
+/*
+void OPMapGadgetWidget::onDeleteWayPointAct_triggered()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (m_map_mode != Normal_MapMode)
+        return;
+
+    if (!m_mouse_waypoint)
+        return;
+
+    bool locked = (m_mouse_waypoint->flags() & QGraphicsItem::ItemIsMovable) == 0;
+
+    if (locked) return;	// waypoint is locked
+
+    QMutexLocker locker(&m_waypoint_list_mutex);
+
+    for (int i = 0; i < m_waypoint_list.count(); i++)
+    {
+        t_waypoint *wp = m_waypoint_list.at(i);
+        if (!wp) continue;
+        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
+
+        // delete the waypoint from the map
+        m_map->WPDelete(wp->map_wp_item);
+
+        // delete the waypoint from our local waypoint list
+        m_waypoint_list.removeAt(i);
+
+        delete wp;
+
+        break;
+    }
+//
+//    foreach (t_waypoint *wp, m_waypoint_list)
+//    {
+//        if (!wp) continue;
+//        if (!wp->map_wp_item || wp->map_wp_item != m_mouse_waypoint) continue;
+//
+//	    // delete the waypoint from the map
+//      m_map->WPDelete(wp->map_wp_item);
+//
+//	    // delete the waypoint from our local waypoint list
+//        m_waypoint_list.removeOne(wp);
+//
+//        delete wp;
+//
+//	    break;
+//	}
+
+    m_mouse_waypoint = NULL;
+}
+*/
+
+/**
+  * TODO: No Waypoint support in v1.0
+  */
+/*
+void OPMapGadgetWidget::onClearWayPointsAct_triggered()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (m_map_mode != Normal_MapMode)
+        return;
+
+    QMutexLocker locker(&m_waypoint_list_mutex);
+
+	m_map->WPDeleteAll();
+
+    foreach (t_waypoint *wp, m_waypoint_list)
+    {
+        if (wp)
+        {
+            delete wp;
+            wp = NULL;
+        }
+    }
+
+    m_waypoint_list.clear();
+}
+*/
+
+void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
+{
+    // center the magic waypoint on the home position
+    homeMagicWaypoint();
+}
+
+void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
+{
+    if (!m_widget || !m_map)
+        return;
+
+    m_map->Home->SetShowSafeArea(show);             // show the safe area
+    m_map->Home->RefreshPos();
+}
+
+void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
+{
+	if (!m_widget || !m_map || !action)
+        return;
+
+    int radius = action->data().toInt();
+
+    m_map->Home->SetSafeArea(radius);               // set the radius (meters)
+    m_map->Home->RefreshPos();
+
+    // move the magic waypoint if need be to keep it within the safe area around the home position
+    keepMagicWaypointWithInSafeArea();
+}
+
+/**
+* move the magic waypoint to the home position
+**/
+void OPMapGadgetWidget::homeMagicWaypoint()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (m_map_mode != MagicWaypoint_MapMode)
+        return;
+
+	m_magic_waypoint.coord = m_home_position.coord;
+
+	if (m_magic_waypoint.map_wp_item)
+		m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
+}
+
+// *************************************************************************************
+// move the UAV to the magic waypoint position
+
+void OPMapGadgetWidget::moveToMagicWaypointPosition()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (m_map_mode != MagicWaypoint_MapMode)
+        return;
+
+//    internals::PointLatLng coord = magic_waypoint.coord;
+//    double altitude = magic_waypoint.altitude;
+
+
+    // ToDo:
+
+}
+
+// *************************************************************************************
+// temporary until an object is created for managing the save/restore
+
+// load the contents of a simple text file into a combobox
+void OPMapGadgetWidget::loadComboBoxLines(QComboBox *comboBox, QString filename)
+{
+    if (!comboBox) return;
+    if (filename.isNull() || filename.isEmpty()) return;
+
+    QFile file(filename);
+    if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
+        return;
+
+    QTextStream in(&file);
+
+    while (!in.atEnd())
+    {
+        QString line = in.readLine().simplified();
+        if (line.isNull() || line.isEmpty()) continue;
+        comboBox->addItem(line);
+    }
+
+    file.close();
+}
+
+// save a combobox text contents to a simple text file
+void OPMapGadgetWidget::saveComboBoxLines(QComboBox *comboBox, QString filename)
+{
+    if (!comboBox) return;
+    if (filename.isNull() || filename.isEmpty()) return;
+
+    QFile file(filename);
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Text))
+        return;
+
+    QTextStream out(&file);
+
+    for (int i = 0; i < comboBox->count(); i++)
+    {
+        QString line = comboBox->itemText(i).simplified();
+        if (line.isNull() || line.isEmpty()) continue;
+        out << line << "\n";
+    }
+
+    file.close();
+}
+
+// *************************************************************************************
+// show/hide the magic waypoint controls
+
+void OPMapGadgetWidget::hideMagicWaypointControls()
+{
+    m_widget->lineWaypoint->setVisible(false);
+    m_widget->toolButtonHomeWaypoint->setVisible(false);
+    m_widget->toolButtonMoveToWP->setVisible(false);
+}
+
+void OPMapGadgetWidget::showMagicWaypointControls()
+{
+    m_widget->lineWaypoint->setVisible(true);
+    m_widget->toolButtonHomeWaypoint->setVisible(true);
+
+    #if defined(allow_manual_home_location_move)
+        m_widget->toolButtonMoveToWP->setVisible(true);
+    #else
+        m_widget->toolButtonMoveToWP->setVisible(false);
+    #endif
+}
+
+// *************************************************************************************
+// move the magic waypoint to keep it within the safe area boundry
+
+void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
+{
+
+    // calcute the bearing and distance from the home position to the magic waypoint
+	double dist = distance(m_home_position.coord, m_magic_waypoint.coord);
+	double bear = bearing(m_home_position.coord, m_magic_waypoint.coord);
+
+    // get the maximum safe distance - in kilometers
+    double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
+
+//    if (dist <= boundry_dist)
+//        return; // the magic waypoint is still within the safe area, don't move it
+
+    if (dist > boundry_dist) dist = boundry_dist;
+
+    // move the magic waypoint
+
+	m_magic_waypoint.coord = destPoint(m_home_position.coord, bear, dist);
+
+    if (m_map_mode == MagicWaypoint_MapMode)
+    {   // move the on-screen waypoint
+		if (m_magic_waypoint.map_wp_item)
+			m_magic_waypoint.map_wp_item->SetCoord(m_magic_waypoint.coord);
+    }
+}
+
+// *************************************************************************************
+// return the distance between two points .. in kilometers
+
+double OPMapGadgetWidget::distance(internals::PointLatLng from, internals::PointLatLng to)
+{
+    double lat1 = from.Lat() * deg_to_rad;
+    double lon1 = from.Lng() * deg_to_rad;
+
+    double lat2 = to.Lat() * deg_to_rad;
+    double lon2 = to.Lng() * deg_to_rad;
+
+    // ***********************
+    // Haversine formula
+/*
+    double delta_lat = lat2 - lat1;
+    double delta_lon = lon2 - lon1;
+
+    double t1 = sin(delta_lat / 2);
+    double t2 = sin(delta_lon / 2);
+    double a = (t1 * t1) + cos(lat1) * cos(lat2) * (t2 * t2);
+    double c = 2 * atan2(sqrt(a), sqrt(1 - a));
+
+    return (earth_mean_radius * c);
+*/
+    // ***********************
+    // Spherical Law of Cosines
+
+    return (acos(sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon2 - lon1)) * earth_mean_radius);
+
+    // ***********************
+}
+
+// *************************************************************************************
+// return the bearing from one point to another .. in degrees
+
+double OPMapGadgetWidget::bearing(internals::PointLatLng from, internals::PointLatLng to)
+{
+    double lat1 = from.Lat() * deg_to_rad;
+    double lon1 = from.Lng() * deg_to_rad;
+
+    double lat2 = to.Lat() * deg_to_rad;
+    double lon2 = to.Lng() * deg_to_rad;
+
+//    double delta_lat = lat2 - lat1;
+    double delta_lon = lon2 - lon1;
+
+    double y = sin(delta_lon) * cos(lat2);
+    double x = cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(delta_lon);
+    double bear = atan2(y, x) * rad_to_deg;
+
+    bear += 360;
+    while (bear < 0) bear += 360;
+    while (bear >= 360) bear -= 360;
+
+    return bear;
+}
+
+// *************************************************************************************
+// return a destination lat/lon point given a source lat/lon point and the bearing and distance from the source point
+
+internals::PointLatLng OPMapGadgetWidget::destPoint(internals::PointLatLng source, double bear, double dist)
+{
+    double lat1 = source.Lat() * deg_to_rad;
+    double lon1 = source.Lng() * deg_to_rad;
+
+    bear *= deg_to_rad;
+
+    double ad = dist / earth_mean_radius;
+
+    double lat2 = asin(sin(lat1) * cos(ad) + cos(lat1) * sin(ad) * cos(bear));
+    double lon2 = lon1 + atan2(sin(bear) * sin(ad) * cos(lat1), cos(ad) - sin(lat1) * sin(lat2));
+
+    return internals::PointLatLng(lat2 * rad_to_deg, lon2 * rad_to_deg);
+}
+
+// *************************************************************************************
+
+bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, double &altitude)
+{
+    double BaseECEF[3];
+    double NED[3];
+    double LLA[3];
+    UAVObject *obj;
+
+	if (!obm)
+		return false;
+
+	obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("HomeLocation")));
+    if (!obj) return false;
+    BaseECEF[0] = obj->getField(QString("ECEF"))->getDouble(0) / 100;
+    BaseECEF[1] = obj->getField(QString("ECEF"))->getDouble(1) / 100;
+    BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2) / 100;
+
+	obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("PositionActual")));
+    if (!obj) return false;
+    NED[0] = obj->getField(QString("North"))->getDouble() / 100;
+    NED[1] = obj->getField(QString("East"))->getDouble() / 100;
+    NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
+
+//    obj = dynamic_cast<UAVDataObject*>(om->getObject(QString("PositionDesired")));
+
+//    obj = dynamic_cast<UAVDataObject*>(objManager->getObject("VelocityActual"));      // air speed
+
+    Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
+
+    latitude = LLA[0];
+    longitude = LLA[1];
+    altitude = LLA[2];
+
+    if (latitude != latitude) latitude = 0; // nan detection
+//    if (isNan(latitude)) latitude = 0; // nan detection
+    else
+//    if (!isFinite(latitude)) latitude = 0;
+//    else
+    if (latitude >  90) latitude =  90;
+    else
+    if (latitude < -90) latitude = -90;
+
+    if (longitude != longitude) longitude = 0; // nan detection
+    else
+//    if (longitude > std::numeric_limits<double>::max()) longitude = 0;  // +infinite
+//    else
+//    if (longitude < -std::numeric_limits<double>::max()) longitude = 0;  // -infinite
+//    else
+    if (longitude >  180) longitude =  180;
+    else
+    if (longitude < -180) longitude = -180;
+
+    if (altitude != altitude) altitude = 0; // nan detection
+
+    return true;
+}
+
+double OPMapGadgetWidget::getUAV_Yaw()
+{
+	if (!obm)
+		return 0;
+
+	UAVObject *obj = dynamic_cast<UAVDataObject*>(obm->getObject(QString("AttitudeActual")));
+	double yaw = obj->getField(QString("Yaw"))->getDouble();
+
+	if (yaw != yaw) yaw = 0; // nan detection
+
+	while (yaw < 0) yaw += 360;
+	while (yaw >= 360) yaw -= 360;
+
+	return yaw;
+}
+
+bool OPMapGadgetWidget::getGPSPosition(double &latitude, double &longitude, double &altitude)
+{
+	double LLA[3];
+
+	if (!obum)
+		return false;
+
+	if (obum->getGPSPosition(LLA) < 0)
+		return false;	// error
+
+	latitude = LLA[0];
+	longitude = LLA[1];
+	altitude = LLA[2];
+
+    return true;
+}
+
+// *************************************************************************************
+
+void OPMapGadgetWidget::setMapFollowingMode()
+{
+    if (!m_widget || !m_map)
+        return;
+
+    if (!followUAVpositionAct->isChecked())
+    {
+        m_map->UAV->SetMapFollowType(UAVMapFollowType::None);
+        m_map->SetRotate(0);								// reset map rotation to 0deg
+    }
+    else
+    if (!followUAVheadingAct->isChecked())
+    {
+        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);
+        m_map->SetRotate(0);								// reset map rotation to 0deg
+    }
+    else
+    {
+        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterMap);      // the map library won't let you reset the uav rotation if it's already in rotate mode
+
+        m_map->UAV->SetUAVHeading(0);                                   // reset the UAV heading to 0deg
+        m_map->UAV->SetMapFollowType(UAVMapFollowType::CenterAndRotateMap);
+    }
+}
+
+// *************************************************************************************
+// update the HomeLocation UAV Object
+
+bool OPMapGadgetWidget::setHomeLocationObject()
+{
+	if (!obum)
+		return false;
+
+	double LLA[3] = {m_home_position.coord.Lat(), m_home_position.coord.Lng(), m_home_position.altitude};
+	return (obum->setHomeLocation(LLA, true) >= 0);
+}
+
+// *************************************************************************************
+
+void OPMapGadgetWidget::SetUavPic(QString UAVPic)
+{
+    m_map->SetUavPic(UAVPic);
+}

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.h

@@ -1,347 +1,361 @@
-/**
- ******************************************************************************
- *
- * @file       opmapgadgetwidget.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup OPMapPlugin OpenPilot Map Plugin
- * @{
- * @brief The OpenPilot Map plugin 
- *****************************************************************************/
-/*
- * 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 OPMAP_GADGETWIDGET_H_
-#define OPMAP_GADGETWIDGET_H_
-
-// ******************************************************
-
-#include <QtGui/QWidget>
-#include <QtGui/QMenu>
-#include <QStringList>
-#include <QStandardItemModel>
-#include <QList>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QPointF>
-
-#include "opmapcontrol/opmapcontrol.h"
-
-#include "opmap_overlay_widget.h"
-#include "opmap_zoom_slider_widget.h"
-#include "opmap_statusbar_widget.h"
-
-#include "utils/coordinateconversions.h"
-
-#include "extensionsystem/pluginmanager.h"
-#include "uavobjectutilmanager.h"
-#include "uavobjectmanager.h"
-#include "uavobject.h"
-#include "objectpersistence.h"
-
-// ******************************************************
-
-namespace Ui
-{
-    class OPMap_Widget;
-}
-
-using namespace mapcontrol;
-
-// ******************************************************
-
-typedef struct t_home
-{
-    internals::PointLatLng coord;
-    double altitude;
-    bool locked;
-} t_home;
-
-// local waypoint list item structure
-typedef struct t_waypoint
-{
-    mapcontrol::WayPointItem *map_wp_item;
-    internals::PointLatLng coord;
-    double altitude;
-    QString description;
-    bool locked;
-    int time_seconds;
-    int hold_time_seconds;
-} t_waypoint;
-
-// ******************************************************
-
-enum opMapModeType { Normal_MapMode = 0,
-                     MagicWaypoint_MapMode = 1};
-
-// ******************************************************
-
-class OPMapGadgetWidget : public QWidget
-{
-    Q_OBJECT
-
-public:
-    OPMapGadgetWidget(QWidget *parent = 0);
-   ~OPMapGadgetWidget();
-
-    /**
-    * @brief public functions
-    *
-    * @param
-    */
-    void setHome(QPointF pos);
-    void setHome(internals::PointLatLng pos_lat_lon);
-    void goHome();
-    void setZoom(int zoom);
-    void setPosition(QPointF pos);
-    void setMapProvider(QString provider);
-    void setUseOpenGL(bool useOpenGL);
-    void setShowTileGridLines(bool showTileGridLines);
-    void setAccessMode(QString accessMode);
-    void setUseMemoryCache(bool useMemoryCache);
-    void setCacheLocation(QString cacheLocation);
-    void setMapMode(opMapModeType mode);
-     void SetUavPic(QString UAVPic);
-
-public slots:
-    void homePositionUpdated(UAVObject *);
-    void onTelemetryConnect();
-    void onTelemetryDisconnect();
-
-protected:
-    void resizeEvent(QResizeEvent *event);
-    void mouseMoveEvent(QMouseEvent *event);
-    void contextMenuEvent(QContextMenuEvent *event);
-    void keyPressEvent(QKeyEvent* event);
-
-private slots:
-    void updatePosition();
-
-    void updateMousePos();
-
-    void zoomIn();
-    void zoomOut();
-
-    /**
-    * @brief signals received from the various map plug-in widget user controls
-    *
-    * Some are currently disabled for the v1.0 plugin version.
-    */
-//    void comboBoxFindPlace_returnPressed();
-//    void on_toolButtonFindPlace_clicked();
-    void on_toolButtonZoomM_clicked();
-    void on_toolButtonZoomP_clicked();
-    void on_toolButtonMapHome_clicked();
-    void on_toolButtonMapUAV_clicked();
-    void on_toolButtonMapUAVheading_clicked();
-    void on_horizontalSliderZoom_sliderMoved(int position);
-//    void on_toolButtonAddWaypoint_clicked();
-//    void on_treeViewWaypoints_clicked(QModelIndex index);
-//    void on_toolButtonHome_clicked();
-//    void on_toolButtonNextWaypoint_clicked();
-//    void on_toolButtonPrevWaypoint_clicked();
-//    void on_toolButtonHoldPosition_clicked();
-//    void on_toolButtonGo_clicked();
-    void on_toolButtonMagicWaypointMapMode_clicked();
-    void on_toolButtonNormalMapMode_clicked();
-    void on_toolButtonHomeWaypoint_clicked();
-    void on_toolButtonMoveToWP_clicked();
-
-    /**
-    * @brief signals received from the map object
-    */
-    void zoomChanged(double zoomt,double zoom, double zoomd);
-    void OnCurrentPositionChanged(internals::PointLatLng point);
-    void OnTileLoadComplete();
-    void OnTileLoadStart();
-    void OnMapDrag();
-    void OnMapZoomChanged();
-    void OnMapTypeChanged(MapType::Types type);
-    void OnEmptyTileError(int zoom, core::Point pos);
-    void OnTilesStillToLoad(int number);
-
-    /**
-      * Unused for now, hooks for future waypoint support
-      */
-    void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
-    void WPValuesChanged(WayPointItem* waypoint);
-    void WPInserted(int const& number, WayPointItem* waypoint);
-    void WPDeleted(int const& number);
-
-    /**
-    * @brief mouse right click context menu signals
-    */
-    void onReloadAct_triggered();
-    void onCopyMouseLatLonToClipAct_triggered();
-    void onCopyMouseLatToClipAct_triggered();
-    void onCopyMouseLonToClipAct_triggered();
-//    void onFindPlaceAct_triggered();
-    void onShowCompassAct_toggled(bool show);
-    void onShowDiagnostics_toggled(bool show);
-    void onShowUAVAct_toggled(bool show);
-    void onShowHomeAct_toggled(bool show);
-    void onShowTrailLineAct_toggled(bool show);
-    void onShowTrailAct_toggled(bool show);
-    void onGoZoomInAct_triggered();
-    void onGoZoomOutAct_triggered();
-    void onGoMouseClickAct_triggered();
-    void onSetHomeAct_triggered();
-    void onGoHomeAct_triggered();
-    void onGoUAVAct_triggered();
-    void onFollowUAVpositionAct_toggled(bool checked);
-    void onFollowUAVheadingAct_toggled(bool checked);
-/*
-    void onOpenWayPointEditorAct_triggered();
-    void onAddWayPointAct_triggered();
-    void onEditWayPointAct_triggered();
-    void onLockWayPointAct_triggered();
-    void onDeleteWayPointAct_triggered();
-    void onClearWayPointsAct_triggered();
-*/
-    void onMapModeActGroup_triggered(QAction *action);
-    void onZoomActGroup_triggered(QAction *action);
-    void onHomeMagicWaypointAct_triggered();
-    void onShowSafeAreaAct_toggled(bool show);
-    void onSafeAreaActGroup_triggered(QAction *action);
-    void onUAVTrailTypeActGroup_triggered(QAction *action);
-    void onClearUAVtrailAct_triggered();
-    void onUAVTrailTimeActGroup_triggered(QAction *action);
-    void onUAVTrailDistanceActGroup_triggered(QAction *action);
-
-private:
-    int min_zoom;
-    int max_zoom;
-
-    double m_heading;	// uav heading
-
-    internals::PointLatLng mouse_lat_lon;
-    internals::PointLatLng context_menu_lat_lon;
-
-    int prev_tile_number;
-
-    opMapModeType m_map_mode;
-
-    t_home home_position;
-
-    t_waypoint magic_waypoint;
-
-    QStringList findPlaceWordList;
-    QCompleter *findPlaceCompleter;
-
-    QTimer *m_updateTimer;
-    QTimer *m_statusUpdateTimer;
-
-    Ui::OPMap_Widget *m_widget;
-
-    mapcontrol::OPMapWidget *m_map;
-
-	ExtensionSystem::PluginManager *pm;
-	UAVObjectManager *obm;
-	UAVObjectUtilManager *obum;
-
-	//opmap_waypointeditor_dialog waypoint_editor_dialog;
-
-    //opmap_edit_waypoint_dialog waypoint_edit_dialog;
-
-    QStandardItemModel wayPoint_treeView_model;
-
-    mapcontrol::WayPointItem *m_mouse_waypoint;
-
-    QList<t_waypoint *> m_waypoint_list;
-    QMutex m_waypoint_list_mutex;
-
-    QMutex m_map_mutex;
-
-    bool telemetry_connected;
-
-    void createActions();
-
-    QAction *closeAct1;
-    QAction *closeAct2;
-    QAction *reloadAct;
-    QAction *copyMouseLatLonToClipAct;
-    QAction *copyMouseLatToClipAct;
-    QAction *copyMouseLonToClipAct;
-    QAction *findPlaceAct;
-    QAction *showCompassAct;
-    QAction *showDiagnostics;
-    QAction *showHomeAct;
-    QAction *showUAVAct;
-    QAction *zoomInAct;
-    QAction *zoomOutAct;
-    QAction *goMouseClickAct;
-    QAction *setHomeAct;
-    QAction *goHomeAct;
-    QAction *goUAVAct;
-    QAction *followUAVpositionAct;
-    QAction *followUAVheadingAct;
-    /*
-    QAction *wayPointEditorAct;
-    QAction *addWayPointAct;
-    QAction *editWayPointAct;
-    QAction *lockWayPointAct;
-    QAction *deleteWayPointAct;
-    QAction *clearWayPointsAct;
-    */
-    QAction *homeMagicWaypointAct;
-
-    QAction *showSafeAreaAct;
-    QActionGroup *safeAreaActGroup;
-    QList<QAction *> safeAreaAct;
-
-    QActionGroup *uavTrailTypeActGroup;
-    QList<QAction *> uavTrailTypeAct;
-    QAction *clearUAVtrailAct;
-    QActionGroup *uavTrailTimeActGroup;
-    QAction *showTrailLineAct;
-    QAction *showTrailAct;
-    QList<QAction *> uavTrailTimeAct;
-    QActionGroup *uavTrailDistanceActGroup;
-    QList<QAction *> uavTrailDistanceAct;
-
-    QActionGroup *mapModeActGroup;
-    QList<QAction *> mapModeAct;
-
-    QActionGroup *zoomActGroup;
-    QList<QAction *> zoomAct;
-
-    void homeMagicWaypoint();
-
-    void moveToMagicWaypointPosition();
-
-    void loadComboBoxLines(QComboBox *comboBox, QString filename);
-    void saveComboBoxLines(QComboBox *comboBox, QString filename);
-
-    void hideMagicWaypointControls();
-    void showMagicWaypointControls();
-
-    void keepMagicWaypointWithInSafeArea();
-
-    double distance(internals::PointLatLng from, internals::PointLatLng to);
-    double bearing(internals::PointLatLng from, internals::PointLatLng to);
-    internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
-
-	bool getUAVPosition(double &latitude, double &longitude, double &altitude);
-	bool getGPSPosition(double &latitude, double &longitude, double &altitude);
-    double getUAV_Yaw();
-
-    void setMapFollowingMode();
-
-	bool setHomeLocationObject();
-};
-
-#endif /* OPMAP_GADGETWIDGET_H_ */
+/**
+ ******************************************************************************
+ *
+ * @file       opmapgadgetwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup OPMapPlugin OpenPilot Map Plugin
+ * @{
+ * @brief The OpenPilot Map plugin 
+ *****************************************************************************/
+/*
+ * 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 OPMAP_GADGETWIDGET_H_
+#define OPMAP_GADGETWIDGET_H_
+
+// ******************************************************
+
+#include <QtGui/QWidget>
+#include <QtGui/QMenu>
+#include <QStringList>
+#include <QStandardItemModel>
+#include <QList>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QPointF>
+
+#include "opmapcontrol/opmapcontrol.h"
+
+#include "opmap_overlay_widget.h"
+#include "opmap_zoom_slider_widget.h"
+#include "opmap_statusbar_widget.h"
+
+#include "utils/coordinateconversions.h"
+
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectutilmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include "objectpersistence.h"
+
+// ******************************************************
+
+namespace Ui
+{
+    class OPMap_Widget;
+}
+
+using namespace mapcontrol;
+
+// ******************************************************
+
+typedef struct t_home
+{
+    internals::PointLatLng coord;
+    double altitude;
+    bool locked;
+} t_home;
+
+// local waypoint list item structure
+typedef struct t_waypoint
+{
+    mapcontrol::WayPointItem *map_wp_item;
+    internals::PointLatLng coord;
+    double altitude;
+    QString description;
+    bool locked;
+    int time_seconds;
+    int hold_time_seconds;
+} t_waypoint;
+
+// ******************************************************
+
+enum opMapModeType { Normal_MapMode = 0,
+                     MagicWaypoint_MapMode = 1};
+
+// ******************************************************
+
+class OPMapGadgetWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    OPMapGadgetWidget(QWidget *parent = 0);
+   ~OPMapGadgetWidget();
+
+    /**
+    * @brief public functions
+    *
+    * @param
+    */
+    void setHome(QPointF pos);
+    void setHome(internals::PointLatLng pos_lat_lon);
+    void goHome();
+    void setZoom(int zoom);
+    void setPosition(QPointF pos);
+    void setMapProvider(QString provider);
+    void setUseOpenGL(bool useOpenGL);
+    void setShowTileGridLines(bool showTileGridLines);
+    void setAccessMode(QString accessMode);
+    void setUseMemoryCache(bool useMemoryCache);
+    void setCacheLocation(QString cacheLocation);
+    void setMapMode(opMapModeType mode);
+	void SetUavPic(QString UAVPic);
+	void setMaxUpdateRate(int update_rate);
+
+public slots:
+    void homePositionUpdated(UAVObject *);
+    void onTelemetryConnect();
+    void onTelemetryDisconnect();
+
+protected:
+    void resizeEvent(QResizeEvent *event);
+    void mouseMoveEvent(QMouseEvent *event);
+    void contextMenuEvent(QContextMenuEvent *event);
+    void keyPressEvent(QKeyEvent* event);
+
+private slots:
+    void updatePosition();
+
+    void updateMousePos();
+
+    void zoomIn();
+    void zoomOut();
+
+    /**
+    * @brief signals received from the various map plug-in widget user controls
+    *
+    * Some are currently disabled for the v1.0 plugin version.
+    */
+//    void comboBoxFindPlace_returnPressed();
+//    void on_toolButtonFindPlace_clicked();
+    void on_toolButtonZoomM_clicked();
+    void on_toolButtonZoomP_clicked();
+    void on_toolButtonMapHome_clicked();
+    void on_toolButtonMapUAV_clicked();
+    void on_toolButtonMapUAVheading_clicked();
+    void on_horizontalSliderZoom_sliderMoved(int position);
+//    void on_toolButtonAddWaypoint_clicked();
+//    void on_treeViewWaypoints_clicked(QModelIndex index);
+//    void on_toolButtonHome_clicked();
+//    void on_toolButtonNextWaypoint_clicked();
+//    void on_toolButtonPrevWaypoint_clicked();
+//    void on_toolButtonHoldPosition_clicked();
+//    void on_toolButtonGo_clicked();
+    void on_toolButtonMagicWaypointMapMode_clicked();
+    void on_toolButtonNormalMapMode_clicked();
+    void on_toolButtonHomeWaypoint_clicked();
+    void on_toolButtonMoveToWP_clicked();
+
+    /**
+    * @brief signals received from the map object
+    */
+    void zoomChanged(double zoomt,double zoom, double zoomd);
+    void OnCurrentPositionChanged(internals::PointLatLng point);
+    void OnTileLoadComplete();
+    void OnTileLoadStart();
+    void OnMapDrag();
+    void OnMapZoomChanged();
+    void OnMapTypeChanged(MapType::Types type);
+    void OnEmptyTileError(int zoom, core::Point pos);
+    void OnTilesStillToLoad(int number);
+
+    /**
+      * Unused for now, hooks for future waypoint support
+      */
+    void WPNumberChanged(int const& oldnumber,int const& newnumber, WayPointItem* waypoint);
+    void WPValuesChanged(WayPointItem* waypoint);
+    void WPInserted(int const& number, WayPointItem* waypoint);
+    void WPDeleted(int const& number);
+
+    /**
+    * @brief mouse right click context menu signals
+    */
+    void onReloadAct_triggered();
+    void onCopyMouseLatLonToClipAct_triggered();
+    void onCopyMouseLatToClipAct_triggered();
+    void onCopyMouseLonToClipAct_triggered();
+//    void onFindPlaceAct_triggered();
+    void onShowCompassAct_toggled(bool show);
+    void onShowDiagnostics_toggled(bool show);
+    void onShowUAVAct_toggled(bool show);
+    void onShowHomeAct_toggled(bool show);
+    void onShowTrailLineAct_toggled(bool show);
+    void onShowTrailAct_toggled(bool show);
+    void onGoZoomInAct_triggered();
+    void onGoZoomOutAct_triggered();
+    void onGoMouseClickAct_triggered();
+    void onSetHomeAct_triggered();
+    void onGoHomeAct_triggered();
+    void onGoUAVAct_triggered();
+    void onFollowUAVpositionAct_toggled(bool checked);
+    void onFollowUAVheadingAct_toggled(bool checked);
+/*
+    void onOpenWayPointEditorAct_triggered();
+    void onAddWayPointAct_triggered();
+    void onEditWayPointAct_triggered();
+    void onLockWayPointAct_triggered();
+    void onDeleteWayPointAct_triggered();
+    void onClearWayPointsAct_triggered();
+*/
+    void onMapModeActGroup_triggered(QAction *action);
+    void onZoomActGroup_triggered(QAction *action);
+    void onHomeMagicWaypointAct_triggered();
+    void onShowSafeAreaAct_toggled(bool show);
+    void onSafeAreaActGroup_triggered(QAction *action);
+    void onUAVTrailTypeActGroup_triggered(QAction *action);
+    void onClearUAVtrailAct_triggered();
+    void onUAVTrailTimeActGroup_triggered(QAction *action);
+    void onUAVTrailDistanceActGroup_triggered(QAction *action);
+	void onMaxUpdateRateActGroup_triggered(QAction *action);
+
+private:
+
+	// *****
+
+	int m_min_zoom;
+	int m_max_zoom;
+
+    double m_heading;	// uav heading
+
+	internals::PointLatLng m_mouse_lat_lon;
+	internals::PointLatLng m_context_menu_lat_lon;
+
+	int m_prev_tile_number;
+
+    opMapModeType m_map_mode;
+
+	int m_maxUpdateRate;
+
+	t_home m_home_position;
+
+	t_waypoint m_magic_waypoint;
+
+	QStringList findPlaceWordList;
+    QCompleter *findPlaceCompleter;
+
+    QTimer *m_updateTimer;
+    QTimer *m_statusUpdateTimer;
+
+    Ui::OPMap_Widget *m_widget;
+
+    mapcontrol::OPMapWidget *m_map;
+
+	ExtensionSystem::PluginManager *pm;
+	UAVObjectManager *obm;
+	UAVObjectUtilManager *obum;
+
+	//opmap_waypointeditor_dialog waypoint_editor_dialog;
+
+    //opmap_edit_waypoint_dialog waypoint_edit_dialog;
+
+    QStandardItemModel wayPoint_treeView_model;
+
+    mapcontrol::WayPointItem *m_mouse_waypoint;
+
+    QList<t_waypoint *> m_waypoint_list;
+    QMutex m_waypoint_list_mutex;
+
+    QMutex m_map_mutex;
+
+	bool m_telemetry_connected;
+
+	// *****
+
+    void createActions();
+
+    QAction *closeAct1;
+    QAction *closeAct2;
+    QAction *reloadAct;
+	QAction *copyMouseLatLonToClipAct;
+    QAction *copyMouseLatToClipAct;
+    QAction *copyMouseLonToClipAct;
+    QAction *findPlaceAct;
+    QAction *showCompassAct;
+    QAction *showDiagnostics;
+    QAction *showHomeAct;
+    QAction *showUAVAct;
+    QAction *zoomInAct;
+    QAction *zoomOutAct;
+    QAction *goMouseClickAct;
+    QAction *setHomeAct;
+    QAction *goHomeAct;
+    QAction *goUAVAct;
+    QAction *followUAVpositionAct;
+    QAction *followUAVheadingAct;
+    /*
+    QAction *wayPointEditorAct;
+    QAction *addWayPointAct;
+    QAction *editWayPointAct;
+    QAction *lockWayPointAct;
+    QAction *deleteWayPointAct;
+    QAction *clearWayPointsAct;
+    */
+    QAction *homeMagicWaypointAct;
+
+    QAction *showSafeAreaAct;
+    QActionGroup *safeAreaActGroup;
+    QList<QAction *> safeAreaAct;
+
+    QActionGroup *uavTrailTypeActGroup;
+    QList<QAction *> uavTrailTypeAct;
+    QAction *clearUAVtrailAct;
+    QActionGroup *uavTrailTimeActGroup;
+    QAction *showTrailLineAct;
+    QAction *showTrailAct;
+    QList<QAction *> uavTrailTimeAct;
+    QActionGroup *uavTrailDistanceActGroup;
+    QList<QAction *> uavTrailDistanceAct;
+
+    QActionGroup *mapModeActGroup;
+    QList<QAction *> mapModeAct;
+
+    QActionGroup *zoomActGroup;
+    QList<QAction *> zoomAct;
+
+	QActionGroup *maxUpdateRateActGroup;
+	QList<QAction *> maxUpdateRateAct;
+
+	// *****
+
+	void homeMagicWaypoint();
+
+    void moveToMagicWaypointPosition();
+
+    void loadComboBoxLines(QComboBox *comboBox, QString filename);
+    void saveComboBoxLines(QComboBox *comboBox, QString filename);
+
+    void hideMagicWaypointControls();
+    void showMagicWaypointControls();
+
+    void keepMagicWaypointWithInSafeArea();
+
+    double distance(internals::PointLatLng from, internals::PointLatLng to);
+    double bearing(internals::PointLatLng from, internals::PointLatLng to);
+    internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);
+
+	bool getUAVPosition(double &latitude, double &longitude, double &altitude);
+	bool getGPSPosition(double &latitude, double &longitude, double &altitude);
+    double getUAV_Yaw();
+
+    void setMapFollowingMode();
+
+	bool setHomeLocationObject();
+};
+
+#endif /* OPMAP_GADGETWIDGET_H_ */

ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp

@@ -151,6 +151,16 @@ void SystemHealthGadgetWidget::setSystemFile(QString dfn)
          QGraphicsScene *l_scene = scene();
          l_scene->setSceneRect(background->boundingRect());
          fitInView(background, Qt::KeepAspectRatio );
+
+         // Check whether the autopilot is connected already, by the way:
+         ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+         UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
+         TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+         if (telMngr->isConnected()) {
+             onAutopilotConnect();
+             SystemAlarms* obj = dynamic_cast<SystemAlarms*>(objManager->getObject(QString("SystemAlarms")));
+             updateAlarms(obj);
+         }
        }
    }
    else

shared/uavobjectdefinition/attitudesettings.xml

@@ -4,7 +4,7 @@
         <field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
         <field name="BoardRotation" units="deg" type="int8" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
         <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
-        <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.01"/>
+        <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="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
 	<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -7,9 +7,9 @@
 	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
 	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
 
-	<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
-	<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.3"/>
-	<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.3"/>
+	<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
+	<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
+	<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0.003,0.3"/>
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
 	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
 	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>