Merge branch 'next' into thread/OP-39

flight/PiOS/Common/pios_bma180.c

@@ -434,7 +434,7 @@ int32_t PIOS_BMA180_Test()
  * @brief IRQ Handler.  Read data from the BMA180 FIFO and push onto a local fifo.
  */
 int32_t bma180_irqs = 0;
-void PIOS_BMA180_IRQHandler(void)
+bool PIOS_BMA180_IRQHandler(void)
 {
 	bma180_irqs++;
 	
@@ -471,6 +471,7 @@ void PIOS_BMA180_IRQHandler(void)
 	
 	fifoBuf_putData(&dev->fifo, (uint8_t *) &data, sizeof(data));
 	
+	return false;
 }
 
 #endif /* PIOS_INCLUDE_BMA180 */

flight/PiOS/Common/pios_hmc5883.c

@@ -391,9 +391,11 @@ int32_t PIOS_HMC5883_Test(void)
 /**
  * @brief IRQ Handler
  */
-void PIOS_HMC5883_IRQHandler(void)
+bool PIOS_HMC5883_IRQHandler(void)
 {
-	pios_hmc5883_data_ready = true;
+	pios_hmc5883_data_ready = true
+	
+	return false;
 }
 
 #endif /* PIOS_INCLUDE_HMC5883 */

flight/PiOS/Common/pios_l3gd20.c

@@ -353,7 +353,7 @@ uint8_t PIOS_L3GD20_Test(void)
 /**
 * @brief IRQ Handler.  Read all the data from onboard buffer
 */
-void PIOS_L3GD20_IRQHandler(void)
+bool PIOS_L3GD20_IRQHandler(void)
 {
 	l3gd20_irq++;
 
@@ -375,7 +375,10 @@ void PIOS_L3GD20_IRQHandler(void)
 	memcpy((uint8_t *) &(data.gyro_x), &rec[1], 6);
 	data.temperature = PIOS_L3GD20_GetReg(PIOS_L3GD20_OUT_TEMP);
 	
-	xQueueSend(dev->queue, (void *) &data, 0);
+	portBASE_TYPE xHigherPriorityTaskWoken;
+	xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
+	
+	return xHigherPriorityTaskWoken == pdTRUE;
 }
 
 #endif /* L3GD20 */

flight/PiOS/Common/pios_mpu6000.c

@@ -400,21 +400,21 @@ uint32_t mpu6000_interval_us;
 uint32_t mpu6000_time_us;
 uint32_t mpu6000_transfer_size;
 
-void PIOS_MPU6000_IRQHandler(void)
+bool PIOS_MPU6000_IRQHandler(void)
 {
 	static uint32_t timeval;
 	mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
 	timeval = PIOS_DELAY_GetRaw();
 
 	if(!mpu6000_configured)
-		return;
+		return false;
 
 	mpu6000_count = PIOS_MPU6000_FifoDepth();
 	if(mpu6000_count < sizeof(struct pios_mpu6000_data))
-		return;
+		return false;
 		
 	if(PIOS_MPU6000_ClaimBus() != 0)
-		return;		
+		return false;
 		
 	uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
 	uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
@@ -422,7 +422,7 @@ void PIOS_MPU6000_IRQHandler(void)
 	if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 		PIOS_MPU6000_ReleaseBus();
 		mpu6000_fails++;
-		return;
+		return false;
 	}
 
 	PIOS_MPU6000_ReleaseBus();
@@ -433,15 +433,12 @@ void PIOS_MPU6000_IRQHandler(void)
 	if (mpu6000_count >= (sizeof(data) * 2)) {
 		mpu6000_fifo_backup++;
 		if(PIOS_MPU6000_ClaimBus() != 0)
-			return;		
+			return false;		
-		
-		uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
-		uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
 		
 		if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 			PIOS_MPU6000_ReleaseBus();
 			mpu6000_fails++;
-			return;
+			return false;
 		}
 		
 		PIOS_MPU6000_ReleaseBus();
@@ -462,11 +459,14 @@ void PIOS_MPU6000_IRQHandler(void)
 	data.gyro_z = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
 #endif
 	
-	xQueueSend(dev->queue, (void *) &data, 0);
+	portBASE_TYPE xHigherPriorityTaskWoken;
+	xQueueSendToBackFromISR(dev->queue, (void *) &data, &xHigherPriorityTaskWoken);
 	
 	mpu6000_irq++;
 	
 	mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
+	
+	return xHigherPriorityTaskWoken == pdTRUE;	
 }
 
 #endif

flight/PiOS/Common/pios_rfm22b.c

@@ -172,7 +172,7 @@ uint32_t random32 = 0x459ab8d8;
 /* Local function forwared declarations */
 static void PIOS_RFM22B_Supervisor(uint32_t ppm_id);
 static void rfm22_processInt(void);
-static void PIOS_RFM22_EXT_Int(void);
+static bool PIOS_RFM22_EXT_Int(void);
 static void rfm22_setTxMode(uint8_t mode);
 
 // SPI read/write functions
@@ -751,12 +751,13 @@ uint8_t rfm22_read(uint8_t addr)
 // external interrupt
 
 
-static void PIOS_RFM22_EXT_Int(void)
+static bool PIOS_RFM22_EXT_Int(void)
 {
 	rfm22_setDebug("Ext Int");
 	if (!exec_using_spi)
 		rfm22_processInt();
 	rfm22_setDebug("Ext Done");
+	return false;
 }
 
 void rfm22_disableExtInt(void)

flight/PiOS/STM32F10x/pios_exti.c

@@ -149,7 +149,7 @@ out_fail:
 	return -1;
 }
 
-static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
+static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 {
 	uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
 
@@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 	if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
 		cfg_index == PIOS_EXTI_INVALID) {
 		/* Unconfigured interrupt just fired! */
-		return;
+		return false;
 	}
 
 	struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
-	cfg->vector();
+	return cfg->vector();
 }
 
-/* Bind Interrupt Handlers */
+#ifdef PIOS_INCLUDE_FREERTOS
-
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
-#define PIOS_EXTI_HANDLE_LINE(line)				\
+	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
+		EXTI_ClearITPendingBit(EXTI_Line##line);	\
+		woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
+	}
+#else
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
 	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
 		EXTI_ClearITPendingBit(EXTI_Line##line);	\
 		PIOS_EXTI_generic_irq_handler(line);		\
 	}
+#endif
+
+/* Bind Interrupt Handlers */
 
 static void PIOS_EXTI_0_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(0);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
 
 static void PIOS_EXTI_1_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(1);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
 
 static void PIOS_EXTI_2_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(2);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
 
 static void PIOS_EXTI_3_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(3);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
 
 static void PIOS_EXTI_4_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(4);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;  // dummy variable
+#endif
+	PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
 
 static void PIOS_EXTI_9_5_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(5);
+#ifdef PIOS_INCLUDE_FREERTOS
-	PIOS_EXTI_HANDLE_LINE(6);
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
-	PIOS_EXTI_HANDLE_LINE(7);
+#else
-	PIOS_EXTI_HANDLE_LINE(8);
+	bool xHigherPriorityTaskWoken;  // dummy variable
-	PIOS_EXTI_HANDLE_LINE(9);
+#endif
+	PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
 
 static void PIOS_EXTI_15_10_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(10);
+#ifdef PIOS_INCLUDE_FREERTOS
-	PIOS_EXTI_HANDLE_LINE(11);
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
-	PIOS_EXTI_HANDLE_LINE(12);
+#else
-	PIOS_EXTI_HANDLE_LINE(13);
+	bool xHigherPriorityTaskWoken;  // dummy variable
-	PIOS_EXTI_HANDLE_LINE(14);
+#endif
-	PIOS_EXTI_HANDLE_LINE(15);
+	PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
 

flight/PiOS/STM32F10x/pios_usb_cdc.c

@@ -321,7 +321,10 @@ RESULT PIOS_USB_CDC_SetControlLineState(void)
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return USB_UNSUPPORT;
+	}
 
 	uint8_t wValue0 = pInformation->USBwValue0;
 	uint8_t wValue1 = pInformation->USBwValue1;
@@ -338,14 +341,25 @@ static struct usb_cdc_line_coding line_coding = {
 	.bDataBits   = 8,
 };
 
-RESULT PIOS_USB_CDC_SetLineCoding(void)
+uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length)
 {
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return NULL;
+	}
 
-	return USB_SUCCESS;
+	if (Length == 0) {
+		/* Report the number of bytes we're prepared to consume */
+		pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);
+		pInformation->Ctrl_Info.Usb_rLength = sizeof(line_coding);
+		return NULL;
+	} else {
+		/* Give out a pointer to the data struct */
+		return ((uint8_t *) &line_coding);
+	}
 }
 
 const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
@@ -353,7 +367,10 @@ const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length)
 	struct pios_usb_cdc_dev * usb_cdc_dev = (struct pios_usb_cdc_dev *)pios_usb_cdc_id;
 
 	bool valid = PIOS_USB_CDC_validate(usb_cdc_dev);
-	PIOS_Assert(valid);
+	if (!valid) {
+		/* No CDC interface is configured */
+		return NULL;
+	}
 
 	if (Length == 0) {
 		pInformation->Ctrl_Info.Usb_wLength = sizeof(line_coding);

flight/PiOS/STM32F10x/pios_usbhook.c

@@ -293,13 +293,16 @@ static void PIOS_USBHOOK_Status_Out(void)
 * Output         : None.
 * Return         : USB_UNSUPPORT or USB_SUCCESS.
 *******************************************************************************/
+extern uint8_t *PIOS_USB_CDC_SetLineCoding(uint16_t Length);
 extern const uint8_t *PIOS_USB_CDC_GetLineCoding(uint16_t Length);
 
 static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 {
-	const uint8_t *(*CopyRoutine) (uint16_t);
+	uint8_t *(*CopyOutRoutine) (uint16_t);
+	const uint8_t *(*CopyInRoutine) (uint16_t);
 
-	CopyRoutine = NULL;
+	CopyInRoutine = NULL;
+	CopyOutRoutine = NULL;
 
 	switch (Type_Recipient) {
 	case (STANDARD_REQUEST | INTERFACE_RECIPIENT):
@@ -313,10 +316,10 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 			case GET_DESCRIPTOR:
 				switch (pInformation->USBwValue1) {
 				case USB_DESC_TYPE_REPORT:
-					CopyRoutine = PIOS_USBHOOK_GetReportDescriptor;
+					CopyInRoutine = PIOS_USBHOOK_GetReportDescriptor;
 					break;
 				case USB_DESC_TYPE_HID:
-					CopyRoutine = PIOS_USBHOOK_GetHIDDescriptor;
+					CopyInRoutine = PIOS_USBHOOK_GetHIDDescriptor;
 					break;
 				}
 			}
@@ -332,7 +335,7 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 #endif
 			switch (RequestNo) {
 			case USB_HID_REQ_GET_PROTOCOL:
-				CopyRoutine = PIOS_USBHOOK_GetProtocolValue;
+				CopyInRoutine = PIOS_USBHOOK_GetProtocolValue;
 				break;
 			}
 
@@ -340,8 +343,11 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 #if defined(PIOS_INCLUDE_USB_CDC)
 		case 0:		/* CDC Call Control Interface */
 			switch (RequestNo) {
+			case USB_CDC_REQ_SET_LINE_CODING:
+				CopyOutRoutine = PIOS_USB_CDC_SetLineCoding;
+				break;
 			case USB_CDC_REQ_GET_LINE_CODING:
-				//CopyRoutine = PIOS_USB_CDC_GetLineCoding;
+				CopyInRoutine = PIOS_USB_CDC_GetLineCoding;
 				break;
 			}
 
@@ -359,13 +365,27 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 		break;
 	}
 
-	if (CopyRoutine == NULL) {
+	/* No registered copy routine */
+	if ((CopyInRoutine == NULL) && (CopyOutRoutine == NULL)) {
 		return USB_UNSUPPORT;
 	}
 
-	pInformation->Ctrl_Info.CopyDataIn = CopyRoutine;
+	/* Registered copy in AND copy out routine */
+	if ((CopyInRoutine != NULL) && (CopyOutRoutine != NULL)) {
+		/* This should never happen */
+		return USB_UNSUPPORT;
+	}
+
+	if (CopyInRoutine != NULL) {
+		pInformation->Ctrl_Info.CopyDataIn = CopyInRoutine;
 		pInformation->Ctrl_Info.Usb_wOffset = 0;
-	(*CopyRoutine) (0);
+		(*CopyInRoutine) (0);
+	} else if (CopyOutRoutine != NULL) {
+		pInformation->Ctrl_Info.CopyDataOut = CopyOutRoutine;
+		pInformation->Ctrl_Info.Usb_rOffset = 0;
+		(*CopyOutRoutine) (0);
+	}
+
 	return USB_SUCCESS;
 }
 
@@ -377,7 +397,6 @@ static RESULT PIOS_USBHOOK_Data_Setup(uint8_t RequestNo)
 * Return         : USB_UNSUPPORT or USB_SUCCESS.
 *******************************************************************************/
 extern RESULT PIOS_USB_CDC_SetControlLineState(void);
-extern RESULT PIOS_USB_CDC_SetLineCoding(void);
 
 static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
 {
@@ -400,9 +419,6 @@ static RESULT PIOS_USBHOOK_NoData_Setup(uint8_t RequestNo)
 #if defined(PIOS_INCLUDE_USB_CDC)
 		case 0:		/* CDC Call Control Interface */
 			switch (RequestNo) {
-			case USB_CDC_REQ_SET_LINE_CODING:
-				return PIOS_USB_CDC_SetLineCoding();
-				break;
 			case USB_CDC_REQ_SET_CONTROL_LINE_STATE:
 				return PIOS_USB_CDC_SetControlLineState();
 				break;

flight/PiOS/STM32F4xx/pios_exti.c

@@ -149,7 +149,7 @@ out_fail:
 	return -1;
 }
 
-static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
+static bool PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 {
 	uint8_t cfg_index = pios_exti_line_to_cfg_map[line_index];
 
@@ -158,69 +158,133 @@ static void PIOS_EXTI_generic_irq_handler(uint8_t line_index)
 	if (cfg_index > NELEMENTS(pios_exti_line_to_cfg_map) ||
 		cfg_index == PIOS_EXTI_INVALID) {
 		/* Unconfigured interrupt just fired! */
-		return;
+		return false;
 	}
 
 	struct pios_exti_cfg * cfg = &__start__exti + cfg_index;
-	cfg->vector();
+	return cfg->vector();
 }
 
 /* Bind Interrupt Handlers */
 
-#define PIOS_EXTI_HANDLE_LINE(line)				\
+#ifdef PIOS_INCLUDE_FREERTOS
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
+	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
+		EXTI_ClearITPendingBit(EXTI_Line##line);	\
+		woken = PIOS_EXTI_generic_irq_handler(line) ? pdTRUE : woken; \
+	}
+#else
+#define PIOS_EXTI_HANDLE_LINE(line, woken)			\
 	if (EXTI_GetITStatus(EXTI_Line##line) != RESET) {	\
 		EXTI_ClearITPendingBit(EXTI_Line##line);	\
 		PIOS_EXTI_generic_irq_handler(line);		\
 	}
+#endif
 
 static void PIOS_EXTI_0_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(0);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(0, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI0_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_0_irq_handler")));
 
 static void PIOS_EXTI_1_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(1);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(1, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI1_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_1_irq_handler")));
 
 static void PIOS_EXTI_2_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(2);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(2, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI2_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_2_irq_handler")));
 
 static void PIOS_EXTI_3_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(3);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(3, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI3_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_3_irq_handler")));
 
 static void PIOS_EXTI_4_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(4);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+#else
+	bool xHigherPriorityTaskWoken;
+#endif
+	PIOS_EXTI_HANDLE_LINE(4, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI4_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_4_irq_handler")));
 
 static void PIOS_EXTI_9_5_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(5);
+#ifdef PIOS_INCLUDE_FREERTOS
-	PIOS_EXTI_HANDLE_LINE(6);
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
-	PIOS_EXTI_HANDLE_LINE(7);
+#else
-	PIOS_EXTI_HANDLE_LINE(8);
+	bool xHigherPriorityTaskWoken;
-	PIOS_EXTI_HANDLE_LINE(9);
+#endif
+	PIOS_EXTI_HANDLE_LINE(5, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(6, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(7, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(8, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(9, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI9_5_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_9_5_irq_handler")));
 
 static void PIOS_EXTI_15_10_irq_handler (void)
 {
-	PIOS_EXTI_HANDLE_LINE(10);
+#ifdef PIOS_INCLUDE_FREERTOS
-	PIOS_EXTI_HANDLE_LINE(11);
+	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
-	PIOS_EXTI_HANDLE_LINE(12);
+#else
-	PIOS_EXTI_HANDLE_LINE(13);
+	bool xHigherPriorityTaskWoken;
-	PIOS_EXTI_HANDLE_LINE(14);
+#endif
-	PIOS_EXTI_HANDLE_LINE(15);
+	PIOS_EXTI_HANDLE_LINE(10, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(11, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(12, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(13, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(14, xHigherPriorityTaskWoken);
+	PIOS_EXTI_HANDLE_LINE(15, xHigherPriorityTaskWoken);
+#ifdef PIOS_INCLUDE_FREERTOS
+	portEND_SWITCHING_ISR(xHigherPriorityTaskWoken);
+#endif
 }
 void EXTI15_10_IRQHandler(void) __attribute__ ((alias ("PIOS_EXTI_15_10_irq_handler")));
 

flight/PiOS/inc/pios_bma180.h

@@ -103,7 +103,7 @@ extern float PIOS_BMA180_GetScale();
 extern int32_t PIOS_BMA180_ReadFifo(struct pios_bma180_data * buffer);
 extern int32_t PIOS_BMA180_ReadAccels(struct pios_bma180_data * data);
 extern int32_t PIOS_BMA180_Test();
-extern void PIOS_BMA180_IRQHandler();
+extern bool PIOS_BMA180_IRQHandler();
 
 #endif /* PIOS_BMA180_H */
 

flight/PiOS/inc/pios_exti.h

@@ -36,7 +36,7 @@
 #include <pios_stm32.h>
 
 struct pios_exti_cfg {
-	void (* vector)(void);
+	bool (* vector)(void);
 	uint32_t line;		/* use EXTI_LineN macros */
 	struct stm32_gpio pin;
 	struct stm32_irq irq;

flight/PiOS/inc/pios_hmc5883.h

@@ -107,7 +107,7 @@ extern bool PIOS_HMC5883_NewDataAvailable(void);
 extern int32_t PIOS_HMC5883_ReadMag(int16_t out[3]);
 extern uint8_t PIOS_HMC5883_ReadID(uint8_t out[4]);
 extern int32_t PIOS_HMC5883_Test(void);
-extern void PIOS_HMC5883_IRQHandler();
+bool void PIOS_HMC5883_IRQHandler();
 #endif /* PIOS_HMC5883_H */
 
 /** 

flight/PiOS/inc/pios_l3gd20.h

@@ -141,7 +141,7 @@ extern int32_t PIOS_L3GD20_SetRange(enum pios_l3gd20_range range);
 extern float PIOS_L3GD20_GetScale();
 extern int32_t PIOS_L3GD20_ReadID();
 extern uint8_t PIOS_L3GD20_Test();
-extern void PIOS_L3GD20_IRQHandler();
+bool void PIOS_L3GD20_IRQHandler();
 
 #endif /* PIOS_L3GD20_H */
 

flight/PiOS/inc/pios_mpu6000.h

@@ -156,7 +156,7 @@ extern int32_t PIOS_MPU6000_ReadID();
 extern uint8_t PIOS_MPU6000_Test();
 extern float PIOS_MPU6000_GetScale();
 extern float PIOS_MPU6000_GetAccelScale();
-extern void PIOS_MPU6000_IRQHandler(void);
+extern bool PIOS_MPU6000_IRQHandler(void);
 
 #endif /* PIOS_MPU6000_H */
 

flight/PiOS/inc/pios_usb_defs.h

@@ -267,7 +267,7 @@ enum usb_cdc_requests {
 	USB_CDC_REQ_SET_LINE_CODING        = 0x20,
 	USB_CDC_REQ_GET_LINE_CODING        = 0x21,
 
-	USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x23,
+	USB_CDC_REQ_SET_CONTROL_LINE_STATE = 0x22,
 };
 
 struct usb_cdc_header_func_desc {

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

@@ -38,15 +38,18 @@
 
 namespace Utils {
 
-	HomeLocationUtil::HomeLocationUtil()
+HomeLocationUtil::HomeLocationUtil()
-    {
+{
-//        Initialize();
+}
-    }
 
-	// input params: LLA
+/*
-	//
+    /**
-	// output params: ECEF, RNE and Be
+     * @brief Get local magnetic field
-	int HomeLocationUtil::getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3])
+     * @param[in] LLA The longitude-latitude-altitude coordinate to compute the magnetic field at
+     * @param[out] Be The resulting magnetic field at that location and time in [mGau](?)
+     * @returns 0 if successful, -1 otherwise.
+     */
+    int HomeLocationUtil::getDetails(double LLA[3], double Be[3])
     {
         // *************
         // check input parms
@@ -66,10 +69,8 @@ namespace Utils {
 
         QDateTime dt = QDateTime::currentDateTime().toUTC();
 
-		CoordinateConversions().LLA2ECEF(LLA, ECEF);
+        //Fetch world magnetic model
-		CoordinateConversions().RneFromLLA(LLA, (double (*)[3])RNE);
+        Q_ASSERT(WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) >= 0);
-		if (WorldMagModel().GetMagVector(LLA, dt.date().month(), dt.date().day(), dt.date().year(), Be) < 0)
-			return -6;
 
         return 0;	// OK
     }

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

@@ -40,7 +40,7 @@ namespace Utils {
         public:
 			HomeLocationUtil();
 
-			int getDetails(double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
+            int getDetails(double LLA[3], double Be[3]);
 
         private:
 

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

@@ -14,9 +14,6 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_10">
-   <property name="spacing">
-    <number>6</number>
-   </property>
    <property name="margin">
     <number>12</number>
    </property>
@@ -132,7 +129,7 @@
             <x>0</x>
             <y>0</y>
             <width>935</width>
-            <height>554</height>
+            <height>537</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
@@ -145,9 +142,6 @@
               <string/>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_2">
-              <property name="spacing">
-               <number>6</number>
-              </property>
               <property name="margin">
                <number>12</number>
               </property>
@@ -705,12 +699,12 @@ margin:1px;</string>
              </widget>
              <widget class="QWidget" name="multiRotor">
               <layout class="QGridLayout" name="gridLayout_7" columnstretch="0,0,0">
-               <property name="verticalSpacing">
-                <number>24</number>
-               </property>
                <property name="margin">
                 <number>0</number>
                </property>
+               <property name="verticalSpacing">
+                <number>-1</number>
+               </property>
                <item row="0" column="0">
                 <widget class="QGroupBox" name="groupBox_10">
                  <property name="minimumSize">
@@ -853,7 +847,7 @@ margin:1px;</string>
                <item row="0" column="2">
                 <widget class="QGroupBox" name="groupBox_6">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+                  <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
@@ -1098,7 +1092,7 @@ margin:1px;</string>
 Typical value is 50% for + or X configuration on quads.</string>
                       </property>
                       <property name="minimum">
-                       <number>-100</number>
+                       <number>0</number>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -1191,7 +1185,7 @@ margin:1px;</string>
                <item row="1" column="0" colspan="3">
                 <widget class="QGroupBox" name="groupBox">
                  <property name="sizePolicy">
-                  <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
+                  <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                    <horstretch>0</horstretch>
                    <verstretch>0</verstretch>
                   </sizepolicy>
@@ -1456,7 +1450,7 @@ font: bold 12px;
 margin:1px;</string>
                     </property>
                     <property name="text">
-                     <string>Multirotor Yaw Direction</string>
+                     <string>Multirotor Motor Direction</string>
                     </property>
                     <property name="alignment">
                      <set>Qt::AlignCenter</set>
@@ -1512,9 +1506,9 @@ margin:1px;</string>
                    </widget>
                   </item>
                   <item row="3" column="4">
-                   <widget class="QCheckBox" name="TricopterRevMixercheckBox">
+                   <widget class="QCheckBox" name="MultirotorRevMixercheckBox">
                     <property name="text">
-                     <string>Reverse Yaw Mix</string>
+                     <string>Reverse all motors</string>
                     </property>
                    </widget>
                   </item>
@@ -2820,7 +2814,7 @@ margin:1px;</string>
             <x>0</x>
             <y>0</y>
             <width>935</width>
-            <height>554</height>
+            <height>537</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -2836,9 +2830,6 @@ margin:1px;</string>
               <property name="margin">
                <number>12</number>
               </property>
-              <property name="spacing">
-               <number>6</number>
-              </property>
               <item row="2" column="0" colspan="3">
                <layout class="QHBoxLayout" name="horizontalLayout_10">
                 <item>
@@ -3206,14 +3197,15 @@ p, li { white-space: pre-wrap; }
               <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
 &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
 p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
 &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
 &lt;tr&gt;
 &lt;td style=&quot;border: none;&quot;&gt;
 &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
 &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt;
+&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
              </property>
             </widget>
            </item>
@@ -3264,7 +3256,7 @@ p, li { white-space: pre-wrap; }
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc">
+        <iconset resource="../coreplugin/core.qrc">
          <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
        </property>
        <property name="iconSize">
@@ -3317,7 +3309,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="E:/Users/Chris/Desktop/src/plugins/coreplugin/core.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections>
   <connection>

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

@@ -6,22 +6,214 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>443</width>
+    <width>739</width>
-    <height>575</height>
+    <height>688</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QGroupBox" name="groupBox">
+  <layout class="QVBoxLayout" name="verticalLayout_2">
+   <property name="spacing">
+    <number>6</number>
+   </property>
+   <property name="margin">
+    <number>12</number>
+   </property>
+   <item>
+    <widget class="QTabWidget" name="Autotune_tabs">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="Preautotune_tab">
+      <attribute name="title">
+       <string>Pre-Autotune</string>
+      </attribute>
+      <layout class="QGridLayout" name="gridLayout_5">
+       <property name="margin">
+        <number>12</number>
+       </property>
+       <item row="3" column="0" colspan="3">
+        <widget class="QTextEdit" name="textEdit">
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Sunken</enum>
+         </property>
+         <property name="html">
+          <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
+&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
+p, li { white-space: pre-wrap; }
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:20pt; font-weight:600; color:#ff0000;&quot;&gt;WARNING:&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
+&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;This is an experimental plugin for the GCS that is going to make your aircraft shake, etc, so test with lots of space and be &lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:600;&quot;&gt;very very wary&lt;/span&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt; for it creating bad tuning values.  Basically there is no reason to think this will work at all.&lt;br /&gt;&lt;br /&gt;To use autotuning, here are the steps:&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
+&lt;ul style=&quot;margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;&quot;&gt;&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;On the &lt;span style=&quot; font-style:italic;&quot;&gt;Input configuration&lt;/span&gt; tab, &lt;span style=&quot; font-style:italic;&quot;&gt;Flight Mode Switch Settings&lt;/span&gt;, set one of your flight modes to &amp;quot;Autotune&amp;quot;.&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Take off, change flight mode to autotune, keep it in the air while it's shaking.&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Land and disarm.  (note - you &lt;span style=&quot; font-weight:600;&quot;&gt;MUST&lt;/span&gt; stay in autotune mode through this point, leaving autotune before disarming aborts the process)&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;We'd recommend checking your stabilization settings before trying them out (ie: compare to what you currently use, if they are VASTLY different, probably a good indication bad things will happen).&lt;br /&gt;&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Test fly the new settings.&lt;/li&gt;
+&lt;li style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot; style=&quot; margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;If you're ready to proceed, click the &lt;span style=&quot; font-style:italic;&quot;&gt;Enable Autotune Module&lt;/span&gt; checkbox above this text, click &lt;span style=&quot; font-style:italic;&quot;&gt;save&lt;/span&gt; and go to the next tab.&lt;/li&gt;&lt;/ul&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+        </widget>
+       </item>
+       <item row="2" column="0" colspan="3">
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="title">
+          <string>Module Control</string>
+         </property>
+         <layout class="QHBoxLayout" name="horizontalLayout_3">
+          <item>
+           <widget class="QCheckBox" name="enableAutoTune">
+            <property name="text">
+             <string>Enable Autotune Module</string>
+            </property>
+            <property name="checkable">
+             <bool>true</bool>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer_5">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>454</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+         <zorder>horizontalSpacer_5</zorder>
+         <zorder>enableAutoTune</zorder>
+         <zorder>horizontalSpacer_4</zorder>
+         <zorder>enableAutoTune</zorder>
+         <zorder>horizontalSpacer_5</zorder>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+     <widget class="QWidget" name="autotune_tab">
+      <attribute name="title">
+       <string>Autotune Setup</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
           <property name="geometry">
            <rect>
-     <x>20</x>
+            <x>0</x>
-     <y>10</y>
+            <y>0</y>
-     <width>401</width>
+            <width>711</width>
-     <height>131</height>
+            <height>596</height>
            </rect>
           </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="autoFillBackground">
+           <bool>true</bool>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="spacing">
+            <number>12</number>
+           </property>
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
              <property name="title">
               <string>Tuning Aggressiveness</string>
              </property>
@@ -78,128 +270,9 @@
               </item>
              </layout>
             </widget>
-  <widget class="QGroupBox" name="groupBox_2">
-   <property name="geometry">
-    <rect>
-     <x>20</x>
-     <y>250</y>
-     <width>401</width>
-     <height>121</height>
-    </rect>
-   </property>
-   <property name="title">
-    <string>Computed Values</string>
-   </property>
-   <layout class="QGridLayout" name="gridLayout_3">
-    <item row="0" column="1">
-     <widget class="QLabel" name="label_5">
-      <property name="text">
-       <string>RateKp</string>
-      </property>
-     </widget>
            </item>
-    <item row="1" column="0">
+           <item>
-     <widget class="QLabel" name="label_4">
-      <property name="text">
-       <string>Roll</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="2">
-     <widget class="QLabel" name="label_9">
-      <property name="text">
-       <string>RateKi</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="3">
-     <widget class="QLabel" name="label_10">
-      <property name="text">
-       <string>AttitudeKp</string>
-      </property>
-     </widget>
-    </item>
-    <item row="0" column="4">
-     <widget class="QLabel" name="label_11">
-      <property name="text">
-       <string>AttitudeKi</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="0">
-     <widget class="QLabel" name="label_12">
-      <property name="text">
-       <string>Pitch</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="1">
-     <widget class="QLabel" name="rollRateKp">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="1">
-     <widget class="QLabel" name="pitchRateKp">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="2">
-     <widget class="QLabel" name="rollRateKi">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="2">
-     <widget class="QLabel" name="pitchRateKi">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="3">
-     <widget class="QLabel" name="rollAttitudeKp">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="3">
-     <widget class="QLabel" name="pitchAttitudeKp">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="1" column="4">
-     <widget class="QLabel" name="rollAttitudeKi">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-    <item row="2" column="4">
-     <widget class="QLabel" name="pitchAttitudeKi">
-      <property name="text">
-       <string>0</string>
-      </property>
-     </widget>
-    </item>
-   </layout>
-  </widget>
             <widget class="QGroupBox" name="groupBox_3">
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-     <x>20</x>
-     <y>140</y>
-     <width>401</width>
-     <height>111</height>
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-   </property>
              <property name="title">
               <string>Measured Properties</string>
              </property>
@@ -302,770 +375,144 @@
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              </layout>
             </widget>
-  <widget class="QGroupBox" name="RateStabilizationGroup_21">
+           </item>
-   <property name="geometry">
+           <item>
-    <rect>
+            <widget class="QGroupBox" name="groupBox_2">
-     <x>20</x>
-     <y>480</y>
-     <width>401</width>
-     <height>79</height>
-    </rect>
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-    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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-   <property name="minimumSize">
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-     <width>0</width>
-     <height>79</height>
-    </size>
-   </property>
-   <property name="maximumSize">
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-     <width>16777215</width>
-     <height>79</height>
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-        <height>10</height>
-       </size>
-      </property>
-     </spacer>
-    </item>
-    <item row="0" column="1">
-     <widget class="QPushButton" name="stabilizationReloadBoardData_6">
-      <property name="minimumSize">
-       <size>
-        <width>120</width>
-        <height>28</height>
-       </size>
-      </property>
-      <property name="toolTip">
-       <string>Reloads the saved settings into GCS.
-Useful if you have accidentally changed some settings.</string>
-      </property>
-      <property name="styleSheet">
-       <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-      </property>
-      <property name="text">
-       <string>Reload Board Data</string>
-      </property>
-      <property name="objrelation" stdset="0">
-       <stringlist>
-        <string>button:reload</string>
-        <string>buttongroup:10</string>
-       </stringlist>
-      </property>
-     </widget>
-    </item>
               <item row="0" column="2">
-     <widget class="QPushButton" name="saveStabilizationToRAM_6">
+               <widget class="QLabel" name="label_9">
-      <property name="minimumSize">
-       <size>
-        <width>60</width>
-        <height>28</height>
-       </size>
-      </property>
-      <property name="toolTip">
-       <string>Send settings to the board but do not save to the non-volatile memory</string>
-      </property>
-      <property name="styleSheet">
-       <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-      </property>
                 <property name="text">
-       <string>Apply</string>
+                 <string>RateKi</string>
-      </property>
-      <property name="objrelation" stdset="0">
-       <stringlist>
-        <string>button:apply</string>
-       </stringlist>
                 </property>
                </widget>
               </item>
               <item row="0" column="3">
-     <widget class="QPushButton" name="saveStabilizationToSD_6">
+               <widget class="QLabel" name="label_10">
-      <property name="minimumSize">
-       <size>
-        <width>60</width>
-        <height>28</height>
-       </size>
-      </property>
-      <property name="toolTip">
-       <string>Send settings to the board and save to the non-volatile memory</string>
-      </property>
-      <property name="styleSheet">
-       <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-      </property>
                 <property name="text">
-       <string>Save</string>
+                 <string>AttitudeKp</string>
                 </property>
-      <property name="objrelation" stdset="0">
+               </widget>
-       <stringlist>
+              </item>
-        <string>button:save</string>
+              <item row="2" column="2">
-       </stringlist>
+               <widget class="QLabel" name="pitchRateKi">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_12">
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_5">
+                <property name="text">
+                 <string>RateKp</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QLabel" name="rollRateKp">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="4">
+               <widget class="QLabel" name="label_11">
+                <property name="text">
+                 <string>AttitudeKi</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_4">
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QLabel" name="rollAttitudeKp">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="4">
+               <widget class="QLabel" name="pitchAttitudeKi">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <widget class="QLabel" name="pitchAttitudeKp">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="1">
+               <widget class="QLabel" name="pitchRateKp">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QLabel" name="rollRateKi">
+                <property name="text">
+                 <string>0</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <widget class="QLabel" name="rollAttitudeKi">
+                <property name="text">
+                 <string>0</string>
                 </property>
                </widget>
               </item>
              </layout>
             </widget>
-  <widget class="QLabel" name="label_22">
+           </item>
-   <property name="geometry">
+           <item>
-    <rect>
+            <widget class="QGroupBox" name="groupBox_4">
-     <x>30</x>
+             <property name="title">
-     <y>440</y>
+              <string/>
-     <width>401</width>
-     <height>31</height>
-    </rect>
              </property>
-   <property name="text">
+             <layout class="QHBoxLayout" name="horizontalLayout_2">
-    <string>The buttons below change the autotuning settings which
+              <item>
-will alter things for the next autotuning flight</string>
+               <layout class="QGridLayout" name="gridLayout_4">
-   </property>
+                <item row="0" column="1" colspan="2">
-  </widget>
                  <widget class="QPushButton" name="useComputedValues">
-   <property name="geometry">
-    <rect>
-     <x>250</x>
-     <y>380</y>
-     <width>171</width>
-     <height>31</height>
-    </rect>
-   </property>
                   <property name="styleSheet">
-    <string notr="true">QPushButton {
+                   <string notr="true"/>
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
                   </property>
                   <property name="text">
                    <string>Apply Computed Values</string>
                   </property>
                  </widget>
+                </item>
+                <item row="1" column="1">
                  <widget class="QLabel" name="label_21">
-   <property name="geometry">
-    <rect>
-     <x>40</x>
-     <y>410</y>
-     <width>104</width>
-     <height>20</height>
-    </rect>
-   </property>
                   <property name="text">
                    <string>Step Size</string>
                   </property>
-  </widget>
+                  <property name="alignment">
-  <widget class="QSlider" name="stepSizeSlider">
+                   <set>Qt::AlignCenter</set>
-   <property name="geometry">
-    <rect>
-     <x>149</x>
-     <y>410</y>
-     <width>266</width>
-     <height>20</height>
-    </rect>
                   </property>
+                 </widget>
+                </item>
+                <item row="1" column="2">
+                 <widget class="QSlider" name="stepSizeSlider">
                   <property name="orientation">
                    <enum>Qt::Horizontal</enum>
                   </property>
@@ -1078,6 +525,168 @@ border-radius: 4;
                    </stringlist>
                   </property>
                  </widget>
+                </item>
+                <item row="0" column="3">
+                 <spacer name="horizontalSpacer">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="1" column="0">
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="2" column="0" colspan="4">
+                 <widget class="QLabel" name="label_22">
+                  <property name="text">
+                   <string>The Apply and Save buttons below save the autotuning settings which
+will alter settings for the next autotuning flight</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignCenter</set>
+                  </property>
+                 </widget>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>77</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Expanding</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>13</width>
+         <height>25</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="stabilizationReloadBoardData_6">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Reloads the saved settings into GCS.
+Useful if you have accidentally changed some settings.</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Reload Board Data</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:reload</string>
+         <string>buttongroup:10</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToRAM_6">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board but do not save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:apply</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveStabilizationToSD_6">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Send settings to the board and save to the non-volatile memory</string>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+       <property name="objrelation" stdset="0">
+        <stringlist>
+         <string>button:save</string>
+        </stringlist>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
  </widget>
  <resources/>
  <connections/>

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

@@ -6,22 +6,34 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>789</width>
+    <width>786</width>
-    <height>615</height>
+    <height>566</height>
    </rect>
   </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="minimumSize">
+   <size>
+    <width>0</width>
+    <height>0</height>
+   </size>
+  </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_5">
-   <property name="spacing">
-    <number>6</number>
-   </property>
-   <property name="margin">
-    <number>12</number>
-   </property>
    <item>
     <widget class="QTabWidget" name="tabWidget">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
      <property name="currentIndex">
       <number>0</number>
      </property>
@@ -35,6 +47,12 @@
        </property>
        <item>
         <widget class="QScrollArea" name="scrollArea">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
          <property name="frameShape">
           <enum>QFrame::NoFrame</enum>
          </property>
@@ -46,19 +64,37 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>742</width>
+            <width>741</width>
-            <height>560</height>
+            <height>559</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
            <property name="spacing">
-            <number>6</number>
+            <number>12</number>
            </property>
            <property name="margin">
             <number>12</number>
            </property>
            <item>
             <widget class="QGroupBox" name="groupBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
              <property name="title">
               <string>Module Control</string>
              </property>
@@ -86,7 +122,7 @@
            <item>
             <widget class="QGroupBox" name="groupBox_5">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -94,7 +130,13 @@
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>131</height>
+               <height>130</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
               </size>
              </property>
              <property name="title">
@@ -340,7 +382,7 @@ margin:1px;</string>
            <item>
             <widget class="QGroupBox" name="groupBox">
              <property name="sizePolicy">
-              <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
                <horstretch>0</horstretch>
                <verstretch>0</verstretch>
               </sizepolicy>
@@ -348,13 +390,22 @@ margin:1px;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>266</height>
+               <height>250</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
               </size>
              </property>
              <property name="title">
               <string>Advanced Settings (Control)</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_8">
+              <property name="verticalSpacing">
+               <number>6</number>
+              </property>
               <item row="0" column="3">
                <widget class="QLabel" name="label_32">
                 <property name="minimumSize">
@@ -924,6 +975,18 @@ value.</string>
            </item>
            <item>
             <widget class="QGroupBox" name="groupBox_4">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>71</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
              <property name="title">
               <string>Messages</string>
              </property>
@@ -946,6 +1009,9 @@ value.</string>
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Expanding</enum>
+             </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
@@ -963,24 +1029,24 @@ value.</string>
     </widget>
    </item>
    <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
+    <layout class="QGridLayout" name="gridLayout">
-     <property name="spacing">
+     <property name="horizontalSpacing">
       <number>4</number>
      </property>
-     <item>
+     <item row="0" column="0">
       <spacer name="horizontalSpacer">
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
        </property>
        <property name="sizeHint" stdset="0">
         <size>
-         <width>321</width>
+         <width>288</width>
-         <height>16</height>
+         <height>18</height>
         </size>
        </property>
       </spacer>
      </item>
-     <item>
+     <item row="0" column="1">
       <widget class="QPushButton" name="camerastabilizationHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
@@ -1029,7 +1095,7 @@ value.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="2">
       <widget class="QPushButton" name="camerastabilizationResetToDefaults">
        <property name="minimumSize">
         <size>
@@ -1060,7 +1126,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="3">
       <widget class="QPushButton" name="pushButton">
        <property name="minimumSize">
         <size>
@@ -1093,7 +1159,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="4">
       <widget class="QPushButton" name="camerastabilizationSaveRAM">
        <property name="minimumSize">
         <size>
@@ -1120,7 +1186,7 @@ Apply or Save button afterwards.</string>
        </property>
       </widget>
      </item>
-     <item>
+     <item row="0" column="5">
       <widget class="QPushButton" name="camerastabilizationSaveSD">
        <property name="minimumSize">
         <size>

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

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>666</width>
+    <width>780</width>
     <height>566</height>
    </rect>
   </property>
@@ -110,14 +110,11 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>636</width>
+            <width>750</width>
-            <height>483</height>
+            <height>466</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout">
-           <property name="spacing">
-            <number>6</number>
-           </property>
            <property name="margin">
             <number>12</number>
            </property>
@@ -126,18 +123,25 @@
              <property name="title">
               <string>Rotate virtual attitude relative to board</string>
              </property>
-             <layout class="QGridLayout" name="gridLayout">
+             <layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
-              <item row="0" column="0">
+              <item row="0" column="1">
                <widget class="QLabel" name="label_2">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
                 <property name="text">
                  <string>Roll</string>
                 </property>
                 <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                 <set>Qt::AlignCenter</set>
                 </property>
                </widget>
               </item>
-              <item row="1" column="0">
+              <item row="1" column="1">
                <widget class="QSpinBox" name="rollBias">
                 <property name="minimum">
                  <number>-180</number>
@@ -147,17 +151,77 @@
                 </property>
                </widget>
               </item>
-              <item row="0" column="1">
+              <item row="1" column="4">
+               <spacer name="horizontalSpacer_9">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="5">
+               <widget class="QSpinBox" name="yawBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="5">
+               <widget class="QLabel" name="label_4">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <spacer name="horizontalSpacer_8">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="3">
                <widget class="QLabel" name="label_3">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
                 <property name="text">
                  <string>Pitch</string>
                 </property>
                 <property name="alignment">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                 <set>Qt::AlignCenter</set>
                 </property>
                </widget>
               </item>
-              <item row="1" column="1">
+              <item row="1" column="3">
                <widget class="QSpinBox" name="pitchBias">
                 <property name="minimum">
                  <number>-90</number>
@@ -167,25 +231,31 @@
                 </property>
                </widget>
               </item>
-              <item row="0" column="2">
+              <item row="1" column="0">
-               <widget class="QLabel" name="label_4">
+               <spacer name="horizontalSpacer_7">
-                <property name="text">
+                <property name="orientation">
-                 <string>Yaw</string>
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <property name="alignment">
+                <property name="sizeHint" stdset="0">
-                 <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
                 </property>
-               </widget>
+               </spacer>
               </item>
-              <item row="1" column="2">
+              <item row="1" column="6">
-               <widget class="QSpinBox" name="yawBias">
+               <spacer name="horizontalSpacer_10">
-                <property name="minimum">
+                <property name="orientation">
-                 <number>-180</number>
+                 <enum>Qt::Horizontal</enum>
                 </property>
-                <property name="maximum">
+                <property name="sizeHint" stdset="0">
-                 <number>180</number>
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
                 </property>
-               </widget>
+               </spacer>
               </item>
              </layout>
             </widget>

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -49,7 +49,7 @@ const QString ConfigMultiRotorWidget::CHANNELBOXNAME = QString("multiMotorChanne
 /**
  Constructor
  */
-ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent)
+ConfigMultiRotorWidget::ConfigMultiRotorWidget(Ui_AircraftWidget *aircraft, QWidget *parent) : VehicleConfig(parent), invertMotors(1)
 {
     m_aircraft = aircraft;
 }
@@ -87,20 +87,18 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
 
     if (frameType == "Tri" || frameType == "Tricopter Y") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Tricopter Y"));
-        quad->setElementId("tri");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 3, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
 
         m_aircraft->triYawChannelBox->setEnabled(true);
     }
     else if (frameType == "QuadX" || frameType == "Quad X") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad X"));
-        quad->setElementId("quad-x");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
@@ -108,104 +106,173 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
         // init mixer levels
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
     }
     else if (frameType == "QuadP" || frameType == "Quad +") {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Quad +"));
-        quad->setElementId("quad-plus");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 4, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
     }
     else if (frameType == "Hexa" || frameType == "Hexacopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter"));
-        quad->setElementId("quad-hexa");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(33);
-        m_aircraft->mrYawMixLevel->setValue(33);
+        setYawMixLevel(33);
     }
     else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter X"));
-        quad->setElementId("quad-hexa-H");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(33);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(33);
+        setYawMixLevel(33);
 
     }
     else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Hexacopter Y6"));
-        quad->setElementId("hexa-coax");
 
         //Enable all necessary motor channel boxes...
         enableComboBoxes(uiowner, CHANNELBOXNAME, 6, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(66);
+        setYawMixLevel(66);
 
     }
     else if (frameType == "Octo" || frameType == "Octocopter")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
-        quad->setElementId("quad-octo");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(33);
         m_aircraft->mrPitchMixLevel->setValue(33);
-        m_aircraft->mrYawMixLevel->setValue(25);
+        setYawMixLevel(25);
     }
     else if (frameType == "OctoV" || frameType == "Octocopter V")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter V"));
-        quad->setElementId("quad-octo-v");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(25);
         m_aircraft->mrPitchMixLevel->setValue(25);
-        m_aircraft->mrYawMixLevel->setValue(25);
+        setYawMixLevel(25);
 
     }
     else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax +"));
-        quad->setElementId("octo-coax-P");
 
         //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(100);
         m_aircraft->mrPitchMixLevel->setValue(100);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
 
     }
     else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
     {
         setComboCurrentIndex( m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octo Coax X"));
-        quad->setElementId("octo-coax-X");
 
+        //Enable all necessary motor channel boxes
         enableComboBoxes(uiowner, CHANNELBOXNAME, 8, true);
 
         m_aircraft->mrRollMixLevel->setValue(50);
         m_aircraft->mrPitchMixLevel->setValue(50);
-        m_aircraft->mrYawMixLevel->setValue(50);
+        setYawMixLevel(50);
+    }
+
+    //Draw the appropriate airframe
+    drawAirframe(frameType);
+}
+
+void ConfigMultiRotorWidget::drawAirframe(QString frameType){
+
+    invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
+
+    if (frameType == "Tri" || frameType == "Tricopter Y") {
+        if(invertMotors > 0)
+            quad->setElementId("tri");
+        else
+            quad->setElementId("tri_reverse");
+    }
+    else if (frameType == "QuadX" || frameType == "Quad X") {
+        if(invertMotors > 0)
+            quad->setElementId("quad-x");
+        else
+            quad->setElementId("quad-x_reverse");
+    }
+    else if (frameType == "QuadP" || frameType == "Quad +") {
+        if(invertMotors > 0)
+            quad->setElementId("quad-plus");
+        else
+            quad->setElementId("quad-plus_reverse");
+    }
+    else if (frameType == "Hexa" || frameType == "Hexacopter")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-hexa");
+        else
+            quad->setElementId("quad-hexa_reverse");
+    }
+    else if (frameType == "HexaX" || frameType == "Hexacopter X" ) {
+        if(invertMotors > 0)
+            quad->setElementId("quad-hexa-H");
+        else
+            quad->setElementId("quad-hexa-H_reverse");
+    }
+    else if (frameType == "HexaCoax" || frameType == "Hexacopter Y6")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("hexa-coax");
+        else
+            quad->setElementId("hexa-coax_reverse");
+    }
+    else if (frameType == "Octo" || frameType == "Octocopter")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-octo");
+        else
+            quad->setElementId("quad-octo_reverse");
+    }
+    else if (frameType == "OctoV" || frameType == "Octocopter V")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("quad-octo-v");
+        else
+            quad->setElementId("quad-octo-v_reverse");
+    }
+    else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("octo-coax-P");
+        else
+            quad->setElementId("octo-coax-P_reverse");
+
+    }
+    else if (frameType == "OctoCoaxX" || frameType == "Octo Coax X")
+    {
+        if(invertMotors > 0)
+            quad->setElementId("octo-coax-X");
+        else
+            quad->setElementId("octo-coax-X_reverse");
 
     }
 }
@@ -259,6 +326,21 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
     return channelDesc;
 }
 
+void ConfigMultiRotorWidget::setYawMixLevel(int value)
+{
+    if(value<0)
+    {
+        m_aircraft->mrYawMixLevel->setValue((-1)*value);
+        m_aircraft->MultirotorRevMixercheckBox->setChecked(true);
+    }
+    else
+    {
+        m_aircraft->mrYawMixLevel->setValue(value);
+        m_aircraft->MultirotorRevMixercheckBox->setChecked(false);
+    }
+
+}
+
 
 
 
@@ -500,7 +582,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
+            setYawMixLevel( 1-value/1.27 );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -526,7 +608,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( 1-value/1.27 );
+            setYawMixLevel( 1-value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( value/1.27);
@@ -556,7 +638,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             //change channels
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -589,7 +671,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -617,7 +699,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( value/1.27 );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( value/1.27 );
+            setYawMixLevel( value/1.27 );
 
             channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
@@ -648,7 +730,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -660,7 +742,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
@@ -672,7 +754,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
                 m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
                 value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-                m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+                setYawMixLevel( floor(-value/1.27) );
 
                 //change channels
                 channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
@@ -705,7 +787,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
             m_aircraft->mrPitchMixLevel->setValue( floor(value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            m_aircraft->mrYawMixLevel->setValue( floor(-value/1.27) );
+            setYawMixLevel( floor(-value/1.27) );
 
             value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
             m_aircraft->mrRollMixLevel->setValue( floor(value/1.27) );
@@ -732,6 +814,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
 
         }
     }
+
+    drawAirframe(frameType);
 }
 
 
@@ -959,7 +1043,8 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
     // and enable only the relevant channels:
     double pFactor = (double)m_aircraft->mrPitchMixLevel->value()/100;
     double rFactor = (double)m_aircraft->mrRollMixLevel->value()/100;
-    double yFactor = (double)m_aircraft->mrYawMixLevel->value()/100;
+    invertMotors = m_aircraft->MultirotorRevMixercheckBox->isChecked() ? -1:1;
+    double yFactor =invertMotors * (double)m_aircraft->mrYawMixLevel->value()/100;
     for (int i=0 ; i<8; i++) {
         if(mmList.at(i)->isEnabled())
         {

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.h

@@ -64,9 +64,14 @@ private:
     void setupMotors(QList<QString> motorList);
     void setupQuadMotor(int channel, double roll, double pitch, double yaw);
 
+    float invertMotors;
+
     virtual void ResetActuators(GUIConfigDataUnion* configData);
     static QStringList getChannelDescriptions();
     static const QString CHANNELBOXNAME;
+    void setYawMixLevel(int);
+
+    void drawAirframe(QString multiRotorType);
 
 private slots:
     virtual void setupUI(QString airframeType);

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

@@ -13,6 +13,7 @@
 #include "relaytuningsettings.h"
 #include "relaytuning.h"
 #include "stabilizationsettings.h"
+#include "hwsettings.h"
 
 ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     ConfigTaskWidget(parent)
@@ -28,6 +29,9 @@ ConfigAutotuneWidget::ConfigAutotuneWidget(QWidget *parent) :
     connect(m_autotune->rateTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
     connect(m_autotune->attitudeTuning, SIGNAL(valueChanged(int)), this, SLOT(recomputeStabilization()));
 
+    addUAVObject("HwSettings");
+    addWidget(m_autotune->enableAutoTune);
+
     RelayTuning *relayTuning = RelayTuning::GetInstance(getObjectManager());
     Q_ASSERT(relayTuning);
     if(relayTuning)
@@ -134,3 +138,25 @@ void ConfigAutotuneWidget::recomputeStabilization()
     m_autotune->pitchAttitudeKp->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KP]));
     m_autotune->pitchAttitudeKi->setText(QString().number(stabSettings.PitchPI[StabilizationSettings::PITCHPI_KI]));
 }
+void ConfigAutotuneWidget::refreshWidgetsValues(UAVObject *obj)
+{
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    if(obj==hwSettings)
+    {
+        bool dirtyBack=isDirty();
+        HwSettings::DataFields hwSettingsData = hwSettings->getData();
+        m_autotune->enableAutoTune->setChecked(
+            hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] == HwSettings::OPTIONALMODULES_ENABLED);
+        setDirty(dirtyBack);
+    }
+    ConfigTaskWidget::refreshWidgetsValues(obj);
+}
+void ConfigAutotuneWidget::updateObjectsFromWidgets()
+{
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields hwSettingsData = hwSettings->getData();
+    hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_AUTOTUNE] =
+         m_autotune->enableAutoTune->isChecked() ? HwSettings::OPTIONALMODULES_ENABLED : HwSettings::OPTIONALMODULES_DISABLED;
+    hwSettings->setData(hwSettingsData);
+    ConfigTaskWidget::updateObjectsFromWidgets();
+}

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

@@ -51,7 +51,8 @@ private:
 signals:
 
 public slots:
-
+    void refreshWidgetsValues(UAVObject *obj);
+    void updateObjectsFromWidgets();
 private slots:
     void recomputeStabilization();
     void saveStabilization();

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

@@ -215,6 +215,9 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
     connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
 
+    //Connect the multirotor motor reverse checkbox
+    connect(m_aircraft->MultirotorRevMixercheckBox, SIGNAL(clicked(bool)), this, SLOT(reverseMultirotorMotor()));
+
     // Connect the help pushbutton
     connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
     enableControls(false);
@@ -483,7 +486,7 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject * o)
     UAVObjectField *field = system->getField(QString("AirframeType"));
     Q_ASSERT(field);
     // At this stage, we will need to have some hardcoded settings in this code, this
-    // is not ideal, but here you go.
+    // is not ideal, but there you go.
     QString frameType = field->getValue().toString();
     setupAirframeUI(frameType);
 
@@ -766,6 +769,12 @@ void ConfigVehicleTypeWidget::setComboCurrentIndex(QComboBox* box, int index)
         box->setCurrentIndex(index);
 }
 
+void ConfigVehicleTypeWidget::reverseMultirotorMotor(){
+    QString frameType = m_aircraft->multirotorFrameType->currentText();
+    m_multirotor->drawAirframe(frameType);
+}
+
+
 /**
  WHAT DOES THIS DO???
  */

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

@@ -95,6 +95,7 @@ private slots:
 
     void enableFFTest();
     void openHelp();
+    void reverseMultirotorMotor();
 
 protected:
     void showEvent(QShowEvent *event);

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>670</width>
+    <width>880</width>
-    <height>693</height>
+    <height>672</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -28,7 +28,7 @@
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_11">
        <property name="spacing">
-        <number>6</number>
+        <number>0</number>
        </property>
        <property name="margin">
         <number>0</number>
@@ -110,8 +110,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>640</width>
+            <width>850</width>
-            <height>610</height>
+            <height>572</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -119,7 +119,7 @@
             <number>12</number>
            </property>
            <property name="verticalSpacing">
-            <number>6</number>
+            <number>-1</number>
            </property>
            <item row="1" column="0">
             <widget class="QGroupBox" name="groupBox_5">
@@ -149,47 +149,11 @@
                   <property name="margin">
                    <number>12</number>
                   </property>
-                  <item>
-                   <widget class="QPushButton" name="configurationWizard">
-                    <property name="text">
-                     <string>Start Configuration Wizard</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <widget class="QCheckBox" name="runCalibration">
-                    <property name="enabled">
-                     <bool>true</bool>
-                    </property>
-                    <property name="text">
-                     <string>Run Calibration</string>
-                    </property>
-                   </widget>
-                  </item>
-                  <item>
-                   <spacer name="verticalSpacer_7">
-                    <property name="orientation">
-                     <enum>Qt::Vertical</enum>
-                    </property>
-                    <property name="sizeType">
-                     <enum>QSizePolicy::Fixed</enum>
-                    </property>
-                    <property name="sizeHint" stdset="0">
-                     <size>
-                      <width>20</width>
-                      <height>12</height>
-                     </size>
-                    </property>
-                   </spacer>
-                  </item>
                   <item>
                    <layout class="QVBoxLayout" name="channelSettings">
                     <property name="spacing">
                      <number>0</number>
                     </property>
-                    <property name="margin">
-                     <number>0</number>
-                    </property>
                    </layout>
                   </item>
                   <item>
@@ -348,6 +312,98 @@
              </layout>
             </widget>
            </item>
+           <item row="0" column="0">
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="title">
+              <string>Calibration and Configuration Options</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_7">
+              <item>
+               <spacer name="horizontalSpacer_10">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QPushButton" name="configurationWizard">
+                <property name="text">
+                 <string>Start Configuration Wizard</string>
+                </property>
+                <property name="checkable">
+                 <bool>false</bool>
+                </property>
+                <property name="checked">
+                 <bool>false</bool>
+                </property>
+                <property name="autoDefault">
+                 <bool>false</bool>
+                </property>
+                <property name="default">
+                 <bool>false</bool>
+                </property>
+                <property name="flat">
+                 <bool>false</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_7">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QPushButton" name="runCalibration">
+                <property name="enabled">
+                 <bool>true</bool>
+                </property>
+                <property name="minimumSize">
+                 <size>
+                  <width>210</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="autoFillBackground">
+                 <bool>false</bool>
+                </property>
+                <property name="text">
+                 <string>Manual Calibration</string>
+                </property>
+                <property name="checkable">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_9">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
           </layout>
          </widget>
         </widget>
@@ -359,9 +415,6 @@
        <string>Flight Mode Switch Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_8">
-       <property name="spacing">
-        <number>6</number>
-       </property>
        <property name="margin">
         <number>0</number>
        </property>
@@ -442,29 +495,297 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>640</width>
+            <width>850</width>
-            <height>610</height>
+            <height>572</height>
            </rect>
           </property>
-          <layout class="QGridLayout" name="gridLayout_7">
+          <layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0">
            <property name="margin">
             <number>12</number>
            </property>
-           <property name="spacing">
+           <item row="1" column="0">
-            <number>6</number>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="styleSheet">
+              <string notr="true"/>
              </property>
-           <item row="0" column="0">
+             <property name="title">
-            <widget class="QGroupBox" name="groupBox_2">
+              <string>Configure each stabilization mode for each axis</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,1,0,1,0,1,0">
+              <property name="leftMargin">
+               <number>9</number>
+              </property>
+              <property name="horizontalSpacing">
+               <number>12</number>
+              </property>
+              <item row="2" column="1">
+               <spacer name="horizontalSpacer_11">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Minimum</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>5</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="3" column="2">
+               <widget class="QComboBox" name="fmsSsPos3Roll">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="6">
+               <widget class="QLabel" name="label_10">
                 <property name="minimumSize">
                  <size>
                   <width>0</width>
-               <height>195</height>
+                  <height>20</height>
                  </size>
                 </property>
                 <property name="maximumSize">
                  <size>
                   <width>16777215</width>
-               <height>195</height>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="3">
+               <spacer name="horizontalSpacer_12">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>5</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="0">
+               <widget class="QLabel" name="label_14">
+                <property name="text">
+                 <string>Stabilized1</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="5">
+               <spacer name="horizontalSpacer_13">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>5</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="3" column="6">
+               <widget class="QComboBox" name="fmsSsPos3Yaw">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0">
+               <widget class="QLabel" name="label_21">
+                <property name="text">
+                 <string>Stabilized2</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="4">
+               <widget class="QComboBox" name="fmsSsPos3Pitch">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="6">
+               <widget class="QComboBox" name="fmsSsPos2Yaw">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="4">
+               <widget class="QLabel" name="label_9">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="2">
+               <widget class="QLabel" name="label_8">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="maximumSize">
+                 <size>
+                  <width>16777215</width>
+                  <height>20</height>
+                 </size>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="4">
+               <widget class="QComboBox" name="fmsSsPos2Pitch">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="6">
+               <widget class="QComboBox" name="fmsSsPos1Yaw">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="2">
+               <widget class="QComboBox" name="fmsSsPos2Roll">
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <widget class="QComboBox" name="fmsSsPos1Roll">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <widget class="QComboBox" name="fmsSsPos1Pitch">
+                <property name="minimumSize">
+                 <size>
+                  <width>102</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="focusPolicy">
+                 <enum>Qt::StrongFocus</enum>
+                </property>
+               </widget>
+              </item>
+              <item row="3" column="0">
+               <widget class="QLabel" name="label_22">
+                <property name="text">
+                 <string>Stabilized3</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="7">
+               <spacer name="horizontalSpacer_14">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="0" column="0">
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>230</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>230</height>
               </size>
              </property>
              <property name="title">
@@ -636,7 +957,7 @@
                 <property name="maximumSize">
                  <size>
                   <width>16777215</width>
-                  <height>140</height>
+                  <height>160</height>
                  </size>
                 </property>
                 <property name="focusPolicy">
@@ -679,6 +1000,9 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
               </item>
               <item row="0" column="2" rowspan="3">
                <layout class="QVBoxLayout" name="verticalLayout_10">
+                <property name="spacing">
+                 <number>3</number>
+                </property>
                 <item>
                  <widget class="QComboBox" name="fmsModePos1">
                   <property name="focusPolicy">
@@ -858,194 +1182,17 @@ channel value for each flight mode.</string>
              <property name="orientation">
               <enum>Qt::Vertical</enum>
              </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Expanding</enum>
+             </property>
              <property name="sizeHint" stdset="0">
               <size>
                <width>20</width>
-               <height>100</height>
+               <height>20</height>
               </size>
              </property>
             </spacer>
            </item>
-           <item row="1" column="0">
-            <widget class="QGroupBox" name="groupBox">
-             <property name="styleSheet">
-              <string notr="true"/>
-             </property>
-             <property name="title">
-              <string>Configure each stabilization mode for each axis</string>
-             </property>
-             <layout class="QGridLayout" name="gridLayout_2">
-              <property name="leftMargin">
-               <number>0</number>
-              </property>
-              <property name="horizontalSpacing">
-               <number>12</number>
-              </property>
-              <item row="3" column="0">
-               <widget class="QLabel" name="label_22">
-                <property name="text">
-                 <string>Stabilized3</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="1">
-               <widget class="QLabel" name="label_8">
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Roll</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="1">
-               <widget class="QComboBox" name="fmsSsPos1Roll">
-                <property name="minimumSize">
-                 <size>
-                  <width>102</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="2">
-               <widget class="QLabel" name="label_9">
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Pitch</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="2">
-               <widget class="QComboBox" name="fmsSsPos3Pitch">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="3">
-               <widget class="QComboBox" name="fmsSsPos3Yaw">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="2">
-               <widget class="QComboBox" name="fmsSsPos2Pitch">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="0">
-               <widget class="QLabel" name="label_14">
-                <property name="text">
-                 <string>Stabilized1</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="0" column="3">
-               <widget class="QLabel" name="label_10">
-                <property name="styleSheet">
-                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-                </property>
-                <property name="text">
-                 <string>Yaw</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="3" column="1">
-               <widget class="QComboBox" name="fmsSsPos3Roll">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="3">
-               <widget class="QComboBox" name="fmsSsPos1Yaw">
-                <property name="minimumSize">
-                 <size>
-                  <width>102</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="3">
-               <widget class="QComboBox" name="fmsSsPos2Yaw">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="1">
-               <widget class="QComboBox" name="fmsSsPos2Roll">
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-              <item row="2" column="0">
-               <widget class="QLabel" name="label_21">
-                <property name="text">
-                 <string>Stabilized2</string>
-                </property>
-                <property name="alignment">
-                 <set>Qt::AlignCenter</set>
-                </property>
-               </widget>
-              </item>
-              <item row="1" column="2">
-               <widget class="QComboBox" name="fmsSsPos1Pitch">
-                <property name="minimumSize">
-                 <size>
-                  <width>102</width>
-                  <height>0</height>
-                 </size>
-                </property>
-                <property name="focusPolicy">
-                 <enum>Qt::StrongFocus</enum>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </widget>
-           </item>
           </layout>
          </widget>
         </widget>
@@ -1057,9 +1204,6 @@ margin:1px;</string>
        <string>Arming Settings</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_12">
-       <property name="spacing">
-        <number>6</number>
-       </property>
        <property name="margin">
         <number>0</number>
        </property>
@@ -1140,14 +1284,11 @@ margin:1px;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>640</width>
+            <width>850</width>
-            <height>610</height>
+            <height>572</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">
-           <property name="spacing">
-            <number>6</number>
-           </property>
            <property name="margin">
             <number>12</number>
            </property>

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

@@ -14,9 +14,6 @@
    <string>Form</string>
   </property>
   <layout class="QVBoxLayout" name="verticalLayout_2">
-   <property name="spacing">
-    <number>6</number>
-   </property>
    <property name="margin">
     <number>12</number>
    </property>
@@ -120,12 +117,12 @@
             <x>0</x>
             <y>0</y>
             <width>668</width>
-            <height>671</height>
+            <height>654</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
            <property name="spacing">
-            <number>6</number>
+            <number>-1</number>
            </property>
            <property name="margin">
             <number>12</number>
@@ -148,12 +145,12 @@
               <string>Output Update Speed</string>
              </property>
              <layout class="QGridLayout" name="gridLayout">
-              <property name="margin">
-               <number>12</number>
-              </property>
               <property name="horizontalSpacing">
                <number>6</number>
               </property>
+              <property name="margin">
+               <number>12</number>
+              </property>
               <item row="0" column="0">
                <spacer name="horizontalSpacer_3">
                 <property name="orientation">
@@ -528,15 +525,9 @@ Leave at 50Hz for fixed wing.</string>
               </property>
               <item>
                <layout class="QVBoxLayout" name="channelLayout">
-                <property name="spacing">
-                 <number>6</number>
-                </property>
                 <property name="sizeConstraint">
                  <enum>QLayout::SetDefaultConstraint</enum>
                 </property>
-                <property name="margin">
-                 <number>0</number>
-                </property>
                </layout>
               </item>
               <item>

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>965</width>
-    <height>797</height>
+    <height>687</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -505,9 +505,6 @@
        <string>Basic</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout">
-       <property name="spacing">
-        <number>6</number>
-       </property>
        <property name="margin">
         <number>0</number>
        </property>
@@ -603,24 +600,15 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
+            <width>937</width>
-            <height>714</height>
+            <height>595</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_12" stretch="0,0,0,0">
            <property name="spacing">
             <number>12</number>
            </property>
-           <property name="leftMargin">
+           <property name="margin">
-            <number>12</number>
-           </property>
-           <property name="topMargin">
-            <number>5</number>
-           </property>
-           <property name="rightMargin">
-            <number>12</number>
-           </property>
-           <property name="bottomMargin">
             <number>12</number>
            </property>
            <item>
@@ -640,7 +628,7 @@
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>181</height>
+               <height>195</height>
               </size>
              </property>
              <property name="title">
@@ -3496,7 +3484,7 @@ value as the Kp.</string>
              <property name="maximumSize">
               <size>
                <width>16777215</width>
-               <height>181</height>
+               <height>195</height>
               </size>
              </property>
              <property name="palette">
@@ -6866,9 +6854,6 @@ border-radius: 5;</string>
        <string>Advanced</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_10">
-       <property name="spacing">
-        <number>6</number>
-       </property>
        <property name="margin">
         <number>0</number>
        </property>
@@ -6952,17 +6937,14 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
+            <width>540</width>
-            <height>714</height>
+            <height>663</height>
            </rect>
           </property>
           <property name="autoFillBackground">
            <bool>true</bool>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_16">
-           <property name="spacing">
-            <number>6</number>
-           </property>
            <property name="margin">
             <number>12</number>
            </property>
@@ -6977,7 +6959,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>210</height>
+               <height>0</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -10299,7 +10281,7 @@ Then lower the value by 20% or so.</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>170</height>
+               <height>0</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -13429,7 +13411,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>195</height>
+               <height>0</height>
               </size>
              </property>
              <property name="maximumSize">
@@ -16792,9 +16774,6 @@ border-radius: 5;</string>
        <string>Expert</string>
       </attribute>
       <layout class="QVBoxLayout" name="verticalLayout_4">
-       <property name="spacing">
-        <number>6</number>
-       </property>
        <property name="margin">
         <number>0</number>
        </property>
@@ -16881,14 +16860,11 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>935</width>
+            <width>802</width>
-            <height>714</height>
+            <height>607</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
-           <property name="spacing">
-            <number>6</number>
-           </property>
            <property name="margin">
             <number>12</number>
            </property>
@@ -16903,7 +16879,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>150</height>
+               <height>0</height>
               </size>
              </property>
              <property name="autoFillBackground">
@@ -19508,7 +19484,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>180</height>
+               <height>0</height>
               </size>
              </property>
              <property name="title">
@@ -21916,7 +21892,7 @@ border-radius: 5;</string>
              <property name="minimumSize">
               <size>
                <width>0</width>
-               <height>150</height>
+               <height>0</height>
               </size>
              </property>
              <property name="maximumSize">

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>789</width>
-    <height>615</height>
+    <height>484</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -113,8 +113,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>759</width>
+            <width>745</width>
-            <height>532</height>
+            <height>469</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">

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

@@ -46,7 +46,6 @@
 
 #include "uavtalk/telemetrymanager.h"
 #include "uavobject.h"
-#include "uavobjectmanager.h"
 
 #include "positionactual.h"
 #include "homelocation.h"
@@ -590,6 +589,7 @@ void OPMapGadgetWidget::updatePosition()
     VelocityActual *velocityActualObj = VelocityActual::GetInstance(obm);
     Gyros *gyrosObj = Gyros::GetInstance(obm);
 
+    Q_ASSERT(attitudeActualObj);
     Q_ASSERT(positionActualObj);
     Q_ASSERT(velocityActualObj);
     Q_ASSERT(gyrosObj);
@@ -919,7 +919,7 @@ void OPMapGadgetWidget::setHome(QPointF pos)
 /**
   Sets the home position on the map widget
   */
-void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitude)
+void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon, double altitude)
 {
 	if (!m_widget || !m_map)
 		return;
@@ -941,11 +941,11 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon,double altitu
     if (longitude >  180) longitude =  180;
     else
     if (longitude < -180) longitude = -180;
-    else if(altitude != altitude) altitude=0;
 
     // *********
 
     m_home_position.coord = internals::PointLatLng(latitude, longitude);
+    m_home_position.altitude = altitude;
 
     m_map->Home->SetCoord(m_home_position.coord);
     m_map->Home->SetAltitude(altitude);
@@ -1659,7 +1659,15 @@ void OPMapGadgetWidget::onSetHomeAct_triggered()
 	if (!m_widget || !m_map)
 		return;
 
-    setHome(m_context_menu_lat_lon,0);
+    float altitude=0;
+    bool ok;
+
+    //Get desired HomeLocation altitude from dialog box.
+    //TODO: Populate box with altitude already in HomeLocation UAVO
+    altitude = QInputDialog::getDouble(this, tr("Set home altitude"),
+                                      tr("In [m], referenced to WGS84:"), altitude, -100, 100000, 2, &ok);
+
+    setHome(m_context_menu_lat_lon, altitude);
 
     setHomeLocationObject();  // update the HomeLocation UAVObject
 }

ground/openpilotgcs/src/plugins/pfdqml/osgearth.cpp

@@ -281,15 +281,7 @@ void OsgEarthItemRenderer::initScene()
 
     //setup caching
     osgEarth::MapNode *mapNode = osgEarth::MapNode::findMapNode(m_model.get());
-    if (mapNode) {
+    if (!mapNode) {
-        osgEarth::TMSCacheOptions cacheOptions;
-        //cacheOptions.cacheOnly() = true;
-        QString cacheDir = Utils::PathUtils().GetStoragePath()+QLatin1String("osgEarth_cache");
-        cacheOptions.setPath(cacheDir.toStdString());
-        osgEarth::Cache *cache= new osgEarth::TMSCache(cacheOptions);
-
-        mapNode->getMap()->setCache(cache);
-    } else {
         qWarning() << Q_FUNC_INFO << sceneFile << " doesn't look like an osgEarth file";
     }
 

ground/openpilotgcs/src/plugins/pfdqml/osgearth.h

@@ -126,9 +126,6 @@ public slots:
 signals:
     void frameReady();
 
-private slots:
-    void updateFBO();
-
 private:
     enum { FboCount = 3 };
     OsgEarthItem *m_item;

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp

@@ -35,7 +35,10 @@
 #include <QEventLoop>
 #include <QTimer>
 #include <objectpersistence.h>
-#include <firmwareiapobj.h>
+
+#include "firmwareiapobj.h"
+#include "homelocation.h"
+#include "gpsposition.h"
 
 // ******************************
 // constructor/destructor
@@ -48,6 +51,18 @@ UAVObjectUtilManager::UAVObjectUtilManager()
     failureTimer.setSingleShot(true);
     failureTimer.setInterval(1000);
     connect(&failureTimer, SIGNAL(timeout()),this,SLOT(objectPersistenceOperationFailed()));
+
+    pm = NULL;
+    obm = NULL;
+    obum = NULL;
+
+    pm = ExtensionSystem::PluginManager::instance();
+    if (pm)
+    {
+        obm = pm->getObject<UAVObjectManager>();
+        obum = pm->getObject<UAVObjectUtilManager>();
+    }
+
 }
 
 UAVObjectUtilManager::~UAVObjectUtilManager()
@@ -67,10 +82,8 @@ UAVObjectUtilManager::~UAVObjectUtilManager()
 
 
 UAVObjectManager* UAVObjectUtilManager::getObjectManager() {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(obm);
-    UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
+    return obm;
-    Q_ASSERT(objMngr);
-    return objMngr;
 }
 
 
@@ -107,7 +120,7 @@ void UAVObjectUtilManager::saveNextObject()
 
     // Get next object from the queue
     UAVObject* obj = queue.head();
-    qDebug() << "Request board to save object " << obj->getName();
+    qDebug() << "Send save object request to board " << obj->getName();
 
     ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( getObjectManager()->getObject(ObjectPersistence::NAME) );
     connect(objper, SIGNAL(transactionCompleted(UAVObject*,bool)), this, SLOT(objectPersistenceTransactionCompleted(UAVObject*,bool)));
@@ -233,16 +246,7 @@ FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
 {
     FirmwareIAPObj::DataFields dummy;
 
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(obm);
-    Q_ASSERT(pm);
-    if (!pm)
-        return dummy;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    Q_ASSERT(om);
-    if (!om)
-        return dummy;
-
-    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
     Q_ASSERT(firmwareIap);
     if (!firmwareIap)
         return dummy;
@@ -306,121 +310,47 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
 
 int UAVObjectUtilManager::setHomeLocation(double LLA[3], bool save_to_sdcard)
 {
-	double ECEF[3];
-	double RNE[9];
     double Be[3];
-	UAVObjectField *field;
 
-	QMutexLocker locker(mutex);
+    Q_ASSERT (Utils::HomeLocationUtil().getDetails(LLA, Be) >= 0);
-
-	if (Utils::HomeLocationUtil().getDetails(LLA, ECEF, RNE, Be) < 0)
-		return -1;	// error
 
     // ******************
     // save the new settings
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
-	if (!pm) return -2;
+    Q_ASSERT(homeLocation != NULL);
 
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    HomeLocation::DataFields homeLocationData = homeLocation->getData();
-	if (!om) return -3;
+    homeLocationData.Latitude = LLA[0] * 1e7;
+    homeLocationData.Longitude = LLA[1] * 1e7;
+    homeLocationData.Altitude = LLA[2];
 
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
+    homeLocationData.Be[0] = Be[0];
-	if (!obj) return -4;
+    homeLocationData.Be[1] = Be[1];
+    homeLocationData.Be[2] = Be[2];
 
-	UAVObjectField *ECEF_field = obj->getField(QString("ECEF"));
+    homeLocationData.Set = HomeLocation::SET_TRUE;
-	if (!ECEF_field) return -5;
 
-	UAVObjectField *RNE_field = obj->getField(QString("RNE"));
+    homeLocation->setData(homeLocationData);
-	if (!RNE_field) return -6;
-
-	UAVObjectField *Be_field = obj->getField(QString("Be"));
-	if (!Be_field) return -7;
-
-	field = obj->getField("Latitude");
-	if (!field) return -8;
-	field->setDouble(LLA[0] * 10e6);
-
-	field = obj->getField("Longitude");
-	if (!field) return -9;
-	field->setDouble(LLA[1] * 10e6);
-
-	field = obj->getField("Altitude");
-	if (!field) return -10;
-	field->setDouble(LLA[2]);
-
-	for (int i = 0; i < 3; i++)
-		ECEF_field->setDouble(ECEF[i] * 100, i);
-
-	for (int i = 0; i < 9; i++)
-		RNE_field->setDouble(RNE[i], i);
-
-	for (int i = 0; i < 3; i++)
-		Be_field->setDouble(Be[i], i);
-
-	field = obj->getField("Set");
-	if (!field) return -11;
-	field->setValue("TRUE");
-
-	obj->updated();
-
-	// ******************
-	// save the new setting to SD card
 
     if (save_to_sdcard)
-		saveObjectToSD(obj);
+        saveObjectToSD(homeLocation);
 
-	// ******************
+    return 0;
-	// debug
-/*
-	qDebug() << "setting HomeLocation UAV Object .. " << endl;
-	QString s;
-	s = "        LAT:" + QString::number(LLA[0], 'f', 7) + " LON:" + QString::number(LLA[1], 'f', 7) + " ALT:" + QString::number(LLA[2], 'f', 1);
-	qDebug() << s << endl;
-	s = "        ECEF "; for (int i = 0; i < 3; i++) s += " " + QString::number((int)(ECEF[i] * 100));
-	qDebug() << s << endl;
-	s = "        RNE  ";  for (int i = 0; i < 9; i++) s += " " + QString::number(RNE[i], 'f', 7);
-	qDebug() << s << endl;
-	s = "        Be   ";  for (int i = 0; i < 3; i++) s += " " + QString::number(Be[i], 'f', 2);
-	qDebug() << s << endl;
-*/
-	// ******************
-
-	return 0;	// OK
 }
 
 int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 {
-	UAVObjectField *field;
+    HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
+    Q_ASSERT(homeLocation != NULL);
 
-	QMutexLocker locker(mutex);
+    HomeLocation::DataFields homeLocationData = homeLocation->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    set = homeLocationData.Set;
-	if (!pm) return -1;
 
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    LLA[0] = homeLocationData.Latitude*1e-7;
-	if (!om) return -2;
+    LLA[1] = homeLocationData.Longitude*1e-7;
-
+    LLA[2] = homeLocationData.Altitude;
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -439,88 +369,20 @@ int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3])
 	return 0;	// OK
 }
 
-int UAVObjectUtilManager::getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3])
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("HomeLocation")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField("Set");
-	if (!field) return -4;
-	set = field->getValue().toBool();
-
-	field = obj->getField("Latitude");
-	if (!field) return -5;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Longitude");
-	if (!field) return -6;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField("Altitude");
-	if (!field) return -7;
-	LLA[2] = field->getDouble();
-
-	field = obj->getField(QString("ECEF"));
-	if (!field) return -8;
-	for (int i = 0; i < 3; i++)
-		ECEF[i] = field->getDouble(i);
-
-	field = obj->getField(QString("RNE"));
-	if (!field) return -9;
-	for (int i = 0; i < 9; i++)
-		RNE[i] = field->getDouble(i);
-
-	field = obj->getField(QString("Be"));
-	if (!field) return -10;
-	for (int i = 0; i < 3; i++)
-		Be[i] = field->getDouble(i);
-
-	return 0;	// OK
-}
 
 // ******************************
 // GPS
 
 int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 {
-	UAVObjectField *field;
+    GPSPosition *gpsPosition = GPSPosition::GetInstance(obm);
+    Q_ASSERT(gpsPosition != NULL);
 
-	QMutexLocker locker(mutex);
+    GPSPosition::DataFields gpsPositionData = gpsPosition->getData();
 
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    LLA[0] = gpsPositionData.Latitude;
-	if (!pm) return -1;
+    LLA[1] = gpsPositionData.Longitude;
-
+    LLA[2] = gpsPositionData.Altitude;
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("GPSPosition")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Latitude"));
-	if (!field) return -4;
-	LLA[0] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Longitude"));
-	if (!field) return -5;
-	LLA[1] = field->getDouble() * 1e-7;
-
-	field = obj->getField(QString("Altitude"));
-	if (!field) return -6;
-	LLA[2] = field->getDouble();
 
 	if (LLA[0] != LLA[0]) LLA[0] = 0; // nan detection
 	else
@@ -539,94 +401,6 @@ int UAVObjectUtilManager::getGPSPosition(double LLA[3])
 	return 0;	// OK
 }
 
-// ******************************
-// telemetry port
-
-int UAVObjectUtilManager::setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	// ******************
-	// save the new settings
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("/*TelemetrySettings*/")));
-	if (!obj) return -3;
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	field->setValue(speed);
-
-	obj->updated();
-
-	// ******************
-	// save the new setting to SD card
-
-	if (save_to_sdcard)
-		saveObjectToSD(obj);
-
-	// ******************
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeed(QString &speed)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -1;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -2;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -3;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -4;
-	speed = field->getValue().toString();
-
-	return 0;	// OK
-}
-
-int UAVObjectUtilManager::getTelemetrySerialPortSpeeds(QComboBox *comboBox)
-{
-	UAVObjectField *field;
-
-	QMutexLocker locker(mutex);
-
-	if (!comboBox) return -1;
-
-	ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-	if (!pm) return -2;
-
-	UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-	if (!om) return -3;
-
-	UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("TelemetrySettings")));
-	if (!obj) return -4;
-
-//	obj->requestUpdate();
-
-	field = obj->getField(QString("Speed"));
-	if (!field) return -5;
-	comboBox->addItems(field->getOptions());
-
-	return 0;	// OK
-}
-
 deviceDescriptorStruct UAVObjectUtilManager::getBoardDescriptionStruct()
 {
     deviceDescriptorStruct ret;

ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h

@@ -55,14 +55,9 @@ public:
 
 	int setHomeLocation(double LLA[3], bool save_to_sdcard);
 	int getHomeLocation(bool &set, double LLA[3]);
-	int getHomeLocation(bool &set, double LLA[3], double ECEF[3], double RNE[9], double Be[3]);
 
 	int getGPSPosition(double LLA[3]);
 
-	int setTelemetrySerialPortSpeed(QString speed, bool save_to_sdcard);
-	int getTelemetrySerialPortSpeed(QString &speed);
-	int getTelemetrySerialPortSpeeds(QComboBox *comboBox);
-
         int getBoardModel();
         QByteArray getBoardCPUSerial();
         quint32 getFirmwareCRC();
@@ -84,6 +79,10 @@ private:
     void saveNextObject();
     QTimer failureTimer;
 
+    ExtensionSystem::PluginManager *pm;
+    UAVObjectManager *obm;
+    UAVObjectUtilManager *obum;
+
 private slots:
         //void transactionCompleted(UAVObject *obj, bool success);
         void objectPersistenceTransactionCompleted(UAVObject* obj, bool success);

ground/uavobjgenerator/main.cpp

@@ -161,6 +161,9 @@ int main(int argc, char *argv[])
         QString res = parser->parseXML(xmlstr, filename);
 
         if (!res.isNull()) {
+	    if (!verbose) {
+               cout << "Error in XML file: " << fileinfo.fileName().toStdString() << endl;
+            }
             cout << "Error parsing " << res.toStdString() << endl;
             return RETURN_ERR_XML;
         }

ground/uavobjgenerator/uavobjectparser.cpp

@@ -213,6 +213,9 @@ QString UAVObjectParser::parseXML(QString& xml, QString& filename)
         qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
 
         // Make sure that required elements were found
+        if ( !fieldFound )
+            return QString("Object::field element is missing");
+
         if ( !accessFound )
             return QString("Object::access element is missing");
 
@@ -381,11 +384,38 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     // Get name attribute
     QDomNamedNodeMap elemAttributes = childNode.attributes();
     QDomNode elemAttr = elemAttributes.namedItem("name");
-    if ( elemAttr.isNull() )
+    if (elemAttr.isNull()) {
         return QString("Object:field:name attribute is missing");
+    }
+    QString name = elemAttr.nodeValue();
 
-    field->name = elemAttr.nodeValue();
+    // Check to see is this field is a clone of another
-
+    // field that has already been declared
+    elemAttr = elemAttributes.namedItem("cloneof");
+    if (!elemAttr.isNull()) {
+        QString parentName = elemAttr.nodeValue(); 
+        if (!parentName.isEmpty()) {
+	    foreach(FieldInfo * parent, info->fields) {
+                if (parent->name == parentName) {
+                    // clone from this parent
+                    *field = *parent;   // safe shallow copy, no ptrs in struct
+                    field->name = name; // set our name
+                    // Add field to object
+                    info->fields.append(field);
+                    // Done
+                    return QString();
+                }
+            }
+            return QString("Object:field::cloneof parent unknown");
+        }
+        else {
+            return QString("Object:field:cloneof attribute is empty");
+        }
+    }
+    else {
+        // this field is not a clone, so remember its name
+        field->name = name;
+    }
 
     // Get units attribute
     elemAttr = elemAttributes.namedItem("units");
@@ -410,6 +440,8 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
     }
 
     // Get numelements or elementnames attribute
+    field->numElements = 0;
+    // Look for element names as an attribute first
     elemAttr = elemAttributes.namedItem("elementnames");
     if ( !elemAttr.isNull() ) {
         // Get element names
@@ -422,9 +454,26 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
         field->defaultElementNames = false;
     }
     else {
+        // Look for a list of child elementname nodes
+        QDomNode listNode = childNode.firstChildElement("elementnames");
+        if (!listNode.isNull()) {
+            for (QDomElement node = listNode.firstChildElement("elementname");
+                 !node.isNull(); node = node.nextSiblingElement("elementname")) {
+		QDomNode name = node.firstChild();
+                if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+                    field->elementNames.append(name.nodeValue());
+                }
+            }
+	    field->numElements = field->elementNames.length();
+            field->defaultElementNames = false;
+        }
+    }
+    // If no element names were found, then fall back to looking
+    // for the number of elements in the 'elements' attribute
+    if (field->numElements == 0) {
         elemAttr = elemAttributes.namedItem("elements");
         if ( elemAttr.isNull() ) {
-            return QString("Object:field:elements and Object:field:elementnames attribute is missing");
+            return QString("Object:field:elements and Object:field:elementnames attribute/element is missing");
         }
         else {
             field->numElements = elemAttr.nodeValue().toInt();
@@ -434,20 +483,35 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
             field->defaultElementNames = true;
         }
     }
-    // Get options attribute (only if an enum type)
+    // Get options attribute or child elements (only if an enum type)
     if (field->type == FIELDTYPE_ENUM) {
 
-        // Get options attribute
+        // Look for options attribute
         elemAttr = elemAttributes.namedItem("options");
-        if ( elemAttr.isNull() )
+        if (!elemAttr.isNull()) {
-            return QString("Object:field:options attribute is missing");
-
             QStringList options = elemAttr.nodeValue().split(",", QString::SkipEmptyParts);
-        for (int n = 0; n < options.length(); ++n)
+            for (int n = 0; n < options.length(); ++n) {
                 options[n] = options[n].trimmed();
-
+            }
             field->options = options;
         }
+	else {
+	    // Look for a list of child 'option' nodes
+	    QDomNode listNode = childNode.firstChildElement("options");
+	    if (!listNode.isNull()) {
+	        for (QDomElement node = listNode.firstChildElement("option");
+	             !node.isNull(); node = node.nextSiblingElement("option")) {
+		    QDomNode name = node.firstChild();
+                    if (!name.isNull() && name.isText() && !name.nodeValue().isEmpty()) {
+	                field->options.append(name.nodeValue());
+	            }
+	        }
+	    }
+        }
+        if (field->options.length() == 0) {
+            return QString("Object:field:options attribute/element is missing");
+        }
+    }
 
     // Get the default value attribute (required for settings objects, optional for the rest)
     elemAttr = elemAttributes.namedItem("defaultvalue");
@@ -466,12 +530,14 @@ QString UAVObjectParser::processObjectFields(QDomNode& childNode, ObjectInfo* in
 				return QString("Object:field:incorrect number of default values");
 
 			/*support legacy single default for multiple elements
-			We sould really issue a warning*/
+			We should really issue a warning*/
 			for(int ct=1; ct< field->numElements; ct++)
 				defaults.append(defaults[0]);
 		}
 		field->defaultValues = defaults;
     }
+
+    // Limits attribute
     elemAttr = elemAttributes.namedItem("limits");
     if ( elemAttr.isNull() ) {
         field->limitValues=QString();

shared/uavobjectdefinition/mixersettings.xml

@@ -5,29 +5,76 @@
         <field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
-	<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
+	<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
-        <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
+        <field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
-        <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
+		<options>
-        <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+			<option>Throttle</option>
-        <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		        <option>Roll</option>
-        <field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+		        <option>Pitch</option>
-        <field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		        <option>Yaw</option>
-        <field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+		        <option>Collective</option>
-        <field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		        <option>Accessory0</option>
-        <field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+		        <option>Accessory1</option>
-        <field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		        <option>Accessory2</option>
-        <field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+		        <option>Accessory3</option>
-        <field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		        <option>Accessory4</option>
-        <field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+		        <option>Accessory5</option>
-        <field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		</options>
-        <field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+	</field>
-        <field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+        <field name="ThrottleCurve2" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
-        <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+	<field name="Mixer1Type" units="" type="enum" elements="1" defaultvalue="Disabled">
-        <field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+		<options>
-        <field name="Mixer9Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+			<option>Disabled</option>
-        <field name="Mixer9Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+			<option>Motor</option>
-        <field name="Mixer10Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
+			<option>Servo</option>
-        <field name="Mixer10Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
+			<option>CameraRoll</option>
+			<option>CameraPitch</option>
+			<option>CameraYaw</option>
+			<option>Accessory0</option>
+			<option>Accessory1</option>
+			<option>Accessory2</option>
+			<option>Accessory3</option>
+			<option>Accessory4</option>
+			<option>Accessory5</option>
+		</options>
+	</field>
+	<field name="Mixer1Vector" units="" type="int8" defaultvalue="0">
+		<elementnames>
+			<elementname>ThrottleCurve1</elementname>
+			<elementname>ThrottleCurve2</elementname>
+			<elementname>Roll</elementname>
+			<elementname>Pitch</elementname>
+			<elementname>Yaw</elementname>
+		</elementnames>
+	</field>
+
+	<field name="Mixer2Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer2Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer3Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer3Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer4Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer4Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer5Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer5Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer6Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer6Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer7Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer7Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer8Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer8Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer9Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer9Vector" cloneof="Mixer1Vector"/>
+
+	<field name="Mixer10Type"   cloneof="Mixer1Type"/>
+	<field name="Mixer10Vector" cloneof="Mixer1Vector"/>
+
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/taskinfo.xml

@@ -1,9 +1,79 @@
 <xml>
     <object name="TaskInfo" singleinstance="true" settings="false">
         <description>Task information</description>
-        <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+        <field name="StackRemaining" units="bytes" type="uint16">
-	<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+		<elementnames>
-	<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune,EventDispatcher"/>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
+	<field name="Running" units="bool" type="enum">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+		<options>
+			<option>False</option>
+			<option>True</option>
+		</options>
+	</field>
+	<field name="RunningTime" units="%" type="uint8">
+		<elementnames>
+			<elementname>System</elementname>
+			<elementname>Actuator</elementname>
+			<elementname>Attitude</elementname>
+			<elementname>Sensors</elementname>
+			<elementname>TelemetryTx</elementname>
+			<elementname>TelemetryTxPri</elementname>
+			<elementname>TelemetryRx</elementname>
+			<elementname>GPS</elementname>
+			<elementname>ManualControl</elementname>
+			<elementname>Altitude</elementname>
+			<elementname>Stabilization</elementname>
+			<elementname>AltitudeHold</elementname>
+			<elementname>Guidance</elementname>
+			<elementname>FlightPlan</elementname>
+			<elementname>Com2UsbBridge</elementname>
+			<elementname>Usb2ComBridge</elementname>
+			<elementname>OveroSync</elementname>
+			<elementname>Autotune</elementname>
+			<elementname>EventDispatcher</elementname>
+		</elementnames>
+	</field> 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="periodic" period="10000"/>