From 657ae91f8669a7196fb9ca647c32a504f1f31671 Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Fri, 10 Oct 2014 12:14:02 +0200
Subject: [PATCH 01/30] OP-1504 Added VehicleName field and started to add GUI
 support.

---
 .../src/plugins/config/airframe.ui            | 101 ++++++++++++++++--
 shared/uavobjectdefinition/systemsettings.xml |   1 +
 2 files changed, 93 insertions(+), 9 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 100a9f50a..36ec7f122 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -17,6 +17,89 @@
    <property name="spacing">
     <number>0</number>
    </property>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="leftMargin">
+      <number>9</number>
+     </property>
+     <property name="topMargin">
+      <number>9</number>
+     </property>
+     <property name="rightMargin">
+      <number>9</number>
+     </property>
+     <property name="bottomMargin">
+      <number>9</number>
+     </property>
+     <item>
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Vehicle name</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer_2">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeType">
+        <enum>QSizePolicy::Fixed</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>6</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item alignment="Qt::AlignLeft">
+      <widget class="QLineEdit" name="lineEdit">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>300</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="inputMask">
+        <string/>
+       </property>
+       <property name="maxLength">
+        <number>10</number>
+       </property>
+       <property name="placeholderText">
+        <string>Enter name of vehicle. Max 10 characters.</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+    </layout>
+   </item>
    <item>
     <widget class="QTabBar" name="aircraftType" native="true"/>
    </item>
@@ -26,7 +109,7 @@
       <enum>Qt::LeftToRight</enum>
      </property>
      <property name="autoFillBackground">
-      <bool>true</bool>
+      <bool>false</bool>
      </property>
      <property name="styleSheet">
       <string notr="true">#vehicleTypeFrame{
@@ -159,7 +242,7 @@
                <x>0</x>
                <y>0</y>
                <width>820</width>
-               <height>478</height>
+               <height>427</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout">
@@ -306,8 +389,8 @@
               <rect>
                <x>0</x>
                <y>0</y>
-               <width>271</width>
-               <height>307</height>
+               <width>838</width>
+               <height>445</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -717,14 +800,14 @@ 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:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
+&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;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;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:'Ubuntu'; font-size:11pt;&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:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&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-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;&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;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;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;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: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>
                 </property>
diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml
index 0b9780597..720b0786d 100644
--- a/shared/uavobjectdefinition/systemsettings.xml
+++ b/shared/uavobjectdefinition/systemsettings.xml
@@ -2,6 +2,7 @@
     <object name="SystemSettings" singleinstance="true" settings="true" category="System">
         <description>Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
         <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,QuadH,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
+        <field name="VehicleName" units="char" type="uint8" elements="10" defaultvalue="0"/>
 	<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
 		<!-- Which way the vehicle controls its thrust. Can be through
 			"Throttle" (quadcopter, simple brushless planes,

From 46fee4348764bdf96a7f45e099b0ae40adecc678 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 7 Oct 2014 11:23:26 +0200
Subject: [PATCH 02/30] OP-1531 Filter temperatures for gyro and accel
 calibration. calculate new bias every 30 samples

---
 flight/modules/Attitude/attitude.c | 71 ++++++++++++++++++++----------
 flight/modules/Sensors/sensors.c   | 69 ++++++++++++++++++-----------
 2 files changed, 90 insertions(+), 50 deletions(-)

diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 705c713df..10cd9bf4e 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -64,7 +64,7 @@
 
 #include "CoordinateConversions.h"
 #include <pios_notify.h>
-
+#include <mathmisc.h>
 
 #include <pios_instrumentation_helper.h>
 
@@ -79,16 +79,20 @@ PERF_DEFINE_COUNTER(counterAtt);
 // - 0xA7710004 number of accel samples read for each loop (cc only).
 
 // Private constants
-#define STACK_SIZE_BYTES 540
-#define TASK_PRIORITY    (tskIDLE_PRIORITY + 3)
+#define STACK_SIZE_BYTES    540
+#define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
 
-#define SENSOR_PERIOD    4
-#define UPDATE_RATE      25.0f
+#define SENSOR_PERIOD       4
+#define UPDATE_RATE         25.0f
 
-#define UPDATE_EXPECTED  (1.0f / 500.0f)
-#define UPDATE_MIN       1.0e-6f
-#define UPDATE_MAX       1.0f
-#define UPDATE_ALPHA     1.0e-2f
+// Interval in number of sample to recalculate temp bias
+#define TEMP_CALIB_INTERVAL 30
+#define TEMP_ALPHA          0.9f
+
+#define UPDATE_EXPECTED     (1.0f / 500.0f)
+#define UPDATE_MIN          1.0e-6f
+#define UPDATE_MAX          1.0f
+#define UPDATE_ALPHA        1.0e-2f
 
 // Private types
 
@@ -130,6 +134,10 @@ static bool apply_accel_temp = false;
 static AccelGyroSettingsgyro_temp_coeffData gyro_temp_coeff;;
 static AccelGyroSettingsaccel_temp_coeffData accel_temp_coeff;
 static AccelGyroSettingstemp_calibrated_extentData temp_calibrated_extent;
+static float temperature = 0;
+static float accel_temp_bias[3] = { 0 };
+static float gyro_temp_bias[3] = { 0 };
+static uint8_t temp_calibration_count = 0;
 
 // Accel and Gyro scaling (this is the product of sensor scale and adjustement in AccelGyroSettings
 static AccelGyroSettingsgyro_scaleData gyro_scale;
@@ -480,29 +488,44 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
     }
     float invcount = 1.0f / count;
     PERF_TIMED_SECTION_START(counterUpd);
-    gyros[0]  *= gyro_scale.X * invcount;
-    gyros[1]  *= gyro_scale.Y * invcount;
-    gyros[2]  *= gyro_scale.Z * invcount;
+    gyros[0]   *= gyro_scale.X * invcount;
+    gyros[1]   *= gyro_scale.Y * invcount;
+    gyros[2]   *= gyro_scale.Z * invcount;
 
-    accels[0] *= accel_scale.X * invcount;
-    accels[1] *= accel_scale.Y * invcount;
-    accels[2] *= accel_scale.Z * invcount;
+    accels[0]  *= accel_scale.X * invcount;
+    accels[1]  *= accel_scale.Y * invcount;
+    accels[2]  *= accel_scale.Z * invcount;
     temp *= invcount;
-    float ctemp = temp > temp_calibrated_extent.max ? temp_calibrated_extent.max :
-                  (temp < temp_calibrated_extent.min ? temp_calibrated_extent.min
-                   : temp);
 
+    temperature = TEMP_ALPHA * temperature + (1 - TEMP_ALPHA) * temp;
+
+    if ((apply_gyro_temp || apply_accel_temp) && !temp_calibration_count) {
+        temp_calibration_count = TEMP_CALIB_INTERVAL;
+        float ctemp = boundf(temp, temp_calibrated_extent.max, temp_calibrated_extent.min);
+        if (apply_gyro_temp) {
+            gyro_temp_bias[0] = (gyro_temp_coeff.X + gyro_temp_coeff.X2 * ctemp) * ctemp;
+            gyro_temp_bias[1] = (gyro_temp_coeff.Y + gyro_temp_coeff.Y2 * ctemp) * ctemp;
+            gyro_temp_bias[2] = (gyro_temp_coeff.Z + gyro_temp_coeff.Z2 * ctemp) * ctemp;
+        }
+
+        if (apply_accel_temp) {
+            accel_temp_bias[0] = accel_temp_coeff.X * ctemp;
+            accel_temp_bias[1] = accel_temp_coeff.Y * ctemp;
+            accel_temp_bias[2] = accel_temp_coeff.Z * ctemp;
+        }
+    }
+    temp_calibration_count--;
 
     if (apply_gyro_temp) {
-        gyros[0] -= (gyro_temp_coeff.X + gyro_temp_coeff.X2 * ctemp) * ctemp;
-        gyros[1] -= (gyro_temp_coeff.Y + gyro_temp_coeff.Y2 * ctemp) * ctemp;
-        gyros[2] -= (gyro_temp_coeff.Z + gyro_temp_coeff.Z2 * ctemp) * ctemp;
+        gyros[0] -= gyro_temp_bias[0];
+        gyros[1] -= gyro_temp_bias[1];
+        gyros[2] -= gyro_temp_bias[2];
     }
 
     if (apply_accel_temp) {
-        accels[0] -= accel_temp_coeff.X * ctemp;
-        accels[1] -= accel_temp_coeff.Y * ctemp;
-        accels[2] -= accel_temp_coeff.Z * ctemp;
+        accels[0] -= accel_temp_bias[0];
+        accels[1] -= accel_temp_bias[1];
+        accels[2] -= accel_temp_bias[2];
     }
     // gyrosData->temperature  = 35.0f + ((float)mpu6000_data.temperature + 512.0f) / 340.0f;
     // accelsData->temperature = 35.0f + ((float)mpu6000_data.temperature + 512.0f) / 340.0f;
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index fb51af90e..337e7649f 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -64,11 +64,15 @@
 #include <pios_board_info.h>
 
 // Private constants
-#define STACK_SIZE_BYTES 1000
-#define TASK_PRIORITY    (tskIDLE_PRIORITY + 3)
-#define SENSOR_PERIOD    2
+#define STACK_SIZE_BYTES    1000
+#define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
+#define SENSOR_PERIOD       2
 
-#define ZERO_ROT_ANGLE   0.00001f
+// Interval in number of sample to recalculate temp bias
+#define TEMP_CALIB_INTERVAL 30
+#define TEMP_ALPHA          0.9f
+
+#define ZERO_ROT_ANGLE      0.00001f
 // Private types
 
 
@@ -96,6 +100,13 @@ static float mag_transform[3][3] = {
 static volatile bool gyro_temp_calibrated  = false;
 static volatile bool accel_temp_calibrated = false;
 
+static float accel_temperature  = 0;
+static float gyro_temperature   = 0;
+static float accel_temp_bias[3] = { 0 };
+static float gyro_temp_bias[3] = { 0 };
+static uint8_t temp_calibration_count = 0;
+
+
 static float R[3][3] = {
     { 0 }
 };
@@ -350,24 +361,38 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             PIOS_DEBUG_Assert(0);
         }
 
+        accel_temperature = TEMP_ALPHA * accelSensorData.temperature + (1 - TEMP_ALPHA) * accelSensorData.temperature;
+        gyro_temperature  = TEMP_ALPHA * gyroSensorData.temperature + (1 - TEMP_ALPHA) * gyroSensorData.temperature;
+
+        if ((accel_temp_calibrated || gyro_temp_calibrated) && !temp_calibration_count) {
+            temp_calibration_count = TEMP_CALIB_INTERVAL;
+            if (accel_temp_calibrated) {
+                float ctemp = boundf(accel_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
+                accel_temp_bias[0] = agcal.accel_temp_coeff.X * ctemp;
+                accel_temp_bias[1] = agcal.accel_temp_coeff.Y * ctemp;
+                accel_temp_bias[2] = agcal.accel_temp_coeff.Z * ctemp;
+            }
+
+            if (gyro_temp_calibrated) {
+                float ctemp = boundf(gyro_temperature, agcal.temp_calibrated_extent.max, agcal.temp_calibrated_extent.min);
+
+                gyro_temp_bias[0] = (agcal.gyro_temp_coeff.X + agcal.gyro_temp_coeff.X2 * ctemp) * ctemp;
+                gyro_temp_bias[1] = (agcal.gyro_temp_coeff.Y + agcal.gyro_temp_coeff.Y2 * ctemp) * ctemp;
+                gyro_temp_bias[2] = (agcal.gyro_temp_coeff.Z + agcal.gyro_temp_coeff.Z2 * ctemp) * ctemp;
+            }
+        }
+        temp_calibration_count--;
         // Scale the accels
         float accels[3] = { (float)accel_accum[0] / accel_samples,
                             (float)accel_accum[1] / accel_samples,
                             (float)accel_accum[2] / accel_samples };
 
 
-        float accels_out[3] = { accels[0] * accel_scaling * agcal.accel_scale.X - agcal.accel_bias.X,
-                                accels[1] * accel_scaling * agcal.accel_scale.Y - agcal.accel_bias.Y,
-                                accels[2] * accel_scaling * agcal.accel_scale.Z - agcal.accel_bias.Z };
+        float accels_out[3] = { accels[0] * accel_scaling * agcal.accel_scale.X - agcal.accel_bias.X - accel_temp_bias[0],
+                                accels[1] * accel_scaling * agcal.accel_scale.Y - agcal.accel_bias.Y - accel_temp_bias[1],
+                                accels[2] * accel_scaling * agcal.accel_scale.Z - agcal.accel_bias.Z - accel_temp_bias[2] };
+
 
-        if (accel_temp_calibrated) {
-            float ctemp = accelSensorData.temperature > agcal.temp_calibrated_extent.max ? agcal.temp_calibrated_extent.max :
-                          (accelSensorData.temperature < agcal.temp_calibrated_extent.min ? agcal.temp_calibrated_extent.min
-                           : accelSensorData.temperature);
-            accels_out[0] -= agcal.accel_temp_coeff.X * ctemp;
-            accels_out[1] -= agcal.accel_temp_coeff.Y * ctemp;
-            accels_out[2] -= agcal.accel_temp_coeff.Z * ctemp;
-        }
         if (rotate) {
             rot_mult(R, accels_out, accels);
             accelSensorData.x = accels[0];
@@ -385,18 +410,10 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
                            (float)gyro_accum[1] / gyro_samples,
                            (float)gyro_accum[2] / gyro_samples };
 
-        float gyros_out[3] = { gyros[0] * gyro_scaling * agcal.gyro_scale.X - agcal.gyro_bias.X,
-                               gyros[1] * gyro_scaling * agcal.gyro_scale.Y - agcal.gyro_bias.Y,
-                               gyros[2] * gyro_scaling * agcal.gyro_scale.Z - agcal.gyro_bias.Z };
+        float gyros_out[3] = { gyros[0] * gyro_scaling * agcal.gyro_scale.X - agcal.gyro_bias.X - gyro_temp_bias[0],
+                               gyros[1] * gyro_scaling * agcal.gyro_scale.Y - agcal.gyro_bias.Y - gyro_temp_bias[1],
+                               gyros[2] * gyro_scaling * agcal.gyro_scale.Z - agcal.gyro_bias.Z - gyro_temp_bias[2] };
 
-        if (gyro_temp_calibrated) {
-            float ctemp = gyroSensorData.temperature > agcal.temp_calibrated_extent.max ? agcal.temp_calibrated_extent.max :
-                          (gyroSensorData.temperature < agcal.temp_calibrated_extent.min ? agcal.temp_calibrated_extent.min
-                           : gyroSensorData.temperature);
-            gyros_out[0] -= (agcal.gyro_temp_coeff.X + agcal.gyro_temp_coeff.X2 * ctemp) * ctemp;
-            gyros_out[1] -= (agcal.gyro_temp_coeff.Y + agcal.gyro_temp_coeff.Y2 * ctemp) * ctemp;
-            gyros_out[2] -= (agcal.gyro_temp_coeff.Z + agcal.gyro_temp_coeff.Z2 * ctemp) * ctemp;
-        }
         if (rotate) {
             rot_mult(R, gyros_out, gyros);
             gyroSensorData.x = gyros[0];

From c1062124af4e0a950b92b9b14495a5f3f75b4667 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 7 Oct 2014 11:32:20 +0200
Subject: [PATCH 03/30] OP-1531 - Add temperature filtering for baro
 compensation

---
 flight/modules/Altitude/revolution/altitude.c | 27 ++++++++++++++-----
 1 file changed, 21 insertions(+), 6 deletions(-)

diff --git a/flight/modules/Altitude/revolution/altitude.c b/flight/modules/Altitude/revolution/altitude.c
index 4322c90d3..1c959f94c 100644
--- a/flight/modules/Altitude/revolution/altitude.c
+++ b/flight/modules/Altitude/revolution/altitude.c
@@ -41,14 +41,19 @@
 #include "altitude.h"
 #include "barosensor.h" // object that will be updated by the module
 #include "revosettings.h"
+#include <mathmisc.h>
 #if defined(PIOS_INCLUDE_HCSR04)
 #include "sonaraltitude.h" // object that will be updated by the module
 #endif
 #include "taskinfo.h"
 
 // Private constants
-#define STACK_SIZE_BYTES 550
-#define TASK_PRIORITY    (tskIDLE_PRIORITY + 1)
+#define STACK_SIZE_BYTES    550
+#define TASK_PRIORITY       (tskIDLE_PRIORITY + 1)
+
+// Interval in number of sample to recalculate temp bias
+#define TEMP_CALIB_INTERVAL 10
+#define TEMP_ALPHA          0.9f
 
 // Private types
 
@@ -57,6 +62,11 @@ static xTaskHandle taskHandle;
 static RevoSettingsBaroTempCorrectionPolynomialData baroCorrection;
 static RevoSettingsBaroTempCorrectionExtentData baroCorrectionExtent;
 static volatile bool tempCorrectionEnabled;
+
+static float baro_temp_bias   = 0;
+static float baro_temperature = 0;
+static uint8_t temp_calibration_count = 0;
+
 // Private functions
 static void altitudeTask(void *parameters);
 static void SettingsUpdatedCb(UAVObjEvent *ev);
@@ -166,13 +176,18 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
         temp  = PIOS_MS5611_GetTemperature();
         press = PIOS_MS5611_GetPressure();
 
-        if (tempCorrectionEnabled) {
+        baro_temperature = TEMP_ALPHA * baro_temperature + (1 - TEMP_ALPHA) * temp;
+
+        if (tempCorrectionEnabled && !temp_calibration_count) {
+            temp_calibration_count = TEMP_CALIB_INTERVAL;
             // pressure bias = A + B*t + C*t^2 + D * t^3
             // in case the temperature is outside of the calibrated range, uses the nearest extremes
-            float ctemp = temp > baroCorrectionExtent.max ? baroCorrectionExtent.max :
-                          (temp < baroCorrectionExtent.min ? baroCorrectionExtent.min : temp);
-            press -= baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp;
+            float ctemp = boundf(baro_temperature, baroCorrectionExtent.max, baroCorrectionExtent.min);
+            baro_temp_bias = baroCorrection.a + ((baroCorrection.d * ctemp + baroCorrection.c) * ctemp + baroCorrection.b) * ctemp;
         }
+
+        press -= baro_temp_bias;
+
         float altitude = 44330.0f * (1.0f - powf((press) / MS5611_P0, (1.0f / 5.255f)));
 
         if (!isnan(altitude)) {

From 9350bd65d97e29141290cf6e214488bb0ee497fe Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 7 Oct 2014 11:40:39 +0200
Subject: [PATCH 04/30] OP-1535 - change sensor rate to 1KHz with software
 downsample to 500Hz

Allow per board SPI prescaler settings
---
 flight/modules/Attitude/attitude.c            | 18 +++---
 flight/modules/Sensors/sensors.c              | 16 ++++-
 flight/pios/common/pios_mpu6000.c             | 58 ++++++++-----------
 flight/pios/inc/pios_mpu6000.h                |  2 +
 .../coptercontrol/firmware/pios_board.c       | 18 +++---
 .../boards/revolution/firmware/pios_board.c   | 20 ++++---
 .../boards/revoproto/firmware/pios_board.c    | 22 +++----
 7 files changed, 83 insertions(+), 71 deletions(-)

diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 10cd9bf4e..494aedca4 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -82,7 +82,7 @@ PERF_DEFINE_COUNTER(counterAtt);
 #define STACK_SIZE_BYTES    540
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
 
-#define SENSOR_PERIOD       4
+#define SENSOR_PERIOD       2
 #define UPDATE_RATE         25.0f
 
 // Interval in number of sample to recalculate temp bias
@@ -230,12 +230,6 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
 
     AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
 
-    // Set critical error and wait until the accel is producing data
-    while (PIOS_ADXL345_FifoElements() == 0) {
-        AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
-        PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
-    }
-
     bool cc3d = BOARDISCC3D;
 
     if (cc3d) {
@@ -244,6 +238,11 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
 #endif
     } else {
 #if defined(PIOS_INCLUDE_ADXL345)
+        // Set critical error and wait until the accel is producing data
+        while (PIOS_ADXL345_FifoElements() == 0) {
+            AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_CRITICAL);
+            PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
+        }
         accel_test = PIOS_ADXL345_Test();
 #endif
 
@@ -265,7 +264,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
     settingsUpdatedCb(AttitudeSettingsHandle());
 
     PIOS_DELTATIME_Init(&dtconfig, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
-
+    portTickType lastSysTime = xTaskGetTickCount();
     // Main task loop
     while (1) {
         FlightStatusData flightStatus;
@@ -325,6 +324,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             PERF_MEASURE_PERIOD(counterPeriod);
             AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
         }
+        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
     }
 }
 
@@ -462,7 +462,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
 #if defined(PIOS_INCLUDE_MPU6000)
 
     xQueueHandle queue = PIOS_MPU6000_GetQueue();
-    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, SENSOR_PERIOD);
+    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, 0);
     while (ret == pdTRUE) {
         gyros[0]  += mpu6000_data.gyro_x;
         gyros[1]  += mpu6000_data.gyro_y;
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index 337e7649f..608741423 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -74,7 +74,15 @@
 
 #define ZERO_ROT_ANGLE      0.00001f
 // Private types
+#define PIOS_INSTRUMENT_MODULE
+#include <pios_instrumentation_helper.h>
 
+PERF_DEFINE_COUNTER(counterGyroSamples);
+PERF_DEFINE_COUNTER(counterSensorPeriod);
+
+// Counters:
+// - 0x53000001 Sensor fetch rate(period)
+// - 0x53000002 number of gyro samples read for each loop
 
 // Private functions
 static void SensorsTask(void *parameters);
@@ -230,7 +238,8 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             vTaskDelay(10);
         }
     }
-
+    PERF_INIT_COUNTER(counterGyroSamples, 0x53000001);
+    PERF_INIT_COUNTER(counterSensorPeriod, 0x53000002);
     // Main task loop
     lastSysTime = xTaskGetTickCount();
     bool error = false;
@@ -343,6 +352,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
                     accel_samples++;
                 }
 
+                PERF_MEASURE_PERIOD(counterSensorPeriod);
+                PERF_TRACK_VALUE(counterGyroSamples, gyro_samples);
+
                 if (gyro_samples == 0) {
                     PIOS_MPU6000_ReadGyros(&mpu6000_data);
                     error = true;
@@ -454,7 +466,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
 #ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
 #endif
-
+        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
         lastSysTime = xTaskGetTickCount();
     }
 }
diff --git a/flight/pios/common/pios_mpu6000.c b/flight/pios/common/pios_mpu6000.c
index 2585c346c..d00559485 100644
--- a/flight/pios/common/pios_mpu6000.c
+++ b/flight/pios/common/pios_mpu6000.c
@@ -41,7 +41,7 @@ enum pios_mpu6000_dev_magic {
     PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
 };
 
-#define PIOS_MPU6000_MAX_DOWNSAMPLE 2
+#define PIOS_MPU6000_MAX_DOWNSAMPLE 5
 struct mpu6000_dev {
     uint32_t     spi_id;
     uint32_t     slave_num;
@@ -63,6 +63,7 @@ static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *dev);
 static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg);
 static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
 static int32_t PIOS_MPU6000_GetReg(uint8_t address);
+static void PIOS_MPU6000_SetSpeed(const bool fast);
 
 #define GRAV                       9.81f
 
@@ -129,9 +130,7 @@ int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios
     dev->cfg = cfg;
 
     /* Configure the MPU6000 Sensor */
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
     PIOS_MPU6000_Config(cfg);
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
 
     /* Set up EXTI line */
     PIOS_EXTI_Init(cfg->exti_cfg);
@@ -234,11 +233,6 @@ int32_t PIOS_MPU6000_ConfigureRanges(
         return -1;
     }
 
-    // TODO: check that changing the SPI clock speed is safe
-    // to do here given that interrupts are enabled and the bus has
-    // not been claimed/is not claimed during this call
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
-
     // update filter settings
     while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0) {
         ;
@@ -267,7 +261,6 @@ int32_t PIOS_MPU6000_ConfigureRanges(
 
     dev->accel_range = accelRange;
 #endif
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
     return 0;
 }
 
@@ -275,7 +268,7 @@ int32_t PIOS_MPU6000_ConfigureRanges(
  * @brief Claim the SPI bus for the accel communications and select this chip
  * @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
  */
-static int32_t PIOS_MPU6000_ClaimBus()
+static int32_t PIOS_MPU6000_ClaimBus(bool fast_spi)
 {
     if (PIOS_MPU6000_Validate(dev) != 0) {
         return -1;
@@ -283,17 +276,28 @@ static int32_t PIOS_MPU6000_ClaimBus()
     if (PIOS_SPI_ClaimBus(dev->spi_id) != 0) {
         return -2;
     }
+    PIOS_MPU6000_SetSpeed(fast_spi);
     PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
     return 0;
 }
 
+
+static void PIOS_MPU6000_SetSpeed(const bool fast)
+{
+    if (fast) {
+        PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->fast_prescaler);
+    } else {
+        PIOS_SPI_SetClockSpeed(dev->spi_id, dev->cfg->std_prescaler);
+    }
+}
+
 /**
  * @brief Claim the SPI bus for the accel communications and select this chip
  * @return 0 if successful, -1 for invalid device, -2 if unable to claim bus
  * @param woken[in,out] If non-NULL, will be set to true if woken was false and a higher priority
  *                      task has is now eligible to run, else unchanged
  */
-static int32_t PIOS_MPU6000_ClaimBusISR(bool *woken)
+static int32_t PIOS_MPU6000_ClaimBusISR(bool *woken, bool fast_spi)
 {
     if (PIOS_MPU6000_Validate(dev) != 0) {
         return -1;
@@ -301,6 +305,7 @@ static int32_t PIOS_MPU6000_ClaimBusISR(bool *woken)
     if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
         return -2;
     }
+    PIOS_MPU6000_SetSpeed(fast_spi);
     PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
     return 0;
 }
@@ -342,7 +347,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
 {
     uint8_t data;
 
-    if (PIOS_MPU6000_ClaimBus() != 0) {
+    if (PIOS_MPU6000_ClaimBus(false) != 0) {
         return -1;
     }
 
@@ -363,7 +368,7 @@ static int32_t PIOS_MPU6000_GetReg(uint8_t reg)
  */
 static int32_t PIOS_MPU6000_SetReg(uint8_t reg, uint8_t data)
 {
-    if (PIOS_MPU6000_ClaimBus() != 0) {
+    if (PIOS_MPU6000_ClaimBus(false) != 0) {
         return -1;
     }
 
@@ -393,7 +398,7 @@ int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data *data)
     uint8_t buf[7] = { PIOS_MPU6000_GYRO_X_OUT_MSB | 0x80, 0, 0, 0, 0, 0, 0 };
     uint8_t rec[7];
 
-    if (PIOS_MPU6000_ClaimBus() != 0) {
+    if (PIOS_MPU6000_ClaimBus(true) != 0) {
         return -1;
     }
 
@@ -504,7 +509,7 @@ static int32_t PIOS_MPU6000_GetInterruptStatusRegISR(bool *woken)
     /* Interrupt Status register can be read at high SPI clock speed */
     uint8_t data;
 
-    if (PIOS_MPU6000_ClaimBusISR(woken) != 0) {
+    if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) {
         return -1;
     }
     PIOS_SPI_TransferByte(dev->spi_id, (0x80 | PIOS_MPU6000_INT_STATUS_REG));
@@ -525,29 +530,16 @@ static int32_t PIOS_MPU6000_ResetFifoISR(bool *woken)
 {
     int32_t result = 0;
 
-    /* Register writes must be at < 1MHz SPI clock.
-     * Speed can only be changed when SPI bus semaphore is held, but
-     * device chip select must not be enabled, so we use the direct
-     * SPI bus claim call here */
-    if (PIOS_SPI_ClaimBusISR(dev->spi_id, woken) != 0) {
+    if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) {
         return -1;
     }
-    /* Reduce SPI clock speed. */
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
-    /* Enable chip select */
-    PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
     /* Reset FIFO. */
     if (PIOS_SPI_TransferByte(dev->spi_id, 0x7f & PIOS_MPU6000_USER_CTRL_REG) != 0) {
         result = -2;
     } else if (PIOS_SPI_TransferByte(dev->spi_id, (dev->cfg->User_ctl | PIOS_MPU6000_USERCTL_FIFO_RST)) != 0) {
         result = -2;
     }
-    /* Disable chip select. */
-    PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 1);
-    /* Increase SPI clock speed. */
-    PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
-    /* Release the SPI bus semaphore. */
-    PIOS_SPI_ReleaseBusISR(dev->spi_id, woken);
+    PIOS_MPU6000_ReleaseBusISR(woken);
     return result;
 }
 
@@ -562,7 +554,7 @@ static int32_t PIOS_MPU6000_FifoDepthISR(bool *woken)
     uint8_t mpu6000_send_buf[3] = { PIOS_MPU6000_FIFO_CNT_MSB | 0x80, 0, 0 };
     uint8_t mpu6000_rec_buf[3];
 
-    if (PIOS_MPU6000_ClaimBusISR(woken) != 0) {
+    if (PIOS_MPU6000_ClaimBusISR(woken, false) != 0) {
         return -1;
     }
 
@@ -630,7 +622,7 @@ bool PIOS_MPU6000_IRQHandler(void)
         return woken;
     }
 
-    if (PIOS_MPU6000_ClaimBusISR(&woken) != 0) {
+    if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
         return woken;
     }
 
@@ -650,7 +642,7 @@ bool PIOS_MPU6000_IRQHandler(void)
     // In the case where extras samples backed up grabbed an extra
     if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) {
         mpu6000_fifo_backup++;
-        if (PIOS_MPU6000_ClaimBusISR(&woken) != 0) {
+        if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
             return woken;
         }
 
diff --git a/flight/pios/inc/pios_mpu6000.h b/flight/pios/inc/pios_mpu6000.h
index cda019edf..7e21858d5 100644
--- a/flight/pios/inc/pios_mpu6000.h
+++ b/flight/pios/inc/pios_mpu6000.h
@@ -159,6 +159,8 @@ struct pios_mpu6000_cfg {
     enum pios_mpu6000_range gyro_range;
     enum pios_mpu6000_filter filter;
     enum pios_mpu6000_orientation orientation;
+    SPIPrescalerTypeDef fast_prescaler;
+    SPIPrescalerTypeDef std_prescaler;
 };
 
 /* Public Functions */
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 2cb1734ff..214ce8e20 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -119,18 +119,20 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-    // Clock at 8 khz, downsampled by 16 for 500 Hz
+    // Clock at 8 khz, downsampled by 8 for 1000 Hz
     .Smpl_rate_div_no_dlp = 15,
-    // Clock at 1 khz, downsampled by 2 for 500 Hz
+    // Clock at 1 khz, downsampled by 2 for 1000 Hz
     .Smpl_rate_div_dlp    = 1,
-    .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
-    .interrupt_en  = PIOS_MPU6000_INTEN_DATA_RDY,
+    .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
+    .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
     .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
-    .Pwr_mgmt_clk  = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-    .accel_range   = PIOS_MPU6000_ACCEL_8G,
-    .gyro_range    = PIOS_MPU6000_SCALE_2000_DEG,
+    .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
+    .accel_range    = PIOS_MPU6000_ACCEL_8G,
+    .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
-    .orientation   = PIOS_MPU6000_TOP_180DEG
+    .orientation    = PIOS_MPU6000_TOP_180DEG,
+    .fast_prescaler = PIOS_SPI_PRESCALER_16,
+    .std_prescaler  = PIOS_SPI_PRESCALER_64
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 9f66deb6d..3c1e58dd3 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -192,18 +192,20 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-    // Clock at 8 khz, downsampled by 12 for 666Hz
-    .Smpl_rate_div_no_dlp = 11,
-    // with dlp on output rate is 500Hz
+    // Clock at 8 khz, downsampled by 8 for 1000Hz
+    .Smpl_rate_div_no_dlp = 15,
+    // with dlp on output rate is 1000Hz
     .Smpl_rate_div_dlp    = 1,
-    .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
-    .interrupt_en  = PIOS_MPU6000_INTEN_DATA_RDY,
+    .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
+    .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
     .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
-    .Pwr_mgmt_clk  = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-    .accel_range   = PIOS_MPU6000_ACCEL_8G,
-    .gyro_range    = PIOS_MPU6000_SCALE_2000_DEG,
+    .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
+    .accel_range    = PIOS_MPU6000_ACCEL_8G,
+    .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
-    .orientation   = PIOS_MPU6000_TOP_180DEG
+    .orientation    = PIOS_MPU6000_TOP_180DEG,
+    .fast_prescaler = PIOS_SPI_PRESCALER_16,
+    .std_prescaler  = PIOS_SPI_PRESCALER_256
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index 8a414ddbd..18072ea2e 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -222,18 +222,20 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-    // Clock at 8 khz, downsampled by 12 for 666Hz
-    .Smpl_rate_div_no_dlp = 11,
-    // with dlp on output rate is 500Hz
-    .Smpl_rate_div_dlp    = 1,
-    .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
-    .interrupt_en  = PIOS_MPU6000_INTEN_DATA_RDY,
+    // Clock at 8 khz, downsampled by 8 for 1000Hz
+    .Smpl_rate_div_no_dlp = 7,
+    // with dlp on output rate is 1000Hz
+    .Smpl_rate_div_dlp    = 0,
+    .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
+    .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
     .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
-    .Pwr_mgmt_clk  = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
-    .accel_range   = PIOS_MPU6000_ACCEL_8G,
-    .gyro_range    = PIOS_MPU6000_SCALE_2000_DEG,
+    .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
+    .accel_range    = PIOS_MPU6000_ACCEL_8G,
+    .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
-    .orientation   = PIOS_MPU6000_TOP_0DEG
+    .orientation    = PIOS_MPU6000_TOP_0DEG,
+    .fast_prescaler = PIOS_SPI_PRESCALER_16,
+    .std_prescaler  = PIOS_SPI_PRESCALER_256
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 

From 28274cdb6b60e9e554da76604846a3a53ff3819f Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Thu, 9 Oct 2014 21:10:51 +0200
Subject: [PATCH 05/30] OP-1535 - Fixes CC3D sensor SPI configuration

---
 flight/targets/boards/coptercontrol/board_hw_defs.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/flight/targets/boards/coptercontrol/board_hw_defs.c b/flight/targets/boards/coptercontrol/board_hw_defs.c
index c2cb8b48d..6463451b3 100644
--- a/flight/targets/boards/coptercontrol/board_hw_defs.c
+++ b/flight/targets/boards/coptercontrol/board_hw_defs.c
@@ -260,7 +260,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_13,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_AF_PP,
         },
     },
@@ -268,7 +268,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_14,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
         },
     },
@@ -276,7 +276,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_15,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_AF_PP,
         },
     },
@@ -360,7 +360,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_13,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_AF_PP,
         },
     },
@@ -368,7 +368,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_14,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
         },
     },
@@ -376,7 +376,7 @@ static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
         .gpio = GPIOB,
         .init = {
             .GPIO_Pin   = GPIO_Pin_15,
-            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Speed = GPIO_Speed_50MHz,
             .GPIO_Mode  = GPIO_Mode_AF_PP,
         },
     },

From 4a8cfe3f8675eeecab087d1e3561281122bd2ad5 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 10 Oct 2014 01:21:40 +0200
Subject: [PATCH 06/30] OP-1535 - Refactor MPU6k driver to allow direct and
 fifo access based on configuration

---
 flight/pios/common/pios_mpu6000.c             | 270 ++++++++++--------
 flight/pios/inc/pios_mpu6000.h                |   1 +
 .../coptercontrol/firmware/pios_board.c       |  11 +-
 .../boards/revolution/firmware/pios_board.c   |  13 +-
 .../boards/revoproto/firmware/pios_board.c    |  11 +-
 5 files changed, 178 insertions(+), 128 deletions(-)

diff --git a/flight/pios/common/pios_mpu6000.c b/flight/pios/common/pios_mpu6000.c
index d00559485..bf00cfa18 100644
--- a/flight/pios/common/pios_mpu6000.c
+++ b/flight/pios/common/pios_mpu6000.c
@@ -33,15 +33,13 @@
 
 #ifdef PIOS_INCLUDE_MPU6000
 
-#include "fifo_buffer.h"
-
+#include <pios_constants.h>
 /* Global Variables */
 
 enum pios_mpu6000_dev_magic {
     PIOS_MPU6000_DEV_MAGIC = 0x9da9b3ed,
 };
 
-#define PIOS_MPU6000_MAX_DOWNSAMPLE 5
 struct mpu6000_dev {
     uint32_t     spi_id;
     uint32_t     slave_num;
@@ -53,30 +51,58 @@ struct mpu6000_dev {
     enum pios_mpu6000_dev_magic   magic;
 };
 
+#ifdef PIOS_MPU6000_ACCEL
+#define PIOS_MPU6000_SAMPLES_BYTES    14
+#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_ACCEL_X_OUT_MSB
+#else
+#define PIOS_MPU6000_SENSOR_FIRST_REG PIOS_MPU6000_TEMP_OUT_MSB
+#define PIOS_MPU6000_SAMPLES_BYTES    8
+#endif
+
+typedef union {
+    uint8_t buffer[1 + PIOS_MPU6000_SAMPLES_BYTES];
+    struct {
+        uint8_t dummy;
+#ifdef PIOS_MPU6000_ACCEL
+        uint8_t Accel_X_h;
+        uint8_t Accel_X_l;
+        uint8_t Accel_Y_h;
+        uint8_t Accel_Y_l;
+        uint8_t Accel_Z_h;
+        uint8_t Accel_Z_l;
+#endif
+        uint8_t Temperature_h;
+        uint8_t Temperature_l;
+        uint8_t Gyro_X_h;
+        uint8_t Gyro_X_l;
+        uint8_t Gyro_Y_h;
+        uint8_t Gyro_Y_l;
+        uint8_t Gyro_Z_h;
+        uint8_t Gyro_Z_l;
+    } data;
+} mpu6000_data_t;
+
+#define GET_SENSOR_DATA(mpudataptr, sensor) (mpudataptr.data.sensor##_h << 8 | mpudataptr.data.sensor##_l)
+
 // ! Global structure for this device device
 static struct mpu6000_dev *dev;
 volatile bool mpu6000_configured = false;
+static mpu6000_data_t mpu6000_data;
 
 // ! Private functions
-static struct mpu6000_dev *PIOS_MPU6000_alloc(void);
+static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg);
 static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *dev);
 static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const *cfg);
 static int32_t PIOS_MPU6000_SetReg(uint8_t address, uint8_t buffer);
 static int32_t PIOS_MPU6000_GetReg(uint8_t address);
 static void PIOS_MPU6000_SetSpeed(const bool fast);
-
-#define GRAV                       9.81f
-
-#ifdef PIOS_MPU6000_ACCEL
-#define PIOS_MPU6000_SAMPLES_BYTES 14
-#else
-#define PIOS_MPU6000_SAMPLES_BYTES 8
-#endif
-
+static bool PIOS_MPU6000_HandleData();
+static bool PIOS_MPU6000_ReadFifo(bool *woken);
+static bool PIOS_MPU6000_ReadSensor(bool *woken);
 /**
  * @brief Allocate a new device
  */
-static struct mpu6000_dev *PIOS_MPU6000_alloc(void)
+static struct mpu6000_dev *PIOS_MPU6000_alloc(const struct pios_mpu6000_cfg *cfg)
 {
     struct mpu6000_dev *mpu6000_dev;
 
@@ -87,7 +113,7 @@ static struct mpu6000_dev *PIOS_MPU6000_alloc(void)
 
     mpu6000_dev->magic = PIOS_MPU6000_DEV_MAGIC;
 
-    mpu6000_dev->queue = xQueueCreate(PIOS_MPU6000_MAX_DOWNSAMPLE, sizeof(struct pios_mpu6000_data));
+    mpu6000_dev->queue = xQueueCreate(cfg->max_downsample + 1, sizeof(struct pios_mpu6000_data));
     if (mpu6000_dev->queue == NULL) {
         vPortFree(mpu6000_dev);
         return NULL;
@@ -120,7 +146,7 @@ static int32_t PIOS_MPU6000_Validate(struct mpu6000_dev *vdev)
  */
 int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg *cfg)
 {
-    dev = PIOS_MPU6000_alloc();
+    dev = PIOS_MPU6000_alloc(cfg);
     if (dev == NULL) {
         return -1;
     }
@@ -465,16 +491,16 @@ float PIOS_MPU6000_GetAccelScale()
 {
     switch (dev->accel_range) {
     case PIOS_MPU6000_ACCEL_2G:
-        return GRAV / 16384.0f;
+        return PIOS_CONST_MKS_GRAV_ACCEL_F / 16384.0f;
 
     case PIOS_MPU6000_ACCEL_4G:
-        return GRAV / 8192.0f;
+        return PIOS_CONST_MKS_GRAV_ACCEL_F / 8192.0f;
 
     case PIOS_MPU6000_ACCEL_8G:
-        return GRAV / 4096.0f;
+        return PIOS_CONST_MKS_GRAV_ACCEL_F / 4096.0f;
 
     case PIOS_MPU6000_ACCEL_16G:
-        return GRAV / 2048.0f;
+        return PIOS_CONST_MKS_GRAV_ACCEL_F / 2048.0f;
     }
     return 0;
 }
@@ -596,6 +622,97 @@ bool PIOS_MPU6000_IRQHandler(void)
         return false;
     }
 
+    bool read_ok = false;
+    if (dev->cfg->User_ctl & PIOS_MPU6000_USERCTL_FIFO_EN) {
+        read_ok = PIOS_MPU6000_ReadFifo(&woken);
+    } else {
+        read_ok = PIOS_MPU6000_ReadSensor(&woken);
+    }
+    if (read_ok) {
+        bool woken2 = PIOS_MPU6000_HandleData();
+        woken |= woken2;
+    }
+
+    mpu6000_irq++;
+
+    mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
+
+    return woken;
+}
+
+static bool PIOS_MPU6000_HandleData()
+{
+    // Rotate the sensor to OP convention.  The datasheet defines X as towards the right
+    // and Y as forward.  OP convention transposes this.  Also the Z is defined negatively
+    // to our convention
+
+    static struct pios_mpu6000_data data;
+
+    // Currently we only support rotations on top so switch X/Y accordingly
+    switch (dev->cfg->orientation) {
+    case PIOS_MPU6000_TOP_0DEG:
+#ifdef PIOS_MPU6000_ACCEL
+        data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
+        data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
+#endif
+        data.gyro_y  = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
+        data.gyro_x  = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
+        break;
+    case PIOS_MPU6000_TOP_90DEG:
+        // -1 to bring it back to -32768 +32767 range
+#ifdef PIOS_MPU6000_ACCEL
+        data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
+        data.accel_x = GET_SENSOR_DATA(mpu6000_data, Accel_X); // chip X
+#endif
+        data.gyro_y  = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
+        data.gyro_x  = GET_SENSOR_DATA(mpu6000_data, Gyro_X); // chip X
+        break;
+    case PIOS_MPU6000_TOP_180DEG:
+#ifdef PIOS_MPU6000_ACCEL
+        data.accel_y = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
+        data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Y)); // chip Y
+#endif
+        data.gyro_y  = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
+        data.gyro_x  = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Y)); // chip Y
+        break;
+    case PIOS_MPU6000_TOP_270DEG:
+#ifdef PIOS_MPU6000_ACCEL
+        data.accel_y = GET_SENSOR_DATA(mpu6000_data, Accel_Y); // chip Y
+        data.accel_x = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_X)); // chip X
+#endif
+        data.gyro_y  = GET_SENSOR_DATA(mpu6000_data, Gyro_Y); // chip Y
+        data.gyro_x  = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_X)); // chip X
+        break;
+    }
+#ifdef PIOS_MPU6000_ACCEL
+    data.accel_z     = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
+#endif
+    data.gyro_z      = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
+    data.temperature = GET_SENSOR_DATA(mpu6000_data, Temperature);
+
+    BaseType_t higherPriorityTaskWoken;
+    xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
+    return higherPriorityTaskWoken == pdTRUE;
+}
+
+static bool PIOS_MPU6000_ReadSensor(bool *woken)
+{
+    const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_SENSOR_FIRST_REG | 0x80 };
+
+    if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
+        return false;
+    }
+    if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
+        PIOS_MPU6000_ReleaseBusISR(woken);
+        mpu6000_fails++;
+        return false;
+    }
+    PIOS_MPU6000_ReleaseBusISR(woken);
+    return true;
+}
+
+static bool PIOS_MPU6000_ReadFifo(bool *woken)
+{
     /* Temporary fix for OP-1049. Expected to be superceded for next major release
      * by code changes for OP-1039.
      * Read interrupt status register to check for FIFO overflow. Must be the
@@ -603,128 +720,57 @@ bool PIOS_MPU6000_IRQHandler(void)
      * any read clears in the status register (PIOS_MPU6000_INT_CLR_ANYRD set in
      * interrupt config register) */
     int32_t result;
-    if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(&woken)) < 0) {
-        return woken;
+
+    if ((result = PIOS_MPU6000_GetInterruptStatusRegISR(woken)) < 0) {
+        return false;
     }
     if (result & PIOS_MPU6000_INT_STATUS_FIFO_OVERFLOW) {
         /* The FIFO has overflowed, so reset it,
          * to enable sample sync to be recovered.
          * If the reset fails, we are in trouble, but
          * we keep trying on subsequent interrupts. */
-        PIOS_MPU6000_ResetFifoISR(&woken);
+        PIOS_MPU6000_ResetFifoISR(woken);
         /* Return and wait for the next new sample. */
-        return woken;
+        return false;
     }
 
     /* Usual case - FIFO has not overflowed. */
-    mpu6000_count = PIOS_MPU6000_FifoDepthISR(&woken);
+    mpu6000_count = PIOS_MPU6000_FifoDepthISR(woken);
     if (mpu6000_count < PIOS_MPU6000_SAMPLES_BYTES) {
-        return woken;
+        return false;
     }
 
-    if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
-        return woken;
+    if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
+        return false;
     }
 
-    static uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
-    static uint8_t mpu6000_rec_buf[1 + PIOS_MPU6000_SAMPLES_BYTES];
+    const uint8_t mpu6000_send_buf[1 + PIOS_MPU6000_SAMPLES_BYTES] = { PIOS_MPU6000_FIFO_REG | 0x80 };
 
-    if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
-        PIOS_MPU6000_ReleaseBusISR(&woken);
+    if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
+        PIOS_MPU6000_ReleaseBusISR(woken);
         mpu6000_fails++;
-        return woken;
+        return false;
     }
 
-    PIOS_MPU6000_ReleaseBusISR(&woken);
-
-    static struct pios_mpu6000_data data;
+    PIOS_MPU6000_ReleaseBusISR(woken);
 
     // In the case where extras samples backed up grabbed an extra
     if (mpu6000_count >= PIOS_MPU6000_SAMPLES_BYTES * 2) {
         mpu6000_fifo_backup++;
-        if (PIOS_MPU6000_ClaimBusISR(&woken, true) != 0) {
-            return woken;
+        if (PIOS_MPU6000_ClaimBusISR(woken, true) != 0) {
+            return false;
         }
 
-        if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
-            PIOS_MPU6000_ReleaseBusISR(&woken);
+        if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_data.buffer[0], sizeof(mpu6000_data_t), NULL) < 0) {
+            PIOS_MPU6000_ReleaseBusISR(woken);
             mpu6000_fails++;
-            return woken;
+            return false;
         }
 
-        PIOS_MPU6000_ReleaseBusISR(&woken);
+        PIOS_MPU6000_ReleaseBusISR(woken);
     }
-
-    // Rotate the sensor to OP convention.  The datasheet defines X as towards the right
-    // and Y as forward.  OP convention transposes this.  Also the Z is defined negatively
-    // to our convention
-#if defined(PIOS_MPU6000_ACCEL)
-    // Currently we only support rotations on top so switch X/Y accordingly
-    switch (dev->cfg->orientation) {
-    case PIOS_MPU6000_TOP_0DEG:
-        data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
-        data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
-        data.gyro_y  = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
-        data.gyro_x  = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
-        break;
-    case PIOS_MPU6000_TOP_90DEG:
-        // -1 to bring it back to -32768 +32767 range
-        data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
-        data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
-        data.gyro_y  = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
-        data.gyro_x  = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
-        break;
-    case PIOS_MPU6000_TOP_180DEG:
-        data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
-        data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
-        data.gyro_y  = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
-        data.gyro_x  = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
-        break;
-    case PIOS_MPU6000_TOP_270DEG:
-        data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
-        data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
-        data.gyro_y  = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
-        data.gyro_x  = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
-        break;
-    }
-    data.gyro_z      = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
-    data.accel_z     = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
-    data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
-#else /* if defined(PIOS_MPU6000_ACCEL) */
-    data.gyro_x      = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
-    data.gyro_y      = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
-    switch (dev->cfg->orientation) {
-    case PIOS_MPU6000_TOP_0DEG:
-        data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
-        data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
-        break;
-    case PIOS_MPU6000_TOP_90DEG:
-        data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
-        data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X
-        break;
-    case PIOS_MPU6000_TOP_180DEG:
-        data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
-        data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
-        break;
-    case PIOS_MPU6000_TOP_270DEG:
-        data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y
-        data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
-        break;
-    }
-    data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
-    data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
-#endif /* if defined(PIOS_MPU6000_ACCEL) */
-
-    signed portBASE_TYPE higherPriorityTaskWoken;
-    xQueueSendToBackFromISR(dev->queue, (void *)&data, &higherPriorityTaskWoken);
-
-    mpu6000_irq++;
-
-    mpu6000_time_us = PIOS_DELAY_DiffuS(timeval);
-
-    return woken || higherPriorityTaskWoken == pdTRUE;
+    return true;
 }
-
 #endif /* PIOS_INCLUDE_MPU6000 */
 
 /**
diff --git a/flight/pios/inc/pios_mpu6000.h b/flight/pios/inc/pios_mpu6000.h
index 7e21858d5..e8c40a5c8 100644
--- a/flight/pios/inc/pios_mpu6000.h
+++ b/flight/pios/inc/pios_mpu6000.h
@@ -161,6 +161,7 @@ struct pios_mpu6000_cfg {
     enum pios_mpu6000_orientation orientation;
     SPIPrescalerTypeDef fast_prescaler;
     SPIPrescalerTypeDef std_prescaler;
+    uint8_t max_downsample;
 };
 
 /* Public Functions */
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 214ce8e20..1921c5b09 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -120,19 +120,20 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
     // Clock at 8 khz, downsampled by 8 for 1000 Hz
-    .Smpl_rate_div_no_dlp = 15,
+    .Smpl_rate_div_no_dlp = 7,
     // Clock at 1 khz, downsampled by 2 for 1000 Hz
-    .Smpl_rate_div_dlp    = 1,
+    .Smpl_rate_div_dlp    = 0,
     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
-    .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
+    .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
     .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
     .accel_range    = PIOS_MPU6000_ACCEL_8G,
     .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
     .orientation    = PIOS_MPU6000_TOP_180DEG,
-    .fast_prescaler = PIOS_SPI_PRESCALER_16,
-    .std_prescaler  = PIOS_SPI_PRESCALER_64
+    .fast_prescaler = PIOS_SPI_PRESCALER_4,
+    .std_prescaler  = PIOS_SPI_PRESCALER_64,
+    .max_downsample = 2
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 
diff --git a/flight/targets/boards/revolution/firmware/pios_board.c b/flight/targets/boards/revolution/firmware/pios_board.c
index 3c1e58dd3..6fe2eec4c 100644
--- a/flight/targets/boards/revolution/firmware/pios_board.c
+++ b/flight/targets/boards/revolution/firmware/pios_board.c
@@ -192,20 +192,21 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-    // Clock at 8 khz, downsampled by 8 for 1000Hz
-    .Smpl_rate_div_no_dlp = 15,
+    // Clock at 8 khz
+    .Smpl_rate_div_no_dlp = 0,
     // with dlp on output rate is 1000Hz
-    .Smpl_rate_div_dlp    = 1,
+    .Smpl_rate_div_dlp    = 0,
     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
-    .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
+    .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
     .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
     .accel_range    = PIOS_MPU6000_ACCEL_8G,
     .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
     .orientation    = PIOS_MPU6000_TOP_180DEG,
-    .fast_prescaler = PIOS_SPI_PRESCALER_16,
-    .std_prescaler  = PIOS_SPI_PRESCALER_256
+    .fast_prescaler = PIOS_SPI_PRESCALER_4,
+    .std_prescaler  = PIOS_SPI_PRESCALER_64,
+    .max_downsample = 16,
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 
diff --git a/flight/targets/boards/revoproto/firmware/pios_board.c b/flight/targets/boards/revoproto/firmware/pios_board.c
index 18072ea2e..c7e887d28 100644
--- a/flight/targets/boards/revoproto/firmware/pios_board.c
+++ b/flight/targets/boards/revoproto/firmware/pios_board.c
@@ -222,20 +222,21 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .exti_cfg   = &pios_exti_mpu6000_cfg,
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-    // Clock at 8 khz, downsampled by 8 for 1000Hz
-    .Smpl_rate_div_no_dlp = 7,
+    // Clock at 8 khz
+    .Smpl_rate_div_no_dlp = 0,
     // with dlp on output rate is 1000Hz
     .Smpl_rate_div_dlp    = 0,
     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
-    .User_ctl             = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
+    .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
     .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
     .accel_range    = PIOS_MPU6000_ACCEL_8G,
     .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
     .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
     .orientation    = PIOS_MPU6000_TOP_0DEG,
-    .fast_prescaler = PIOS_SPI_PRESCALER_16,
-    .std_prescaler  = PIOS_SPI_PRESCALER_256
+    .fast_prescaler = PIOS_SPI_PRESCALER_4,
+    .std_prescaler  = PIOS_SPI_PRESCALER_64,
+    .max_downsample = 16,
 };
 #endif /* PIOS_INCLUDE_MPU6000 */
 

From 9499cf9abcc54f9afbfe253c68919ed3eed06f89 Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 10 Oct 2014 19:44:27 +0200
Subject: [PATCH 07/30] OP-1535 - Some optimizations for attitude module

---
 flight/libraries/math/mathmisc.h   | 21 +++++++++++++++
 flight/modules/Attitude/attitude.c | 41 +++++++++++++++---------------
 2 files changed, 42 insertions(+), 20 deletions(-)

diff --git a/flight/libraries/math/mathmisc.h b/flight/libraries/math/mathmisc.h
index 0fc95f963..b9df0be18 100644
--- a/flight/libraries/math/mathmisc.h
+++ b/flight/libraries/math/mathmisc.h
@@ -119,5 +119,26 @@ static inline float y_on_curve(float x, const pointf points[], int num_points)
     // Find the y value on the selected line.
     return y_on_line(x, &points[end_point - 1], &points[end_point]);
 }
+// Fast inverse square root implementation from "quake3-1.32b/code/game/q_math.c"
+// http://en.wikipedia.org/wiki/Fast_inverse_square_root
+
+static inline float fast_invsqrtf(float number)
+{
+    uint32_t i;
+    float x2, y;
+    const float threehalfs = 1.5F;
+
+    x2  = number * 0.5F;
+    y   = number;
+    void *tmp = &y;
+    i   = *(uint32_t *)tmp;                       // evil floating point bit level hacking
+    i   = 0x5f3759df - (i >> 1);               // what the fxck?
+    tmp = &i;
+    y   = *(float *)tmp;
+    y   = y * (threehalfs - (x2 * y * y));   // 1st iteration
+// y  = y * ( threehalfs - ( x2 * y * y ) );   // 2nd iteration, this can be removed
+
+    return y;
+}
 
 #endif /* MATHMISC_H */
diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 494aedca4..6cfea7e34 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -65,7 +65,7 @@
 #include "CoordinateConversions.h"
 #include <pios_notify.h>
 #include <mathmisc.h>
-
+#include <pios_constants.h>
 #include <pios_instrumentation_helper.h>
 
 PERF_DEFINE_COUNTER(counterUpd);
@@ -82,7 +82,9 @@ PERF_DEFINE_COUNTER(counterAtt);
 #define STACK_SIZE_BYTES    540
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
 
+// Attitude module runs at 500Hz
 #define SENSOR_PERIOD       2
+
 #define UPDATE_RATE         25.0f
 
 // Interval in number of sample to recalculate temp bias
@@ -150,8 +152,7 @@ static volatile int32_t trim_accels[3];
 static volatile int32_t trim_samples;
 int32_t const MAX_TRIM_FLIGHT_SAMPLES = 65535;
 
-#define GRAV                       9.81f
-#define STD_CC_ACCEL_SCALE         (GRAV * 0.004f)
+#define STD_CC_ACCEL_SCALE         (PIOS_CONST_MKS_GRAV_ACCEL_F * 0.004f)
 /* 0.004f is gravity / LSB */
 #define STD_CC_ANALOG_GYRO_NEUTRAL 1665
 #define STD_CC_ANALOG_GYRO_GAIN    0.42f
@@ -324,7 +325,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             PERF_MEASURE_PERIOD(counterPeriod);
             AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
         }
-        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
+        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_PERIOD_MS);
     }
 }
 
@@ -462,7 +463,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
 #if defined(PIOS_INCLUDE_MPU6000)
 
     xQueueHandle queue = PIOS_MPU6000_GetQueue();
-    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, 0);
+    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, SENSOR_PERIOD);
     while (ret == pdTRUE) {
         gyros[0]  += mpu6000_data.gyro_x;
         gyros[1]  += mpu6000_data.gyro_y;
@@ -478,6 +479,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
         // check if further samples are already in queue
         ret = xQueueReceive(queue, (void *)&mpu6000_data, 0);
     }
+    PERF_TRACK_VALUE(counterAccelSamples, count);
 
     if (!count) {
         return -1; // Error, no data
@@ -610,24 +612,24 @@ __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accel
     CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
 
     // Account for accel magnitude
-    float accel_mag = sqrtf(accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2]);
-    if (accel_mag < 1.0e-3f) {
+    float inv_accel_mag = fast_invsqrtf(accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2]);
+    if (inv_accel_mag > 1e3f) {
         return;
     }
 
     // Account for filtered gravity vector magnitude
-    float grot_mag;
+    float inv_grot_mag;
 
     if (accel_filter_enabled) {
-        grot_mag = sqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);
+        inv_grot_mag = fast_invsqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);
     } else {
-        grot_mag = 1.0f;
+        inv_grot_mag = 1.0f;
     }
 
-    if (grot_mag < 1.0e-3f) {
+    if (inv_grot_mag > 1e3f) {
         return;
     }
-    const float invMag = 1.0f / (accel_mag * grot_mag);
+    const float invMag = (inv_accel_mag * inv_grot_mag);
     accel_err[0] *= invMag;
     accel_err[1] *= invMag;
     accel_err[2] *= invMag;
@@ -668,21 +670,20 @@ __attribute__((optimize("O3"))) static void updateAttitude(AccelStateData *accel
     }
 
     // Renomalize
-    float qmag = sqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
+    float inv_qmag = fast_invsqrtf(q[0] * q[0] + q[1] * q[1] + q[2] * q[2] + q[3] * q[3]);
 
     // If quaternion has become inappropriately short or is nan reinit.
     // THIS SHOULD NEVER ACTUALLY HAPPEN
-    if ((fabsf(qmag) < 1e-3f) || isnan(qmag)) {
+    if ((fabsf(inv_qmag) > 1e3f) || isnan(inv_qmag)) {
         q[0] = 1;
         q[1] = 0;
         q[2] = 0;
         q[3] = 0;
     } else {
-        const float invQmag = 1.0f / qmag;
-        q[0] = q[0] * invQmag;
-        q[1] = q[1] * invQmag;
-        q[2] = q[2] * invQmag;
-        q[3] = q[3] * invQmag;
+        q[0] = q[0] * inv_qmag;
+        q[1] = q[1] * inv_qmag;
+        q[2] = q[2] * inv_qmag;
+        q[3] = q[3] * inv_qmag;
     }
 
     AttitudeStateData attitudeState;
@@ -800,7 +801,7 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
         accelGyroSettings.accel_scale.X = trim_accels[0] / trim_samples;
         accelGyroSettings.accel_scale.Y = trim_accels[1] / trim_samples;
         // Z should average -grav
-        accelGyroSettings.accel_scale.Z = trim_accels[2] / trim_samples + GRAV;
+        accelGyroSettings.accel_scale.Z = trim_accels[2] / trim_samples + PIOS_CONST_MKS_GRAV_ACCEL_F;
         attitudeSettings.TrimFlight     = ATTITUDESETTINGS_TRIMFLIGHT_NORMAL;
         AttitudeSettingsSet(&attitudeSettings);
     } else {

From 823a1afad2352c03fc37457c0e13eaf7ca0dcf6e Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Fri, 10 Oct 2014 20:31:32 +0200
Subject: [PATCH 08/30] OP-1535 - SPI:Use pio for small blocks

---
 flight/pios/stm32f10x/pios_spi.c | 108 ++++++++++++++++++++++++++-----
 1 file changed, 91 insertions(+), 17 deletions(-)

diff --git a/flight/pios/stm32f10x/pios_spi.c b/flight/pios/stm32f10x/pios_spi.c
index 21db6bd5e..01b7722aa 100644
--- a/flight/pios/stm32f10x/pios_spi.c
+++ b/flight/pios/stm32f10x/pios_spi.c
@@ -44,6 +44,7 @@ static bool PIOS_SPI_validate(__attribute__((unused)) struct pios_spi_dev *com_d
     /* Should check device magic here */
     return true;
 }
+#define SPI_MAX_BLOCK_PIO 128
 
 #if defined(PIOS_INCLUDE_FREERTOS)
 static struct pios_spi_dev *PIOS_SPI_alloc(void)
@@ -432,23 +433,7 @@ int32_t PIOS_SPI_TransferByte(uint32_t spi_id, uint8_t b)
     return rx_byte;
 }
 
-/**
- * Transfers a block of bytes via DMA.
- * \param[in] spi SPI number (0 or 1)
- * \param[in] send_buffer pointer to buffer which should be sent.<BR>
- * If NULL, 0xff (all-one) will be sent.
- * \param[in] receive_buffer pointer to buffer which should get the received values.<BR>
- * If NULL, received bytes will be discarded.
- * \param[in] len number of bytes which should be transfered
- * \param[in] callback pointer to callback function which will be executed
- * from DMA channel interrupt once the transfer is finished.
- * If NULL, no callback function will be used, and PIOS_SPI_TransferBlock() will
- * block until the transfer is finished.
- * \return >= 0 if no error during transfer
- * \return -1 if disabled SPI port selected
- * \return -3 if function has been called during an ongoing DMA transfer
- */
-int32_t PIOS_SPI_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer, uint8_t *receive_buffer, uint16_t len, void *callback)
+static int32_t SPI_DMA_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer, uint8_t *receive_buffer, uint16_t len, void *callback)
 {
     struct pios_spi_dev *spi_dev = (struct pios_spi_dev *)spi_id;
 
@@ -580,6 +565,95 @@ int32_t PIOS_SPI_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer, uint
     return 0;
 }
 
+/**
+ * Transfers a block of bytes via PIO.
+ *
+ * \param[in] spi_id SPI device handle
+ * \param[in] send_buffer pointer to buffer which should be sent.<BR>
+ * If NULL, 0xff (all-one) will be sent.
+ * \param[in] receive_buffer pointer to buffer which should get the received values.<BR>
+ * If NULL, received bytes will be discarded.
+ * \param[in] len number of bytes which should be transfered
+ * \return >= 0 if no error during transfer
+ * \return -1 if disabled SPI port selected
+ * \return -3 if function has been called during an ongoing DMA transfer
+ */
+static int32_t SPI_PIO_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer, uint8_t *receive_buffer, uint16_t len)
+{
+    struct pios_spi_dev *spi_dev = (struct pios_spi_dev *)spi_id;
+    uint8_t b;
+
+    bool valid = PIOS_SPI_validate(spi_dev);
+
+    PIOS_Assert(valid)
+
+    /* Exit if ongoing transfer */
+    if (DMA_GetCurrDataCounter(spi_dev->cfg->dma.rx.channel)) {
+        return -3;
+    }
+
+    /* Make sure the RXNE flag is cleared by reading the DR register */
+    b = spi_dev->cfg->regs->DR;
+
+    while (len--) {
+        /* get the byte to send */
+        b = send_buffer ? *(send_buffer++) : 0xff;
+
+        /* Start the transfer */
+        spi_dev->cfg->regs->DR = b;
+
+        /* Wait until there is a byte to read */
+        while (!(spi_dev->cfg->regs->SR & SPI_I2S_FLAG_RXNE)) {
+            ;
+        }
+
+        /* Read the rx'd byte */
+        b = spi_dev->cfg->regs->DR;
+
+        /* save the received byte */
+        if (receive_buffer) {
+            *(receive_buffer++) = b;
+        }
+
+        /* Wait until the TXE goes high */
+        while (!(spi_dev->cfg->regs->SR & SPI_I2S_FLAG_TXE)) {
+            ;
+        }
+    }
+
+    /* Wait for SPI transfer to have fully completed */
+    while (spi_dev->cfg->regs->SR & SPI_I2S_FLAG_BSY) {
+        ;
+    }
+
+    return 0;
+}
+
+
+/**
+ * Transfers a block of bytes via PIO or DMA.
+ * \param[in] spi_id SPI device handle
+ * \param[in] send_buffer pointer to buffer which should be sent.<BR>
+ * If NULL, 0xff (all-one) will be sent.
+ * \param[in] receive_buffer pointer to buffer which should get the received values.<BR>
+ * If NULL, received bytes will be discarded.
+ * \param[in] len number of bytes which should be transfered
+ * \param[in] callback pointer to callback function which will be executed
+ * from DMA channel interrupt once the transfer is finished.
+ * If NULL, no callback function will be used, and PIOS_SPI_TransferBlock() will
+ * block until the transfer is finished.
+ * \return >= 0 if no error during transfer
+ * \return -1 if disabled SPI port selected
+ * \return -3 if function has been called during an ongoing DMA transfer
+ */
+int32_t PIOS_SPI_TransferBlock(uint32_t spi_id, const uint8_t *send_buffer, uint8_t *receive_buffer, uint16_t len, void *callback)
+{
+    if (callback || len > SPI_MAX_BLOCK_PIO) {
+        return SPI_DMA_TransferBlock(spi_id, send_buffer, receive_buffer, len, callback);
+    }
+    return SPI_PIO_TransferBlock(spi_id, send_buffer, receive_buffer, len);
+}
+
 /**
  * Check if a transfer is in progress
  * \param[in] spi SPI number (0 or 1)

From ef15064b26a59c3f8f76a133e0a85721c9410904 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sat, 11 Oct 2014 16:12:58 +0200
Subject: [PATCH 09/30] OP-1538 Added description to fields in the UAVObject
 description files. Descriptions can be added to fields either as attributes
 or child nodes. Descriptions are not mandatory at this stage. The description
 shows up when hovering over objects and fields in the UAVObject browser.

Added example descriptions to a few fields in the UAVO descriptor files.
---
 .../plugins/uavobjectbrowser/fieldtreeitem.h   |  1 -
 .../src/plugins/uavobjectbrowser/treeitem.cpp  |  2 +-
 .../src/plugins/uavobjectbrowser/treeitem.h    |  8 +++++++-
 .../uavobjectbrowser/uavobjecttreemodel.cpp    |  1 +
 .../src/plugins/uavobjects/uavmetaobject.cpp   |  8 ++++----
 .../src/plugins/uavobjects/uavobjectfield.cpp  | 16 +++++++++++-----
 .../src/plugins/uavobjects/uavobjectfield.h    |  8 +++++---
 .../generators/gcs/uavobjectgeneratorgcs.cpp   |  6 ++++--
 ground/uavobjgenerator/uavobjectparser.cpp     | 18 +++++++++++++++++-
 ground/uavobjgenerator/uavobjectparser.h       |  1 +
 .../uavobjectdefinition/debuglogsettings.xml   |  5 ++++-
 shared/uavobjectdefinition/debuglogstatus.xml  |  8 ++++----
 12 files changed, 59 insertions(+), 23 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
index 793291c60..238f7431c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
@@ -471,7 +471,6 @@ private:
     {
         return QVariant(str.toString().at(0).toLatin1());
     }
-
 };
 
 #endif // FIELDTREEITEM_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
index d4e5fb968..71b9cf690 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
@@ -250,7 +250,7 @@ QVariant ArrayFieldTreeItem::data(int column) const
                                   .arg(m_field->getValue(i).toUInt(&ok), TreeItem::maxHexStringLength(m_field->getType()),
                                        16, QChar('0')).toUpper());
             }
-            QString data =  QString("{%1}").arg(dataString);
+            QString data = QString("{%1}").arg(dataString);
             return data;
         } else {
             return QVariant();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
index 08e4b2038..9d6ab8e02 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
@@ -184,16 +184,22 @@ public:
         switch (type) {
         case UAVObjectField::INT8:
             return 2;
+
         case UAVObjectField::INT16:
             return 4;
+
         case UAVObjectField::INT32:
             return 8;
+
         case UAVObjectField::UINT8:
             return 2;
+
         case UAVObjectField::UINT16:
             return 4;
+
         case UAVObjectField::UINT32:
             return 8;
+
         default:
             Q_ASSERT(false);
         }
@@ -352,7 +358,7 @@ public:
     QVariant data(int column) const;
 
 private:
-    UAVObjectField*m_field;
+    UAVObjectField *m_field;
 };
 
 #endif // TREEITEM_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
index ca57295a8..bd456d145 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
@@ -245,6 +245,7 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
         Q_ASSERT(false);
     }
     item->setHighlightManager(m_highlightManager);
+    item->setDescription(field->getDescription());
     connect(item, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
     parent->appendChild(item);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
index 5c7d2755d..985eaffe2 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
@@ -41,10 +41,10 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString & name, UAVObject *par
     QStringList modesBitField;
     modesBitField << tr("FlightReadOnly") << tr("GCSReadOnly") << tr("FlightTelemetryAcked") << tr("GCSTelemetryAcked") << tr("FlightUpdatePeriodic") << tr("FlightUpdateOnChange") << tr("GCSUpdatePeriodic") << tr("GCSUpdateOnChange") << tr("LoggingUpdatePeriodic") << tr("LoggingUpdateOnChange");
     QList<UAVObjectField *> fields;
-    fields.append(new UAVObjectField(tr("Modes"), tr("boolean"), UAVObjectField::BITFIELD, modesBitField, QStringList()));
-    fields.append(new UAVObjectField(tr("Flight Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
-    fields.append(new UAVObjectField(tr("GCS Telemetry Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
-    fields.append(new UAVObjectField(tr("Logging Update Period"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
+    fields.append(new UAVObjectField(tr("Modes"), tr("Metadata modes"), tr("boolean"), UAVObjectField::BITFIELD, modesBitField, QStringList()));
+    fields.append(new UAVObjectField(tr("Flight Telemetry Update Period"), tr("This is how often flight side will update telemetry data"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
+    fields.append(new UAVObjectField(tr("GCS Telemetry Update Period"), tr("This is how often GCS will update telemetry data"), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
+    fields.append(new UAVObjectField(tr("Logging Update Period"), tr("This is how often logging will be updated."), tr("ms"), UAVObjectField::UINT16, 1, QStringList()));
     // Initialize parent
     UAVObject::initialize(0);
     UAVObject::initializeFields(fields, (quint8 *)&parentMetadata, sizeof(Metadata));
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
index 76ab6296c..9b22bb083 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -30,7 +30,7 @@
 #include <QDebug>
 #include <QtWidgets>
 
-UAVObjectField::UAVObjectField(const QString & name, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits)
+UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString &limits)
 {
     QStringList elementNames;
 
@@ -39,18 +39,19 @@ UAVObjectField::UAVObjectField(const QString & name, const QString & units, Fiel
         elementNames.append(QString("%1").arg(n));
     }
     // Initialize
-    constructorInitialize(name, units, type, elementNames, options, limits);
+    constructorInitialize(name, description, units, type, elementNames, options, limits);
 }
 
-UAVObjectField::UAVObjectField(const QString & name, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
+UAVObjectField::UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
 {
-    constructorInitialize(name, units, type, elementNames, options, limits);
+    constructorInitialize(name, description, units, type, elementNames, options, limits);
 }
 
-void UAVObjectField::constructorInitialize(const QString & name, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
+void UAVObjectField::constructorInitialize(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits)
 {
     // Copy params
     this->name         = name;
+    this->description  = description;
     this->units        = units;
     this->type         = type;
     this->options      = options;
@@ -609,6 +610,11 @@ QString UAVObjectField::getName()
     return name;
 }
 
+QString UAVObjectField::getDescription()
+{
+    return description;
+}
+
 QString UAVObjectField::getUnits()
 {
     return units;
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
index 6142bc923..4c1945bb2 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
@@ -52,13 +52,14 @@ public:
         int board;
     } LimitStruct;
 
-    UAVObjectField(const QString & name, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString & limits = QString());
-    UAVObjectField(const QString & name, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString & limits = QString());
+    UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, quint32 numElements, const QStringList & options, const QString & limits = QString());
+    UAVObjectField(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString & limits = QString());
     void initialize(quint8 *data, quint32 dataOffset, UAVObject *obj);
     UAVObject *getObject();
     FieldType getType();
     QString getTypeAsString();
     QString getName();
+    QString getDescription();
     QString getUnits();
     quint32 getNumElements();
     QStringList getElementNames();
@@ -91,6 +92,7 @@ signals:
 
 protected:
     QString name;
+    QString description;
     QString units;
     FieldType type;
     QStringList elementNames;
@@ -102,7 +104,7 @@ protected:
     UAVObject *obj;
     QMap<quint32, QList<LimitStruct> > elementLimits;
     void clear();
-    void constructorInitialize(const QString & name, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits);
+    void constructorInitialize(const QString & name, const QString & description, const QString & units, FieldType type, const QStringList & elementNames, const QStringList & options, const QString &limits);
     void limitsInitialize(const QString &limits);
 };
 
diff --git a/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp b/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
index 7265d411a..1279e8e4f 100644
--- a/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
+++ b/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
@@ -259,8 +259,9 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
                              .arg(varOptionName)
                              .arg(options[m]));
             }
-            finit.append(QString("    fields.append( new UAVObjectField(QString(\"%1\"), QString(\"%2\"), UAVObjectField::ENUM, %3, %4, QString(\"%5\")));\n")
+            finit.append(QString("    fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::ENUM, %4, %5, QString(\"%6\")));\n")
                          .arg(info->fields[n]->name)
+                         .arg(info->fields[n]->description)
                          .arg(info->fields[n]->units)
                          .arg(varElemName)
                          .arg(varOptionName)
@@ -268,8 +269,9 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
         }
         // For all other types
         else {
-            finit.append(QString("    fields.append( new UAVObjectField(QString(\"%1\"), QString(\"%2\"), UAVObjectField::%3, %4, QStringList(), QString(\"%5\")));\n")
+            finit.append(QString("    fields.append( new UAVObjectField(QString(\"%1\"), tr(\"%2\"), QString(\"%3\"), UAVObjectField::%4, %5, QStringList(), QString(\"%6\")));\n")
                          .arg(info->fields[n]->name)
+                         .arg(info->fields[n]->description)
                          .arg(info->fields[n]->units)
                          .arg(fieldTypeStrCPPClass[info->fields[n]->type])
                          .arg(varElemName)
diff --git a/ground/uavobjgenerator/uavobjectparser.cpp b/ground/uavobjgenerator/uavobjectparser.cpp
index a8534088c..6ef2496a6 100644
--- a/ground/uavobjgenerator/uavobjectparser.cpp
+++ b/ground/uavobjgenerator/uavobjectparser.cpp
@@ -25,7 +25,7 @@
  */
 
 #include "uavobjectparser.h"
-
+#include <QDebug>
 /**
  * Constructor
  */
@@ -441,6 +441,21 @@ QString UAVObjectParser::processObjectFields(QDomNode & childNode, ObjectInfo *i
         field->name = name;
     }
 
+    // Get description attribute if any
+    elemAttr = elemAttributes.namedItem("description");
+    if (!elemAttr.isNull()) {
+        field->description = elemAttr.nodeValue();
+    } else {
+        // Look for a child description node
+        QDomNode node = childNode.firstChildElement("description");
+        if (!node.isNull()) {
+            QDomNode description = node.firstChild();
+            if (!description.isNull()) {
+                field->description = description.nodeValue();
+            }
+        }
+    }
+
     // Get units attribute
     elemAttr = elemAttributes.namedItem("units");
     if (elemAttr.isNull()) {
@@ -572,6 +587,7 @@ QString UAVObjectParser::processObjectFields(QDomNode & childNode, ObjectInfo *i
     }
     // Add field to object
     info->fields.append(field);
+    qDebug() << "field added" << info->name << ", description" << field->description;
     // Done
     return QString();
 }
diff --git a/ground/uavobjgenerator/uavobjectparser.h b/ground/uavobjgenerator/uavobjectparser.h
index 9028af325..ccc537cdf 100644
--- a/ground/uavobjgenerator/uavobjectparser.h
+++ b/ground/uavobjgenerator/uavobjectparser.h
@@ -49,6 +49,7 @@ typedef enum {
 
 typedef struct {
     QString     name;
+    QString     description;
     QString     units;
     FieldType   type;
     int numElements;
diff --git a/shared/uavobjectdefinition/debuglogsettings.xml b/shared/uavobjectdefinition/debuglogsettings.xml
index cb5fef6ed..2a97b04cb 100644
--- a/shared/uavobjectdefinition/debuglogsettings.xml
+++ b/shared/uavobjectdefinition/debuglogsettings.xml
@@ -1,7 +1,10 @@
 <xml>
     <object name="DebugLogSettings" singleinstance="true" settings="true" category="System">
         <description>Configure On Board Logging Facilities</description>
-        <field name="LoggingEnabled" units="" type="enum" elements="1" options="Disabled,OnlyWhenArmed,Always" defaultvalue="Disabled" />
+
+        <field name="LoggingEnabled" units="" type="enum" elements="1" options="Disabled,OnlyWhenArmed,Always" defaultvalue="Disabled">
+            <description>If set to OnlyWhenArmed logs will only be saved when craft is armed. Disabled turns logging off, and Always will always log.</description>
+        </field>
 
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
diff --git a/shared/uavobjectdefinition/debuglogstatus.xml b/shared/uavobjectdefinition/debuglogstatus.xml
index 0d510a332..b1183d684 100644
--- a/shared/uavobjectdefinition/debuglogstatus.xml
+++ b/shared/uavobjectdefinition/debuglogstatus.xml
@@ -1,10 +1,10 @@
 <xml>
     <object name="DebugLogStatus" singleinstance="true" settings="false" category="System">
         <description>Log Status Object, contains log partition status information</description>
-	<field name="Flight" units="" type="uint16" elements="1" />
-	<field name="Entry" units="" type="uint16" elements="1" />
-	<field name="UsedSlots" units="" type="uint16" elements="1" />
-	<field name="FreeSlots" units="" type="uint16" elements="1" />
+        <field name="Flight" units="" type="uint16" elements="1" description="The current flight number (logging session)"/>
+        <field name="Entry" units="" type="uint16" elements="1" description="The current log entry id"/>
+        <field name="UsedSlots" units="" type="uint16" elements="1" description="Holds the total log entries saved"/>
+        <field name="FreeSlots" units="" type="uint16" elements="1" description="The number of free log slots available"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

From f2fc5f561627b4cb7af8ca2905cd2cbdfc253a0e Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Sat, 11 Oct 2014 23:54:21 +0200
Subject: [PATCH 10/30] OP-1513 - Fix time constants, set initial temperature
 as first sample value

---
 flight/modules/Altitude/revolution/altitude.c   |  9 +++++++--
 flight/modules/Attitude/attitude.c              | 11 ++++++++---
 flight/modules/Sensors/sensors.c                | 17 +++++++++++------
 .../boards/coptercontrol/firmware/pios_board.c  |  2 +-
 4 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/flight/modules/Altitude/revolution/altitude.c b/flight/modules/Altitude/revolution/altitude.c
index 1c959f94c..eb3fe1b75 100644
--- a/flight/modules/Altitude/revolution/altitude.c
+++ b/flight/modules/Altitude/revolution/altitude.c
@@ -53,7 +53,8 @@
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 10
-#define TEMP_ALPHA          0.9f
+// 5Hz @120Hz update
+#define TEMP_ALPHA          0.9979f
 
 // Private types
 
@@ -64,7 +65,7 @@ static RevoSettingsBaroTempCorrectionExtentData baroCorrectionExtent;
 static volatile bool tempCorrectionEnabled;
 
 static float baro_temp_bias   = 0;
-static float baro_temperature = 0;
+static float baro_temperature = NAN;
 static uint8_t temp_calibration_count = 0;
 
 // Private functions
@@ -176,6 +177,10 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
         temp  = PIOS_MS5611_GetTemperature();
         press = PIOS_MS5611_GetPressure();
 
+        if (isnan(baro_temperature)) {
+            baro_temperature = temp;
+        }
+
         baro_temperature = TEMP_ALPHA * baro_temperature + (1 - TEMP_ALPHA) * temp;
 
         if (tempCorrectionEnabled && !temp_calibration_count) {
diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index 6cfea7e34..d79699d65 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -89,7 +89,9 @@ PERF_DEFINE_COUNTER(counterAtt);
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 30
-#define TEMP_ALPHA          0.9f
+
+// LPF 5Hz at 500Hz rate
+#define TEMP_ALPHA          0.999504f
 
 #define UPDATE_EXPECTED     (1.0f / 500.0f)
 #define UPDATE_MIN          1.0e-6f
@@ -136,7 +138,7 @@ static bool apply_accel_temp = false;
 static AccelGyroSettingsgyro_temp_coeffData gyro_temp_coeff;;
 static AccelGyroSettingsaccel_temp_coeffData accel_temp_coeff;
 static AccelGyroSettingstemp_calibrated_extentData temp_calibrated_extent;
-static float temperature = 0;
+static float temperature = NAN;
 static float accel_temp_bias[3] = { 0 };
 static float gyro_temp_bias[3] = { 0 };
 static uint8_t temp_calibration_count = 0;
@@ -499,11 +501,14 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
     accels[2]  *= accel_scale.Z * invcount;
     temp *= invcount;
 
+    if(isnan(temperature)){
+        temperature = temp;
+    }
     temperature = TEMP_ALPHA * temperature + (1 - TEMP_ALPHA) * temp;
 
     if ((apply_gyro_temp || apply_accel_temp) && !temp_calibration_count) {
         temp_calibration_count = TEMP_CALIB_INTERVAL;
-        float ctemp = boundf(temp, temp_calibrated_extent.max, temp_calibrated_extent.min);
+        float ctemp = boundf(temperature, temp_calibrated_extent.max, temp_calibrated_extent.min);
         if (apply_gyro_temp) {
             gyro_temp_bias[0] = (gyro_temp_coeff.X + gyro_temp_coeff.X2 * ctemp) * ctemp;
             gyro_temp_bias[1] = (gyro_temp_coeff.Y + gyro_temp_coeff.Y2 * ctemp) * ctemp;
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index 608741423..67b063b24 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -70,7 +70,8 @@
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 30
-#define TEMP_ALPHA          0.9f
+// LPF 5Hz at 500Hz rate
+#define TEMP_ALPHA          0.999504f
 
 #define ZERO_ROT_ANGLE      0.00001f
 // Private types
@@ -108,8 +109,8 @@ static float mag_transform[3][3] = {
 static volatile bool gyro_temp_calibrated  = false;
 static volatile bool accel_temp_calibrated = false;
 
-static float accel_temperature  = 0;
-static float gyro_temperature   = 0;
+static float accel_temperature  = NAN;
+static float gyro_temperature   = NAN;
 static float accel_temp_bias[3] = { 0 };
 static float gyro_temp_bias[3] = { 0 };
 static uint8_t temp_calibration_count = 0;
@@ -373,9 +374,14 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             PIOS_DEBUG_Assert(0);
         }
 
-        accel_temperature = TEMP_ALPHA * accelSensorData.temperature + (1 - TEMP_ALPHA) * accelSensorData.temperature;
-        gyro_temperature  = TEMP_ALPHA * gyroSensorData.temperature + (1 - TEMP_ALPHA) * gyroSensorData.temperature;
+        if (isnan(accel_temperature)) {
+            accel_temperature = accelSensorData.temperature;
+            gyro_temperature  = gyroSensorData.temperature;
+        }
 
+        accel_temperature = TEMP_ALPHA * accel_temperature + (1 - TEMP_ALPHA) * accelSensorData.temperature;
+        gyro_temperature  = TEMP_ALPHA * gyro_temperature + (1 - TEMP_ALPHA) * gyroSensorData.temperature;
+        gyroSensorData.temperature = gyro_temperature;
         if ((accel_temp_calibrated || gyro_temp_calibrated) && !temp_calibration_count) {
             temp_calibration_count = TEMP_CALIB_INTERVAL;
             if (accel_temp_calibrated) {
@@ -467,7 +473,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
         PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
 #endif
         vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
-        lastSysTime = xTaskGetTickCount();
     }
 }
 
diff --git a/flight/targets/boards/coptercontrol/firmware/pios_board.c b/flight/targets/boards/coptercontrol/firmware/pios_board.c
index 1921c5b09..fdbdde5a0 100644
--- a/flight/targets/boards/coptercontrol/firmware/pios_board.c
+++ b/flight/targets/boards/coptercontrol/firmware/pios_board.c
@@ -121,7 +121,7 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
     .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
     // Clock at 8 khz, downsampled by 8 for 1000 Hz
     .Smpl_rate_div_no_dlp = 7,
-    // Clock at 1 khz, downsampled by 2 for 1000 Hz
+    // Clock at 1 khz, downsampled by 1 for 1000 Hz
     .Smpl_rate_div_dlp    = 0,
     .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
     .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,

From 01e9f9565a68cdf88e98d3eea24fb289df81c241 Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Sun, 12 Oct 2014 14:52:57 +0200
Subject: [PATCH 11/30] OP-1538 Added saving of splitter sizes.

---
 .../uavobjectbrowser/uavobjectbrowser.cpp     | 16 ++++-
 .../uavobjectbrowser/uavobjectbrowser.h       |  5 +-
 .../uavobjectbrowser/uavobjectbrowser.ui      | 60 ++++++++++++++++++-
 .../uavobjectbrowserconfiguration.cpp         | 11 +++-
 .../uavobjectbrowserconfiguration.h           | 22 +++++++
 .../uavobjectbrowserwidget.cpp                | 57 ++++++++++++++++--
 .../uavobjectbrowser/uavobjectbrowserwidget.h | 10 +++-
 .../plugins/uavobjectbrowser/viewoptions.ui   | 11 +++-
 8 files changed, 177 insertions(+), 15 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
index 6c5342e8d..2c93aac9b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
@@ -32,7 +32,8 @@ UAVObjectBrowser::UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widg
     m_widget(widget),
     m_config(NULL)
 {
-    connect(m_widget, SIGNAL(viewOptionsChanged(bool, bool, bool)), this, SLOT(viewOptionsChangedSlot(bool, bool, bool)));
+    connect(m_widget, SIGNAL(viewOptionsChanged(bool, bool, bool, bool)), this, SLOT(viewOptionsChangedSlot(bool, bool, bool, bool)));
+    connect(m_widget, SIGNAL(splitterChanged(QList<QVariant>&)), this, SLOT(splitterChanged(QList<QVariant>&)));
 }
 
 UAVObjectBrowser::~UAVObjectBrowser()
@@ -49,14 +50,23 @@ void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration *config)
     m_widget->setManuallyChangedColor(m->manuallyChangedColor());
     m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
     m_widget->setOnlyHilightChangedValues(m->onlyHighlightChangedValues());
-    m_widget->setViewOptions(m->categorizedView(), m->scientificView(), m->showMetaData());
+    m_widget->setViewOptions(m->categorizedView(), m->scientificView(), m->showMetaData(), m->showDescription());
+    m_widget->setSplitterSizes(m->splitterSizes());
 }
 
-void UAVObjectBrowser::viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata)
+void UAVObjectBrowser::viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata, bool description)
 {
     if (m_config) {
         m_config->setCategorizedView(categorized);
         m_config->setScientificView(scientific);
         m_config->setShowMetaData(metadata);
+        m_config->setShowDescription(description);
+    }
+}
+
+void UAVObjectBrowser::splitterChanged(QList<QVariant> &splitterSizes)
+{
+    if (m_config) {
+        m_config->setSplitterSizes(splitterSizes);
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
index 261583d06..95e69180c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
@@ -50,8 +50,11 @@ public:
         return m_widget;
     }
     void loadConfiguration(IUAVGadgetConfiguration *config);
+
 private slots:
-    void viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata);
+    void viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata, bool description);
+    void splitterChanged(QList<QVariant> &splitterSizes);
+
 private:
     UAVObjectBrowserWidget *m_widget;
     UAVObjectBrowserConfiguration *m_config;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index 959df59cc..43ae2cd60 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>786</width>
-    <height>300</height>
+    <height>462</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -220,7 +220,63 @@
     </layout>
    </item>
    <item>
-    <widget class="QTreeView" name="treeView"/>
+    <widget class="QWidget" name="widget" native="true">
+     <layout class="QVBoxLayout" name="verticalLayout_3">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item>
+       <widget class="QSplitter" name="splitter">
+        <property name="lineWidth">
+         <number>0</number>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <widget class="QTreeView" name="treeView">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+        </widget>
+        <widget class="QTextEdit" name="descriptionText">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>0</height>
+          </size>
+         </property>
+         <property name="horizontalScrollBarPolicy">
+          <enum>Qt::ScrollBarAlwaysOff</enum>
+         </property>
+         <property name="textInteractionFlags">
+          <set>Qt::TextSelectableByKeyboard|Qt::TextSelectableByMouse</set>
+         </property>
+         <property name="placeholderText">
+          <string>This space shows a description of the selected UAVObject.</string>
+         </property>
+        </widget>
+       </widget>
+      </item>
+     </layout>
+    </widget>
    </item>
   </layout>
  </widget>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
index f249d496a..a80197551 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
@@ -35,7 +35,8 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
     m_recentlyUpdatedTimeout(500),
     m_useCategorizedView(false),
     m_useScientificView(false),
-    m_showMetaData(false)
+    m_showMetaData(false),
+    m_showDescription(false)
 {
     // if a saved configuration exists load it
     if (qSettings != 0) {
@@ -47,10 +48,14 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
         m_useCategorizedView       = qSettings->value("CategorizedView").toBool();
         m_useScientificView        = qSettings->value("ScientificView").toBool();
         m_showMetaData = qSettings->value("showMetaData").toBool();
+        m_showDescription = qSettings->value("showDescription").toBool();
+        m_splitterSizes = qSettings->value("splitterSizes").toList();
         m_recentlyUpdatedColor     = recent;
         m_manuallyChangedColor     = manual;
         m_recentlyUpdatedTimeout   = timeout;
         m_onlyHilightChangedValues = hilight;
+    } else {
+        m_splitterSizes << QVariant(300) << QVariant(300);
     }
 }
 
@@ -64,7 +69,9 @@ IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
     m->m_onlyHilightChangedValues = m_onlyHilightChangedValues;
     m->m_useCategorizedView = m_useCategorizedView;
     m->m_useScientificView  = m_useScientificView;
+    m->m_splitterSizes = m_splitterSizes;
     m->m_showMetaData = m_showMetaData;
+    m->m_showDescription = m_showDescription;
     return m;
 }
 
@@ -81,4 +88,6 @@ void UAVObjectBrowserConfiguration::saveConfig(QSettings *qSettings) const
     qSettings->setValue("CategorizedView", m_useCategorizedView);
     qSettings->setValue("ScientificView", m_useScientificView);
     qSettings->setValue("showMetaData", m_showMetaData);
+    qSettings->setValue("showDescription", m_showDescription);
+    qSettings->setValue("splitterSizes", m_splitterSizes);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
index ff6237e7c..fc81aca5b 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
@@ -40,7 +40,9 @@ class UAVObjectBrowserConfiguration : public IUAVGadgetConfiguration {
     Q_PROPERTY(bool m_onlyHilightChangedValues READ onlyHighlightChangedValues WRITE setOnlyHighlightChangedValues)
     Q_PROPERTY(bool m_useCategorizedView READ categorizedView WRITE setCategorizedView)
     Q_PROPERTY(bool m_useScientificView READ scientificView WRITE setScientificView)
+    Q_PROPERTY(bool m_showDescription READ showDescription WRITE setShowDescription)
     Q_PROPERTY(bool m_showMetaData READ showMetaData WRITE setShowMetaData)
+    Q_PROPERTY(QList<QVariant> m_splitterSizes READ splitterSizes WRITE setSplitterSizes)
 public:
     explicit UAVObjectBrowserConfiguration(QString classId, QSettings *qSettings = 0, QObject *parent = 0);
 
@@ -75,6 +77,15 @@ public:
     {
         return m_showMetaData;
     }
+    bool showDescription() const
+    {
+        return m_showDescription;
+    }
+
+    QList<QVariant> splitterSizes() const
+    {
+        return m_splitterSizes;
+    }
 
 signals:
 
@@ -107,6 +118,15 @@ public slots:
     {
         m_showMetaData = value;
     }
+    void setShowDescription(bool value)
+    {
+        m_showDescription = value;
+    }
+
+    void setSplitterSizes(QList<QVariant> arg)
+    {
+        m_splitterSizes = arg;
+    }
 
 private:
     QColor m_recentlyUpdatedColor;
@@ -116,6 +136,8 @@ private:
     bool m_useCategorizedView;
     bool m_useScientificView;
     bool m_showMetaData;
+    bool m_showDescription;
+    QList<QVariant> m_splitterSizes;
 };
 
 #endif // UAVOBJECTBROWSERCONFIGURATION_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index fd900591c..ed64c1b1c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -50,15 +50,17 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     m_model = new UAVObjectTreeModel();
     m_browser->treeView->setModel(m_model);
     m_browser->treeView->setColumnWidth(0, 300);
-    // m_browser->treeView->expandAll();
     BrowserItemDelegate *m_delegate = new BrowserItemDelegate();
     m_browser->treeView->setItemDelegate(m_delegate);
     m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
     m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
     showMetaData(m_viewoptions->cbMetaData->isChecked());
-    connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)), this, SLOT(currentChanged(QModelIndex, QModelIndex)), Qt::UniqueConnection);
+    showDescription(m_viewoptions->cbDescription->isChecked());
+    connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)),
+            this, SLOT(currentChanged(QModelIndex, QModelIndex)), Qt::UniqueConnection);
     connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(showMetaData(bool)));
     connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(categorize(bool)));
+    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(showDescription(bool)));
     connect(m_browser->saveSDButton, SIGNAL(clicked()), this, SLOT(saveObject()));
     connect(m_browser->readSDButton, SIGNAL(clicked()), this, SLOT(loadObject()));
     connect(m_browser->eraseSDButton, SIGNAL(clicked()), this, SLOT(eraseObject()));
@@ -69,6 +71,8 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     connect(m_viewoptions->cbScientific, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
+    connect(m_browser->splitter, SIGNAL(splitterMoved(int,int)), this, SLOT(splitterMoved()));
     enableSendRequest(false);
 }
 
@@ -77,11 +81,21 @@ UAVObjectBrowserWidget::~UAVObjectBrowserWidget()
     delete m_browser;
 }
 
-void UAVObjectBrowserWidget::setViewOptions(bool categorized, bool scientific, bool metadata)
+void UAVObjectBrowserWidget::setViewOptions(bool categorized, bool scientific, bool metadata, bool description)
 {
     m_viewoptions->cbCategorized->setChecked(categorized);
     m_viewoptions->cbMetaData->setChecked(metadata);
     m_viewoptions->cbScientific->setChecked(scientific);
+    m_viewoptions->cbDescription->setChecked(description);
+}
+
+void UAVObjectBrowserWidget::setSplitterSizes(QList<QVariant> sizes)
+{
+    QList<int> sizs;
+    foreach (QVariant size, sizes) {
+        sizs << size.toInt();
+    }
+    m_browser->splitter->setSizes(sizs);
 }
 
 void UAVObjectBrowserWidget::showMetaData(bool show)
@@ -92,6 +106,11 @@ void UAVObjectBrowserWidget::showMetaData(bool show)
     }
 }
 
+void UAVObjectBrowserWidget::showDescription(bool show)
+{
+    m_browser->descriptionText->setVisible(show);
+}
+
 void UAVObjectBrowserWidget::categorize(bool categorize)
 {
     UAVObjectTreeModel *tmpModel = m_model;
@@ -228,6 +247,7 @@ void UAVObjectBrowserWidget::currentChanged(const QModelIndex &current, const QM
         enable = false;
     }
     enableSendRequest(enable);
+    updateDescription();
 }
 
 void UAVObjectBrowserWidget::viewSlot()
@@ -244,7 +264,23 @@ void UAVObjectBrowserWidget::viewSlot()
 
 void UAVObjectBrowserWidget::viewOptionsChangedSlot()
 {
-    emit viewOptionsChanged(m_viewoptions->cbCategorized->isChecked(), m_viewoptions->cbScientific->isChecked(), m_viewoptions->cbMetaData->isChecked());
+    emit viewOptionsChanged(m_viewoptions->cbCategorized->isChecked(), m_viewoptions->cbScientific->isChecked(),
+                            m_viewoptions->cbMetaData->isChecked(), m_viewoptions->cbDescription->isChecked());
+}
+
+void UAVObjectBrowserWidget::splitterMoved()
+{
+    QList<QVariant> sizs;
+    foreach (int size, m_browser->splitter->sizes()) {
+        sizs << QVariant(size);
+    }
+
+    emit splitterChanged(sizs);
+}
+
+QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
+{
+    return object->getDescription();
 }
 
 void UAVObjectBrowserWidget::enableSendRequest(bool enable)
@@ -255,3 +291,16 @@ void UAVObjectBrowserWidget::enableSendRequest(bool enable)
     m_browser->readSDButton->setEnabled(enable);
     m_browser->eraseSDButton->setEnabled(enable);
 }
+
+void UAVObjectBrowserWidget::updateDescription()
+{
+    ObjectTreeItem *objItem = findCurrentObjectTreeItem();
+    if (objItem) {
+        UAVObject *obj = objItem->object();
+        if (obj) {
+            m_browser->descriptionText->setText(createObjectDescription(obj));
+            return;
+        }
+    }
+    m_browser->descriptionText->setText("");
+}
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index dfc3bb394..e6d7af5ec 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -60,9 +60,11 @@ public:
     {
         m_onlyHilightChangedValues = hilight; m_model->setOnlyHilightChangedValues(hilight);
     }
-    void setViewOptions(bool categorized, bool scientific, bool metadata);
+    void setViewOptions(bool categorized, bool scientific, bool metadata, bool description);
+    void setSplitterSizes(QList<QVariant> sizes);
 public slots:
     void showMetaData(bool show);
+    void showDescription(bool show);
     void categorize(bool categorize);
     void useScientificNotation(bool scientific);
 
@@ -75,8 +77,11 @@ private slots:
     void currentChanged(const QModelIndex &current, const QModelIndex &previous);
     void viewSlot();
     void viewOptionsChangedSlot();
+    void splitterMoved();
+    QString createObjectDescription(UAVObject* object);
 signals:
-    void viewOptionsChanged(bool categorized, bool scientific, bool metadata);
+    void viewOptionsChanged(bool categorized, bool scientific, bool metadata, bool description);
+    void splitterChanged(QList<QVariant> &sizes);
 private:
     QPushButton *m_requestUpdate;
     QPushButton *m_sendUpdate;
@@ -92,6 +97,7 @@ private:
 
     void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
     void enableSendRequest(bool enable);
+    void updateDescription();
     ObjectTreeItem *findCurrentObjectTreeItem();
 };
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui
index bc2c1d815..3fcf887fd 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/viewoptions.ui
@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>169</width>
-    <height>96</height>
+    <width>172</width>
+    <height>124</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -35,6 +35,13 @@
      </property>
     </widget>
    </item>
+   <item>
+    <widget class="QCheckBox" name="cbDescription">
+     <property name="text">
+      <string>Show description</string>
+     </property>
+    </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

From 1b027d0e7a620f4bcaabbe1a97ddc7531cf217eb Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Mon, 13 Oct 2014 15:54:16 +0200
Subject: [PATCH 12/30] OP-1504 Added VehicleName to SystemSettings and a GUI
 in Vehicle configuration to set it. The name is restricted to 20 chars to
 save resources.

---
 .../src/plugins/config/airframe.ui            | 14 ++++-----
 .../config/configvehicletypewidget.cpp        | 29 +++++++++++++++++++
 shared/uavobjectdefinition/systemsettings.xml |  2 +-
 3 files changed, 37 insertions(+), 8 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/airframe.ui b/ground/openpilotgcs/src/plugins/config/airframe.ui
index 36ec7f122..9609b357a 100644
--- a/ground/openpilotgcs/src/plugins/config/airframe.ui
+++ b/ground/openpilotgcs/src/plugins/config/airframe.ui
@@ -20,13 +20,13 @@
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <property name="leftMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="topMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="rightMargin">
-      <number>9</number>
+      <number>0</number>
      </property>
      <property name="bottomMargin">
       <number>9</number>
@@ -61,7 +61,7 @@
       </spacer>
      </item>
      <item alignment="Qt::AlignLeft">
-      <widget class="QLineEdit" name="lineEdit">
+      <widget class="QLineEdit" name="nameEdit">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -78,10 +78,10 @@
         <string/>
        </property>
        <property name="maxLength">
-        <number>10</number>
+        <number>20</number>
        </property>
        <property name="placeholderText">
-        <string>Enter name of vehicle. Max 10 characters.</string>
+        <string>Enter name of vehicle. Max 20 characters.</string>
        </property>
       </widget>
      </item>
@@ -242,7 +242,7 @@
                <x>0</x>
                <y>0</y>
                <width>820</width>
-               <height>427</height>
+               <height>435</height>
               </rect>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout">
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index c2f64300d..7b227db28 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -121,6 +121,10 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
         m_aircraft->saveAircraftToRAM->setVisible(false);
     }
 
+    SystemSettings *syssettings = SystemSettings::GetInstance(getObjectManager());
+    Q_ASSERT(syssettings);
+    m_aircraft->nameEdit->setMaxLength(syssettings->VEHICLENAME_NUMELEM);
+
     addApplySaveButtons(m_aircraft->saveAircraftToRAM, m_aircraft->saveAircraftToSD);
 
     addUAVObject("SystemSettings");
@@ -158,6 +162,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
     addWidget(m_aircraft->ffTestBox1);
     addWidget(m_aircraft->ffTestBox2);
     addWidget(m_aircraft->ffTestBox3);
+    addWidget(m_aircraft->nameEdit);
 
     disableMouseWheelEvents();
     updateEnableControls();
@@ -224,6 +229,19 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *o)
         }
     }
 
+    field = system->getField(QString("VehicleName"));
+    Q_ASSERT(field);
+    QString name;
+    for (uint i = 0; i < field->getNumElements(); ++i) {
+        QChar chr = field->getValue(i).toChar();
+        if (chr != 0) {
+            name.append(chr);
+        } else {
+            break;
+        }
+    }
+    m_aircraft->nameEdit->setText(name);
+
     updateFeedForwardUI();
 
     setDirty(dirty);
@@ -270,6 +288,17 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
     vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
     vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
 
+    field = system->getField(QString("VehicleName"));
+    Q_ASSERT(field);
+    QString name = m_aircraft->nameEdit->text();
+    for (uint i = 0; i < field->getNumElements(); ++i) {
+        if (i < name.length()) {
+            field->setValue(name.at(i).toLatin1(), i);
+        } else {
+            field->setValue(0, i);
+        }
+    }
+
     // call refreshWidgetsValues() to reflect actual saved values
     refreshWidgetsValues();
     updateFeedForwardUI();
diff --git a/shared/uavobjectdefinition/systemsettings.xml b/shared/uavobjectdefinition/systemsettings.xml
index 720b0786d..8f86537d7 100644
--- a/shared/uavobjectdefinition/systemsettings.xml
+++ b/shared/uavobjectdefinition/systemsettings.xml
@@ -2,7 +2,7 @@
     <object name="SystemSettings" singleinstance="true" settings="true" category="System">
         <description>Select airframe type.  Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
         <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,QuadH,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
-        <field name="VehicleName" units="char" type="uint8" elements="10" defaultvalue="0"/>
+        <field name="VehicleName" units="char" type="uint8" elements="20" defaultvalue="0"/>
 	<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
 		<!-- Which way the vehicle controls its thrust. Can be through
 			"Throttle" (quadcopter, simple brushless planes,

From 6e0f1b25133f4cb882fc2fd876c9c55581ddb1ec Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Mon, 13 Oct 2014 16:30:49 +0200
Subject: [PATCH 13/30] OP-1504 Fixed some compiler warnings and uncrustified
 code.

---
 .../calibration/sixpointcalibrationmodel.cpp  |  8 ++++----
 .../config/configvehicletypewidget.cpp        |  2 +-
 .../src/plugins/config/stabilization.ui       | 20 +++++++++----------
 .../plugins/uavobjectbrowser/fieldtreeitem.h  |  1 -
 .../src/plugins/uavobjectbrowser/treeitem.cpp |  2 +-
 .../src/plugins/uavobjectbrowser/treeitem.h   |  8 +++++++-
 6 files changed, 23 insertions(+), 18 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
index 0593600e0..276362643 100644
--- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
+++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp
@@ -473,8 +473,8 @@ void SixPointCalibrationModel::compute()
     revoCalibrationData.MagBiasNullingRate = memento.revoCalibrationData.MagBiasNullingRate;;
 
     // Check the mag calibration is good
-    bool good_calibration     = true;
-    bool good_aux_calibration = true;
+    bool good_calibration = true;
+    // bool good_aux_calibration = true;
     if (calibratingMag) {
         good_calibration &= !IS_NAN(revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]);
         good_calibration &= !IS_NAN(revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1]);
@@ -581,7 +581,7 @@ void SixPointCalibrationModel::save()
     if (calibratingMag) {
         RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData();
 
-        for (int i = 0; i < RevoCalibration::MAG_TRANSFORM_NUMELEM; i++) {
+        for (uint i = 0; i < RevoCalibration::MAG_TRANSFORM_NUMELEM; i++) {
             revoCalibrationData.mag_transform[i] = result.revoCalibrationData.mag_transform[i];
         }
         for (int i = 0; i < 3; i++) {
@@ -592,7 +592,7 @@ void SixPointCalibrationModel::save()
         if (calibratingAuxMag) {
             AuxMagSettings::DataFields auxCalibrationData = auxMagSettings->getData();
             // Note that Revo/AuxMag MAG_TRANSFORM_RxCx are interchangeable, an assertion at initialization enforces the structs are equal
-            for (int i = 0; i < RevoCalibration::MAG_TRANSFORM_NUMELEM; i++) {
+            for (uint i = 0; i < RevoCalibration::MAG_TRANSFORM_NUMELEM; i++) {
                 auxCalibrationData.mag_transform[i] = result.auxMagSettingsData.mag_transform[i];
             }
             for (int i = 0; i < 3; i++) {
diff --git a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
index 7b227db28..229a2555c 100644
--- a/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
@@ -292,7 +292,7 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
     Q_ASSERT(field);
     QString name = m_aircraft->nameEdit->text();
     for (uint i = 0; i < field->getNumElements(); ++i) {
-        if (i < name.length()) {
+        if (i < (uint)name.length()) {
             field->setValue(name.at(i).toLatin1(), i);
         } else {
             field->setValue(0, i);
diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index f8a4a86b4..889f9f65f 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -95,7 +95,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>0</number>
+      <number>1</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -136,8 +136,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>973</width>
+            <height>703</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -7837,8 +7837,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>954</width>
-            <height>732</height>
+            <width>957</width>
+            <height>782</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -10696,7 +10696,7 @@ response (deg)</string>
                   <property name="checkable">
                    <bool>false</bool>
                   </property>
-                  <layout class="QGridLayout" name="gridLayout_27" rowstretch="0,0,0" columnminimumwidth="0,0">
+                  <layout class="QGridLayout" name="gridLayout_277" rowstretch="0,0,0" columnminimumwidth="0,0">
                    <property name="leftMargin">
                     <number>9</number>
                    </property>
@@ -18055,8 +18055,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>973</width>
+            <height>703</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0">
@@ -23998,8 +23998,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>971</width>
-            <height>712</height>
+            <width>973</width>
+            <height>703</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
index 793291c60..238f7431c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h
@@ -471,7 +471,6 @@ private:
     {
         return QVariant(str.toString().at(0).toLatin1());
     }
-
 };
 
 #endif // FIELDTREEITEM_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
index d4e5fb968..71b9cf690 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp
@@ -250,7 +250,7 @@ QVariant ArrayFieldTreeItem::data(int column) const
                                   .arg(m_field->getValue(i).toUInt(&ok), TreeItem::maxHexStringLength(m_field->getType()),
                                        16, QChar('0')).toUpper());
             }
-            QString data =  QString("{%1}").arg(dataString);
+            QString data = QString("{%1}").arg(dataString);
             return data;
         } else {
             return QVariant();
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
index 08e4b2038..9d6ab8e02 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h
@@ -184,16 +184,22 @@ public:
         switch (type) {
         case UAVObjectField::INT8:
             return 2;
+
         case UAVObjectField::INT16:
             return 4;
+
         case UAVObjectField::INT32:
             return 8;
+
         case UAVObjectField::UINT8:
             return 2;
+
         case UAVObjectField::UINT16:
             return 4;
+
         case UAVObjectField::UINT32:
             return 8;
+
         default:
             Q_ASSERT(false);
         }
@@ -352,7 +358,7 @@ public:
     QVariant data(int column) const;
 
 private:
-    UAVObjectField*m_field;
+    UAVObjectField *m_field;
 };
 
 #endif // TREEITEM_H

From 429a45b5be5204c546dbe5ab4159035ecad643af Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Mon, 13 Oct 2014 17:47:40 +0200
Subject: [PATCH 14/30] OP-1538 Added some Vogon poetry.

---
 .../uavobjectbrowserwidget.cpp                | 60 ++++++++++++++++++-
 1 file changed, 59 insertions(+), 1 deletion(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index ed64c1b1c..c7209a333 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -280,7 +280,65 @@ void UAVObjectBrowserWidget::splitterMoved()
 
 QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
 {
-    return object->getDescription();
+    QString indent("&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;");
+    QString description;
+    description.append("<html><head></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">");
+    description.append("<b>").append(tr("Name:")).append(" </b>").append(object->getName())
+            .append("<br>");
+    description.append("<b>").append(tr("Type:")).append(" </b>")
+            .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"))
+            .append(indent);
+    description.append("<b>").append(tr("Category:")).append(" </b>").append(object->getCategory())
+            .append("<p>");
+    description.append("<b>").append(tr("Description:")).append(" </b>").append(object->getDescription().replace("@ref", ""))
+            .append("<hr><br>");
+    description.append("<b>").append(tr("Fields:")).append(" </b>")
+            .append("<br>");
+
+    foreach (UAVObjectField *field, object->getFields()) {
+        description.append(indent).append("<b>").append(tr("Name:")).append(" </b>").append(field->getName())
+                .append(indent);
+        description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()))
+                .append(indent);
+
+        description.append("<b>").append(tr("Type:")).append(" </b>").append(field->getTypeAsString());
+        int elements = field->getNumElements();
+        if (elements > 1) {
+            description.append("[").append(QString("%1").arg(field->getNumElements())).append("]");
+        }
+
+        description.append(indent).append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
+
+        description.append("<br>");
+        if (field->getDescription() != "") {
+            description.append(indent).append("<b>").append(tr("Description:")).append(" </b>").append(field->getDescription());
+            description.append("<br>");
+        }
+
+        if (elements > 1) {
+            description.append(indent).append("<b>").append(tr("Elements:")).append(" </b>").append("<br>");
+            QStringList names = field->getElementNames();
+            for (uint i = 0; i < field->getNumElements(); i++) {
+                description.append(indent).append(indent).append("<b>").append(tr("Name:")).append(" </b>").append(names.at(i))
+                        .append(indent);
+                if (field->getMinLimit(i).toString() != "" && field->getMaxLimit(i).toString() != "") {
+                    description.append("<b>").append(tr("Limits:")).append(" </b>")
+                            .append(QString("%1 - %2").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
+                }
+                description.append("<br>");
+            }
+            description.append("<p>");
+        } else {
+            if (field->getMinLimit(0).toString() != "" && field->getMaxLimit(0).toString() != "") {
+                description.append(indent).append("<b>").append(tr("Limits:")).append(" </b>")
+                        .append(QString("%1 - %2").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
+                description.append("<p>");
+            }
+        }
+    }
+
+    description.append("</body></html>");
+    return description;
 }
 
 void UAVObjectBrowserWidget::enableSendRequest(bool enable)

From 80fb6565b328657d23edaba717ca66d33cebc7c0 Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Mon, 13 Oct 2014 21:52:12 +0200
Subject: [PATCH 15/30] OP-1538 Added table format + colors

---
 .../uavobjectbrowserwidget.cpp                | 63 ++++++++++---------
 1 file changed, 32 insertions(+), 31 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index c7209a333..a0b39bfcd 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -280,64 +280,65 @@ void UAVObjectBrowserWidget::splitterMoved()
 
 QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
 {
-    QString indent("&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;");
     QString description;
     description.append("<html><head></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">");
-    description.append("<b>").append(tr("Name:")).append(" </b>").append(object->getName())
-            .append("<br>");
-    description.append("<b>").append(tr("Type:")).append(" </b>")
-            .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"))
-            .append(indent);
-    description.append("<b>").append(tr("Category:")).append(" </b>").append(object->getCategory())
-            .append("<p>");
-    description.append("<b>").append(tr("Description:")).append(" </b>").append(object->getDescription().replace("@ref", ""))
-            .append("<hr><br>");
-    description.append("<b>").append(tr("Fields:")).append(" </b>")
-            .append("<br>");
+    description.append("<table border='0' width='99%' cellpadding='5' cellspacing='0'><tbody><tr bgcolor='#ffcc00'>");
+    description.append("<td nowrap='nowrap'><b>").append(tr("Name:")).append(" </b>").append(object->getName());
+    description.append("<br><b>").append(tr("Type:")).append(" </b>")
+            .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"));
+    description.append("<br><b>").append(tr("Category:")).append(" </b>").append(object->getCategory());
+    description.append("</td><td colspan='3' rowspan='1' valign='middle'><b>");
+    description.append(tr("Description:")).append(" </b>").append(object->getDescription().replace("@ref", ""))
+            .append("</td></tr><tr><td colspan='4' rowspan='1' valign='middle'><hr></td></tr>");
 
+    description.append("<tr><td><b>").append(tr("Fields:")).append(" </b></td>");
+
+    int fields = 0;
     foreach (UAVObjectField *field, object->getFields()) {
-        description.append(indent).append("<b>").append(tr("Name:")).append(" </b>").append(field->getName())
-                .append(indent);
+        fields++;
+        description.append("</tr><tr><td nowrap='nowrap' ").append(fields & 1 ? "bgcolor='#ffcc99'>" : "bgcolor='#ff9900'>");
+        description.append("<b>").append(tr("Name:")).append(" </b>").append(field->getName())
+                .append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
         description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()))
-                .append(indent);
+                .append("</td>");
 
-        description.append("<b>").append(tr("Type:")).append(" </b>").append(field->getTypeAsString());
+        description.append("<td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+        description.append(tr("<b>Type:")).append(" </b>").append(field->getTypeAsString());
         int elements = field->getNumElements();
         if (elements > 1) {
             description.append("[").append(QString("%1").arg(field->getNumElements())).append("]");
         }
 
-        description.append(indent).append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
+        description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+        description.append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
 
-        description.append("<br>");
+        description.append("</td></tr>");
         if (field->getDescription() != "") {
-            description.append(indent).append("<b>").append(tr("Description:")).append(" </b>").append(field->getDescription());
-            description.append("<br>");
+            description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("<b>").append(tr("Description:")).append(" </b>").append(field->getDescription());
+            description.append("</td></tr>");
         }
 
         if (elements > 1) {
-            description.append(indent).append("<b>").append(tr("Elements:")).append(" </b>").append("<br>");
+            description.append("<tr><td></td><td>").append("<b>").append(tr("Elements:")).append(" </b>").append("</td><td>");
             QStringList names = field->getElementNames();
             for (uint i = 0; i < field->getNumElements(); i++) {
-                description.append(indent).append(indent).append("<b>").append(tr("Name:")).append(" </b>").append(names.at(i))
-                        .append(indent);
+                description.append( i == 0 ? tr("<b>Name: </b>") : " | ").append(names.at(i));
                 if (field->getMinLimit(i).toString() != "" && field->getMaxLimit(i).toString() != "") {
-                    description.append("<b>").append(tr("Limits:")).append(" </b>")
-                            .append(QString("%1 - %2").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
+                    description.append(QString(" %1 - %2 ").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
                 }
-                description.append("<br>");
             }
-            description.append("<p>");
+            description.append("</td></tr>");
         } else {
             if (field->getMinLimit(0).toString() != "" && field->getMaxLimit(0).toString() != "") {
-                description.append(indent).append("<b>").append(tr("Limits:")).append(" </b>")
-                        .append(QString("%1 - %2").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
-                description.append("<p>");
+                description.append("<tr><td>").append(tr("<b> Limits: </b>")).append(" </b>")
+                        .append(QString(" %1 - %2 ").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
+                description.append("</td></tr>");
             }
         }
     }
 
-    description.append("</body></html>");
+    description.append("</tbody></table></body></html>");
     return description;
 }
 

From 5d074063d1d667162735026baff3fef3b67ef0fa Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 14 Oct 2014 05:22:36 +0200
Subject: [PATCH 16/30] OP-1535 - Add board specific sensor update rate
 constant

---
 flight/modules/Altitude/revolution/altitude.c |  9 +++--
 flight/modules/Attitude/attitude.c            | 33 ++++++++++---------
 flight/modules/Sensors/sensors.c              | 24 ++++++++------
 flight/modules/Stabilization/altitudeloop.c   |  2 +-
 flight/modules/Stabilization/innerloop.c      |  2 +-
 flight/modules/Stabilization/outerloop.c      |  2 +-
 flight/modules/StateEstimation/filterekf.c    |  2 +-
 .../modules/StateEstimation/filtervelocity.c  |  2 +-
 .../coptercontrol/firmware/inc/pios_config.h  |  2 ++
 .../firmware/inc/pios_config.h                |  3 ++
 .../revolution/firmware/inc/pios_config.h     |  5 +--
 .../revoproto/firmware/inc/pios_config.h      |  2 ++
 .../simposix/firmware/inc/pios_config.h       |  3 ++
 13 files changed, 55 insertions(+), 36 deletions(-)

diff --git a/flight/modules/Altitude/revolution/altitude.c b/flight/modules/Altitude/revolution/altitude.c
index eb3fe1b75..6cd1e5750 100644
--- a/flight/modules/Altitude/revolution/altitude.c
+++ b/flight/modules/Altitude/revolution/altitude.c
@@ -53,8 +53,11 @@
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 10
-// 5Hz @120Hz update
-#define TEMP_ALPHA          0.9979f
+
+// LPF
+#define TEMP_DT             (1.0f / 120.0f)
+#define TEMP_LPF_FC         5.0f
+static const float temp_alpha = TEMP_DT / (TEMP_DT + 1.0f / (2.0f * M_PI_F * TEMP_LPF_FC));
 
 // Private types
 
@@ -181,7 +184,7 @@ static void altitudeTask(__attribute__((unused)) void *parameters)
             baro_temperature = temp;
         }
 
-        baro_temperature = TEMP_ALPHA * baro_temperature + (1 - TEMP_ALPHA) * temp;
+        baro_temperature = temp_alpha * (temp - baro_temperature) + baro_temperature;
 
         if (tempCorrectionEnabled && !temp_calibration_count) {
             temp_calibration_count = TEMP_CALIB_INTERVAL;
diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c
index d79699d65..84a09b397 100644
--- a/flight/modules/Attitude/attitude.c
+++ b/flight/modules/Attitude/attitude.c
@@ -82,18 +82,19 @@ PERF_DEFINE_COUNTER(counterAtt);
 #define STACK_SIZE_BYTES    540
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
 
-// Attitude module runs at 500Hz
-#define SENSOR_PERIOD       2
+// Attitude module loop interval (defined by sensor rate in pios_config.h)
+static const uint32_t sensor_period_ms = ((uint32_t)1000.0f / PIOS_SENSOR_RATE);
 
 #define UPDATE_RATE         25.0f
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 30
+// LPF
+#define TEMP_DT             (1.0f / PIOS_SENSOR_RATE)
+#define TEMP_LPF_FC         5.0f
+static const float temp_alpha = TEMP_DT / (TEMP_DT + 1.0f / (2.0f * M_PI_F * TEMP_LPF_FC));
 
-// LPF 5Hz at 500Hz rate
-#define TEMP_ALPHA          0.999504f
-
-#define UPDATE_EXPECTED     (1.0f / 500.0f)
+#define UPDATE_EXPECTED     (1.0f / PIOS_SENSOR_RATE)
 #define UPDATE_MIN          1.0e-6f
 #define UPDATE_MAX          1.0f
 #define UPDATE_ALPHA        1.0e-2f
@@ -327,7 +328,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
             PERF_MEASURE_PERIOD(counterPeriod);
             AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
         }
-        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_PERIOD_MS);
+        vTaskDelayUntil(&lastSysTime, sensor_period_ms / portTICK_PERIOD_MS);
     }
 }
 
@@ -465,7 +466,7 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
 #if defined(PIOS_INCLUDE_MPU6000)
 
     xQueueHandle queue = PIOS_MPU6000_GetQueue();
-    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, SENSOR_PERIOD);
+    BaseType_t ret     = xQueueReceive(queue, (void *)&mpu6000_data, sensor_period_ms);
     while (ret == pdTRUE) {
         gyros[0]  += mpu6000_data.gyro_x;
         gyros[1]  += mpu6000_data.gyro_y;
@@ -492,19 +493,19 @@ static int32_t updateSensorsCC3D(AccelStateData *accelStateData, GyroStateData *
     }
     float invcount = 1.0f / count;
     PERF_TIMED_SECTION_START(counterUpd);
-    gyros[0]   *= gyro_scale.X * invcount;
-    gyros[1]   *= gyro_scale.Y * invcount;
-    gyros[2]   *= gyro_scale.Z * invcount;
+    gyros[0]  *= gyro_scale.X * invcount;
+    gyros[1]  *= gyro_scale.Y * invcount;
+    gyros[2]  *= gyro_scale.Z * invcount;
 
-    accels[0]  *= accel_scale.X * invcount;
-    accels[1]  *= accel_scale.Y * invcount;
-    accels[2]  *= accel_scale.Z * invcount;
+    accels[0] *= accel_scale.X * invcount;
+    accels[1] *= accel_scale.Y * invcount;
+    accels[2] *= accel_scale.Z * invcount;
     temp *= invcount;
 
-    if(isnan(temperature)){
+    if (isnan(temperature)) {
         temperature = temp;
     }
-    temperature = TEMP_ALPHA * temperature + (1 - TEMP_ALPHA) * temp;
+    temperature = temp_alpha * (temp - temperature) + temperature;
 
     if ((apply_gyro_temp || apply_accel_temp) && !temp_calibration_count) {
         temp_calibration_count = TEMP_CALIB_INTERVAL;
diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c
index 67b063b24..764999928 100644
--- a/flight/modules/Sensors/sensors.c
+++ b/flight/modules/Sensors/sensors.c
@@ -58,7 +58,7 @@
 #include <accelgyrosettings.h>
 #include <flightstatus.h>
 #include <taskinfo.h>
-
+#include <pios_math.h>
 #include <CoordinateConversions.h>
 
 #include <pios_board_info.h>
@@ -66,12 +66,16 @@
 // Private constants
 #define STACK_SIZE_BYTES    1000
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 3)
-#define SENSOR_PERIOD       2
+
+static const uint32_t sensor_period_ms = ((uint32_t)1000.0f / PIOS_SENSOR_RATE);
 
 // Interval in number of sample to recalculate temp bias
 #define TEMP_CALIB_INTERVAL 30
-// LPF 5Hz at 500Hz rate
-#define TEMP_ALPHA          0.999504f
+
+// LPF
+#define TEMP_DT             (1.0f / PIOS_SENSOR_RATE)
+#define TEMP_LPF_FC         5.0f
+static const float temp_alpha = TEMP_DT / (TEMP_DT + 1.0f / (2.0f * M_PI_F * TEMP_LPF_FC));
 
 #define ZERO_ROT_ANGLE      0.00001f
 // Private types
@@ -255,7 +259,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
 #endif
             lastSysTime = xTaskGetTickCount();
-            vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
+            vTaskDelayUntil(&lastSysTime, sensor_period_ms / portTICK_RATE_MS);
             AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
             error = false;
         } else {
@@ -284,7 +288,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
 
                 count = 0;
                 while ((read_good = PIOS_BMA180_ReadFifo(&accel)) != 0 && !error) {
-                    error = ((xTaskGetTickCount() - lastSysTime) > SENSOR_PERIOD) ? true : error;
+                    error = ((xTaskGetTickCount() - lastSysTime) > sensor_period_ms) ? true : error;
                 }
                 if (error) {
                     // Unfortunately if the BMA180 ever misses getting read, then it will not
@@ -379,9 +383,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
             gyro_temperature  = gyroSensorData.temperature;
         }
 
-        accel_temperature = TEMP_ALPHA * accel_temperature + (1 - TEMP_ALPHA) * accelSensorData.temperature;
-        gyro_temperature  = TEMP_ALPHA * gyro_temperature + (1 - TEMP_ALPHA) * gyroSensorData.temperature;
-        gyroSensorData.temperature = gyro_temperature;
+        accel_temperature = temp_alpha * (accelSensorData.temperature - accel_temperature) + accel_temperature;
+        gyro_temperature  = temp_alpha * (gyroSensorData.temperature - gyro_temperature) + gyro_temperature;
+
         if ((accel_temp_calibrated || gyro_temp_calibrated) && !temp_calibration_count) {
             temp_calibration_count = TEMP_CALIB_INTERVAL;
             if (accel_temp_calibrated) {
@@ -472,7 +476,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
 #ifdef PIOS_INCLUDE_WDG
         PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
 #endif
-        vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
+        vTaskDelayUntil(&lastSysTime, sensor_period_ms / portTICK_RATE_MS);
     }
 }
 
diff --git a/flight/modules/Stabilization/altitudeloop.c b/flight/modules/Stabilization/altitudeloop.c
index f54ed5740..489e6e0d1 100644
--- a/flight/modules/Stabilization/altitudeloop.c
+++ b/flight/modules/Stabilization/altitudeloop.c
@@ -42,7 +42,7 @@
 
 #ifdef REVOLUTION
 
-#define UPDATE_EXPECTED   (1.0f / 666.0f)
+#define UPDATE_EXPECTED   (1.0f / PIOS_SENSOR_RATE)
 #define UPDATE_MIN        1.0e-6f
 #define UPDATE_MAX        1.0f
 #define UPDATE_ALPHA      1.0e-2f
diff --git a/flight/modules/Stabilization/innerloop.c b/flight/modules/Stabilization/innerloop.c
index 1f152c382..816006b7c 100644
--- a/flight/modules/Stabilization/innerloop.c
+++ b/flight/modules/Stabilization/innerloop.c
@@ -54,7 +54,7 @@
 
 #define CALLBACK_PRIORITY CALLBACK_PRIORITY_CRITICAL
 
-#define UPDATE_EXPECTED   (1.0f / 666.0f)
+#define UPDATE_EXPECTED   (1.0f / PIOS_SENSOR_RATE)
 #define UPDATE_MIN        1.0e-6f
 #define UPDATE_MAX        1.0f
 #define UPDATE_ALPHA      1.0e-2f
diff --git a/flight/modules/Stabilization/outerloop.c b/flight/modules/Stabilization/outerloop.c
index a1f8d37c1..995003208 100644
--- a/flight/modules/Stabilization/outerloop.c
+++ b/flight/modules/Stabilization/outerloop.c
@@ -52,7 +52,7 @@
 
 #define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
 
-#define UPDATE_EXPECTED   (1.0f / 666.0f)
+#define UPDATE_EXPECTED   (1.0f / PIOS_SENSOR_RATE)
 #define UPDATE_MIN        1.0e-6f
 #define UPDATE_MAX        1.0f
 #define UPDATE_ALPHA      1.0e-2f
diff --git a/flight/modules/StateEstimation/filterekf.c b/flight/modules/StateEstimation/filterekf.c
index 3931226e4..1fd036afd 100644
--- a/flight/modules/StateEstimation/filterekf.c
+++ b/flight/modules/StateEstimation/filterekf.c
@@ -47,7 +47,7 @@
 #define DT_ALPHA       1e-3f
 #define DT_MIN         1e-6f
 #define DT_MAX         1.0f
-#define DT_INIT        (1.0f / 666.0f) // initialize with 666 Hz (default sensor update rate on revo)
+#define DT_INIT        (1.0f / PIOS_SENSOR_RATE) // initialize with board sensor rate
 
 #define IMPORT_SENSOR_IF_UPDATED(shortname, num) \
     if (IS_SET(state->updated, SENSORUPDATES_##shortname)) { \
diff --git a/flight/modules/StateEstimation/filtervelocity.c b/flight/modules/StateEstimation/filtervelocity.c
index 493f0f3d7..ec6e29867 100644
--- a/flight/modules/StateEstimation/filtervelocity.c
+++ b/flight/modules/StateEstimation/filtervelocity.c
@@ -40,7 +40,7 @@
 #define DT_ALPHA       1e-3f
 #define DT_MIN         1e-6f
 #define DT_MAX         1.0f
-#define DT_INIT        (1.0f / 666.0f) // initialize with 666 Hz (default sensor update rate on revo)
+#define DT_INIT        (1.0f / PIOS_SENSOR_RATE) // initialize with board sensor rate
 
 // Private types
 struct data {
diff --git a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
index 95332df45..9450a6781 100644
--- a/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
+++ b/flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
@@ -92,6 +92,8 @@
 /* #define PIOS_INCLUDE_ETASV3 */
 /* #define PIOS_INCLUDE_HCSR04 */
 
+#define PIOS_SENSOR_RATE 500.0f
+
 /* PIOS receiver drivers */
 #define PIOS_INCLUDE_PWM
 #define PIOS_INCLUDE_PPM
diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
index 44065be33..11ec1415a 100644
--- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
+++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h
@@ -91,6 +91,9 @@
 // #define PIOS_INCLUDE_MPXV
 // #define PIOS_INCLUDE_ETASV3
 /* #define PIOS_INCLUDE_HCSR04 */
+
+#define PIOS_SENSOR_RATE 500.0f
+
 #define PIOS_INCLUDE_WS2811
 
 /* PIOS receiver drivers */
diff --git a/flight/targets/boards/revolution/firmware/inc/pios_config.h b/flight/targets/boards/revolution/firmware/inc/pios_config.h
index 5ee827783..15281a88b 100644
--- a/flight/targets/boards/revolution/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revolution/firmware/inc/pios_config.h
@@ -91,11 +91,12 @@
 #define PIOS_INCLUDE_MPXV
 #define PIOS_INCLUDE_ETASV3
 #define PIOS_INCLUDE_MS4525DO
+/* #define PIOS_INCLUDE_HCSR04 */
+
+#define PIOS_SENSOR_RATE 500.0f
 
 #define PIOS_INCLUDE_WS2811
 
-/* #define PIOS_INCLUDE_HCSR04 */
-
 /* PIOS receiver drivers */
 #define PIOS_INCLUDE_PWM
 #define PIOS_INCLUDE_PPM
diff --git a/flight/targets/boards/revoproto/firmware/inc/pios_config.h b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
index 897f9b360..b7aed8375 100644
--- a/flight/targets/boards/revoproto/firmware/inc/pios_config.h
+++ b/flight/targets/boards/revoproto/firmware/inc/pios_config.h
@@ -89,6 +89,8 @@
 #define PIOS_INCLUDE_ETASV3
 /* #define PIOS_INCLUDE_HCSR04 */
 
+#define PIOS_SENSOR_RATE 500.0f
+
 /* PIOS receiver drivers */
 #define PIOS_INCLUDE_PWM
 #define PIOS_INCLUDE_PPM
diff --git a/flight/targets/boards/simposix/firmware/inc/pios_config.h b/flight/targets/boards/simposix/firmware/inc/pios_config.h
index 0dc6b7aaa..a592b487c 100644
--- a/flight/targets/boards/simposix/firmware/inc/pios_config.h
+++ b/flight/targets/boards/simposix/firmware/inc/pios_config.h
@@ -70,6 +70,9 @@
 // #define PIOS_INCLUDE_MS5611
 // #define PIOS_INCLUDE_HCSR04
 #define PIOS_FLASH_ON_ACCEL /* true for second revo */
+
+#define PIOS_SENSOR_RATE    500.0f
+
 #define FLASH_FREERTOS
 /* Com systems to include */
 #define PIOS_INCLUDE_COM

From fe20e39d5cff94693b1a7ffae01f9cc31dd4c49f Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Tue, 14 Oct 2014 05:31:40 +0200
Subject: [PATCH 17/30] OP-1535 - uses union in fast_invsqrt

---
 flight/libraries/math/mathmisc.h | 15 +++++++++------
 1 file changed, 9 insertions(+), 6 deletions(-)

diff --git a/flight/libraries/math/mathmisc.h b/flight/libraries/math/mathmisc.h
index b9df0be18..57271f115 100644
--- a/flight/libraries/math/mathmisc.h
+++ b/flight/libraries/math/mathmisc.h
@@ -124,17 +124,20 @@ static inline float y_on_curve(float x, const pointf points[], int num_points)
 
 static inline float fast_invsqrtf(float number)
 {
-    uint32_t i;
     float x2, y;
     const float threehalfs = 1.5F;
 
+    union {
+        float    f;
+        uint32_t u;
+    } i;
+
     x2  = number * 0.5F;
     y   = number;
-    void *tmp = &y;
-    i   = *(uint32_t *)tmp;                       // evil floating point bit level hacking
-    i   = 0x5f3759df - (i >> 1);               // what the fxck?
-    tmp = &i;
-    y   = *(float *)tmp;
+
+    i.f = y; // evil floating point bit level hacking
+    i.u = 0x5f3759df - (i.u >> 1); // what the fxck?
+    y   = i.f;
     y   = y * (threehalfs - (x2 * y * y));   // 1st iteration
 // y  = y * ( threehalfs - ( x2 * y * y ) );   // 2nd iteration, this can be removed
 

From a4bbdbc7f2dcc5a05d0028ce26a4c77ec6c10fbf Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Tue, 14 Oct 2014 08:12:17 +0200
Subject: [PATCH 18/30] OP-1538 UavObjectDefinition typos

---
 shared/uavobjectdefinition/camerastabsettings.xml   | 2 +-
 shared/uavobjectdefinition/homelocation.xml         | 2 +-
 shared/uavobjectdefinition/manualcontrolcommand.xml | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/shared/uavobjectdefinition/camerastabsettings.xml b/shared/uavobjectdefinition/camerastabsettings.xml
index 0a017dff8..c0b27c647 100644
--- a/shared/uavobjectdefinition/camerastabsettings.xml
+++ b/shared/uavobjectdefinition/camerastabsettings.xml
@@ -1,6 +1,6 @@
 <xml>
     <object name="CameraStabSettings" singleinstance="true" settings="true" category="Control">
-        <description>Settings for the @ref CameraStab mmodule</description>
+        <description>Settings for the @ref CameraStab module</description>
         <field name="Input" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,None" defaultvalue="None"/>
         <field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
         <field name="InputRate" units="deg/s" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="50"/>
diff --git a/shared/uavobjectdefinition/homelocation.xml b/shared/uavobjectdefinition/homelocation.xml
index 3f99eb24b..64527c7e8 100644
--- a/shared/uavobjectdefinition/homelocation.xml
+++ b/shared/uavobjectdefinition/homelocation.xml
@@ -1,6 +1,6 @@
 <xml>
     <object name="HomeLocation" singleinstance="true" settings="true" category="Navigation">
-        <description>HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.</description>
+        <description>HomeLocation setting which contains the constants to translate from longitude and latitude to NED reference frame.  Automatically set by @ref GPSModule after acquiring a 3D lock.  Used by @ref AHRSCommsModule.</description>
         <field name="Set" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
         <field name="Latitude" units="deg * 10e6" type="int32" elements="1" defaultvalue="0"/>
         <field name="Longitude" units="deg * 10e6" type="int32" elements="1" defaultvalue="0"/>
diff --git a/shared/uavobjectdefinition/manualcontrolcommand.xml b/shared/uavobjectdefinition/manualcontrolcommand.xml
index 067b4821e..139a0dc0a 100644
--- a/shared/uavobjectdefinition/manualcontrolcommand.xml
+++ b/shared/uavobjectdefinition/manualcontrolcommand.xml
@@ -1,6 +1,6 @@
 <xml>
     <object name="ManualControlCommand" singleinstance="true" settings="false" category="Control">
-        <description>The output from the @ref ManualControlModule which descodes the receiver inputs.  Overriden by GCS for fly-by-wire control.</description>
+        <description>The output from the @ref ManualControlModule which decodes the receiver inputs. Overriden by GCS for fly-by-wire control.</description>
         <field name="Connected" units="" type="enum" elements="1" options="False,True"/>
 	<field name="Throttle" units="%" type="float" elements="1"/>
 	<field name="Roll" units="%" type="float" elements="1"/>

From 70703d59b4b9c560b0e06ef55ddf3eefff75c50e Mon Sep 17 00:00:00 2001
From: Laurent Lalanne <f5soh>
Date: Tue, 14 Oct 2014 08:34:52 +0200
Subject: [PATCH 19/30] OP-1538 All cells with color

---
 .../plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp  | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index a0b39bfcd..d1b71becb 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -320,7 +320,10 @@ QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
         }
 
         if (elements > 1) {
-            description.append("<tr><td></td><td>").append("<b>").append(tr("Elements:")).append(" </b>").append("</td><td>");
+            description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("<b>").append(tr("Elements:")).append(" </b>");
+            description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
             QStringList names = field->getElementNames();
             for (uint i = 0; i < field->getNumElements(); i++) {
                 description.append( i == 0 ? tr("<b>Name: </b>") : " | ").append(names.at(i));
@@ -328,10 +331,12 @@ QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
                     description.append(QString(" %1 - %2 ").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
                 }
             }
+            description.append("<td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
             description.append("</td></tr>");
         } else {
             if (field->getMinLimit(0).toString() != "" && field->getMaxLimit(0).toString() != "") {
-                description.append("<tr><td>").append(tr("<b> Limits: </b>")).append(" </b>")
+                description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+                description.append(tr("<b> Limits: </b>")).append(" </b>")
                         .append(QString(" %1 - %2 ").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
                 description.append("</td></tr>");
             }

From 3dd9503454bb6374d4961da971f8ad20c0a435bb Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Tue, 14 Oct 2014 09:51:02 +0200
Subject: [PATCH 20/30] OP-1538 Changed the way splitter state is changed.
 Fixed some formatting colors.

---
 .../uavobjectbrowser/uavobjectbrowser.cpp     |  8 ++---
 .../uavobjectbrowser/uavobjectbrowser.h       |  2 +-
 .../uavobjectbrowser/uavobjectbrowser.ui      |  2 +-
 .../uavobjectbrowserconfiguration.cpp         | 21 ++++--------
 .../uavobjectbrowserconfiguration.h           | 12 +++----
 .../uavobjectbrowserwidget.cpp                | 33 ++++++++-----------
 .../uavobjectbrowser/uavobjectbrowserwidget.h |  4 +--
 ground/uavobjgenerator/uavobjectparser.cpp    |  1 -
 8 files changed, 35 insertions(+), 48 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
index 2c93aac9b..b3dfacdea 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.cpp
@@ -33,7 +33,7 @@ UAVObjectBrowser::UAVObjectBrowser(QString classId, UAVObjectBrowserWidget *widg
     m_config(NULL)
 {
     connect(m_widget, SIGNAL(viewOptionsChanged(bool, bool, bool, bool)), this, SLOT(viewOptionsChangedSlot(bool, bool, bool, bool)));
-    connect(m_widget, SIGNAL(splitterChanged(QList<QVariant>&)), this, SLOT(splitterChanged(QList<QVariant>&)));
+    connect(m_widget, SIGNAL(splitterChanged(QByteArray)), this, SLOT(splitterChanged(QByteArray)));
 }
 
 UAVObjectBrowser::~UAVObjectBrowser()
@@ -51,7 +51,7 @@ void UAVObjectBrowser::loadConfiguration(IUAVGadgetConfiguration *config)
     m_widget->setRecentlyUpdatedTimeout(m->recentlyUpdatedTimeout());
     m_widget->setOnlyHilightChangedValues(m->onlyHighlightChangedValues());
     m_widget->setViewOptions(m->categorizedView(), m->scientificView(), m->showMetaData(), m->showDescription());
-    m_widget->setSplitterSizes(m->splitterSizes());
+    m_widget->setSplitterState(m->splitterState());
 }
 
 void UAVObjectBrowser::viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata, bool description)
@@ -64,9 +64,9 @@ void UAVObjectBrowser::viewOptionsChangedSlot(bool categorized, bool scientific,
     }
 }
 
-void UAVObjectBrowser::splitterChanged(QList<QVariant> &splitterSizes)
+void UAVObjectBrowser::splitterChanged(QByteArray state)
 {
     if (m_config) {
-        m_config->setSplitterSizes(splitterSizes);
+        m_config->setSplitterState(state);
     }
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
index 95e69180c..d84891a95 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.h
@@ -53,7 +53,7 @@ public:
 
 private slots:
     void viewOptionsChangedSlot(bool categorized, bool scientific, bool metadata, bool description);
-    void splitterChanged(QList<QVariant> &splitterSizes);
+    void splitterChanged(QByteArray state);
 
 private:
     UAVObjectBrowserWidget *m_widget;
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
index 43ae2cd60..492ab119f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.ui
@@ -260,7 +260,7 @@
          <property name="minimumSize">
           <size>
            <width>0</width>
-           <height>0</height>
+           <height>150</height>
           </size>
          </property>
          <property name="horizontalScrollBarPolicy">
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
index a80197551..74de92a6c 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
@@ -40,22 +40,15 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
 {
     // if a saved configuration exists load it
     if (qSettings != 0) {
-        QColor recent = qSettings->value("recentlyUpdatedColor").value<QColor>();
-        QColor manual = qSettings->value("manuallyChangedColor").value<QColor>();
-        int timeout   = qSettings->value("recentlyUpdatedTimeout").toInt();
-        bool hilight  = qSettings->value("onlyHilightChangedValues").toBool();
-
         m_useCategorizedView       = qSettings->value("CategorizedView").toBool();
         m_useScientificView        = qSettings->value("ScientificView").toBool();
         m_showMetaData = qSettings->value("showMetaData").toBool();
         m_showDescription = qSettings->value("showDescription").toBool();
-        m_splitterSizes = qSettings->value("splitterSizes").toList();
-        m_recentlyUpdatedColor     = recent;
-        m_manuallyChangedColor     = manual;
-        m_recentlyUpdatedTimeout   = timeout;
-        m_onlyHilightChangedValues = hilight;
-    } else {
-        m_splitterSizes << QVariant(300) << QVariant(300);
+        m_splitterState = qSettings->value("splitterState").toByteArray();
+        m_recentlyUpdatedColor     = qSettings->value("recentlyUpdatedColor").value<QColor>();
+        m_manuallyChangedColor     = qSettings->value("manuallyChangedColor").value<QColor>();
+        m_recentlyUpdatedTimeout   = qSettings->value("recentlyUpdatedTimeout").toInt();
+        m_onlyHilightChangedValues = qSettings->value("onlyHilightChangedValues").toBool();
     }
 }
 
@@ -69,7 +62,7 @@ IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
     m->m_onlyHilightChangedValues = m_onlyHilightChangedValues;
     m->m_useCategorizedView = m_useCategorizedView;
     m->m_useScientificView  = m_useScientificView;
-    m->m_splitterSizes = m_splitterSizes;
+    m->m_splitterState = m_splitterState;
     m->m_showMetaData = m_showMetaData;
     m->m_showDescription = m_showDescription;
     return m;
@@ -89,5 +82,5 @@ void UAVObjectBrowserConfiguration::saveConfig(QSettings *qSettings) const
     qSettings->setValue("ScientificView", m_useScientificView);
     qSettings->setValue("showMetaData", m_showMetaData);
     qSettings->setValue("showDescription", m_showDescription);
-    qSettings->setValue("splitterSizes", m_splitterSizes);
+    qSettings->setValue("splitterState", m_splitterState);
 }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
index fc81aca5b..825e6aa06 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.h
@@ -42,7 +42,7 @@ class UAVObjectBrowserConfiguration : public IUAVGadgetConfiguration {
     Q_PROPERTY(bool m_useScientificView READ scientificView WRITE setScientificView)
     Q_PROPERTY(bool m_showDescription READ showDescription WRITE setShowDescription)
     Q_PROPERTY(bool m_showMetaData READ showMetaData WRITE setShowMetaData)
-    Q_PROPERTY(QList<QVariant> m_splitterSizes READ splitterSizes WRITE setSplitterSizes)
+    Q_PROPERTY(QByteArray m_splitterState READ splitterState WRITE setSplitterState)
 public:
     explicit UAVObjectBrowserConfiguration(QString classId, QSettings *qSettings = 0, QObject *parent = 0);
 
@@ -82,9 +82,9 @@ public:
         return m_showDescription;
     }
 
-    QList<QVariant> splitterSizes() const
+    QByteArray splitterState() const
     {
-        return m_splitterSizes;
+        return m_splitterState;
     }
 
 signals:
@@ -123,9 +123,9 @@ public slots:
         m_showDescription = value;
     }
 
-    void setSplitterSizes(QList<QVariant> arg)
+    void setSplitterState(QByteArray arg)
     {
-        m_splitterSizes = arg;
+        m_splitterState = arg;
     }
 
 private:
@@ -137,7 +137,7 @@ private:
     bool m_useScientificView;
     bool m_showMetaData;
     bool m_showDescription;
-    QList<QVariant> m_splitterSizes;
+    QByteArray m_splitterState;
 };
 
 #endif // UAVOBJECTBROWSERCONFIGURATION_H
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index a0b39bfcd..f48effef6 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -54,6 +54,7 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     m_browser->treeView->setItemDelegate(m_delegate);
     m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
     m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
+    m_browser->splitter->setChildrenCollapsible(false);
     showMetaData(m_viewoptions->cbMetaData->isChecked());
     showDescription(m_viewoptions->cbDescription->isChecked());
     connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)),
@@ -89,13 +90,9 @@ void UAVObjectBrowserWidget::setViewOptions(bool categorized, bool scientific, b
     m_viewoptions->cbDescription->setChecked(description);
 }
 
-void UAVObjectBrowserWidget::setSplitterSizes(QList<QVariant> sizes)
+void UAVObjectBrowserWidget::setSplitterState(QByteArray state)
 {
-    QList<int> sizs;
-    foreach (QVariant size, sizes) {
-        sizs << size.toInt();
-    }
-    m_browser->splitter->setSizes(sizs);
+    m_browser->splitter->restoreState(state);
 }
 
 void UAVObjectBrowserWidget::showMetaData(bool show)
@@ -270,19 +267,14 @@ void UAVObjectBrowserWidget::viewOptionsChangedSlot()
 
 void UAVObjectBrowserWidget::splitterMoved()
 {
-    QList<QVariant> sizs;
-    foreach (int size, m_browser->splitter->sizes()) {
-        sizs << QVariant(size);
-    }
-
-    emit splitterChanged(sizs);
+    emit splitterChanged(m_browser->splitter->saveState());
 }
 
 QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
 {
     QString description;
     description.append("<html><head></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">");
-    description.append("<table border='0' width='99%' cellpadding='5' cellspacing='0'><tbody><tr bgcolor='#ffcc00'>");
+    description.append("<table border='0' width='99%' cellpadding='5' cellspacing='0'><tbody><tr bgcolor='#498ae8'>");
     description.append("<td nowrap='nowrap'><b>").append(tr("Name:")).append(" </b>").append(object->getName());
     description.append("<br><b>").append(tr("Type:")).append(" </b>")
             .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"));
@@ -296,25 +288,28 @@ QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
     int fields = 0;
     foreach (UAVObjectField *field, object->getFields()) {
         fields++;
-        description.append("</tr><tr><td nowrap='nowrap' ").append(fields & 1 ? "bgcolor='#ffcc99'>" : "bgcolor='#ff9900'>");
+        QString bgColor = fields & 1 ? "bgcolor='#ffcc99'>" : "bgcolor='#ff9900'>";
+        description.append("</tr><tr><td nowrap='nowrap' ").append(bgColor);
         description.append("<b>").append(tr("Name:")).append(" </b>").append(field->getName())
-                .append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+                .append("</td><td").append(bgColor);
         description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()))
                 .append("</td>");
 
-        description.append("<td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+        description.append("<td").append(bgColor);
         description.append(tr("<b>Type:")).append(" </b>").append(field->getTypeAsString());
         int elements = field->getNumElements();
         if (elements > 1) {
             description.append("[").append(QString("%1").arg(field->getNumElements())).append("]");
         }
 
-        description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
-        description.append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
+        description.append("</td><td").append(bgColor);
+        if (field->getUnits() != "") {
+            description.append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
+        }
 
         description.append("</td></tr>");
         if (field->getDescription() != "") {
-            description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("<tr><td").append(bgColor);
             description.append("<b>").append(tr("Description:")).append(" </b>").append(field->getDescription());
             description.append("</td></tr>");
         }
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index e6d7af5ec..8efdfab58 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -61,7 +61,7 @@ public:
         m_onlyHilightChangedValues = hilight; m_model->setOnlyHilightChangedValues(hilight);
     }
     void setViewOptions(bool categorized, bool scientific, bool metadata, bool description);
-    void setSplitterSizes(QList<QVariant> sizes);
+    void setSplitterState(QByteArray state);
 public slots:
     void showMetaData(bool show);
     void showDescription(bool show);
@@ -81,7 +81,7 @@ private slots:
     QString createObjectDescription(UAVObject* object);
 signals:
     void viewOptionsChanged(bool categorized, bool scientific, bool metadata, bool description);
-    void splitterChanged(QList<QVariant> &sizes);
+    void splitterChanged(QByteArray state);
 private:
     QPushButton *m_requestUpdate;
     QPushButton *m_sendUpdate;
diff --git a/ground/uavobjgenerator/uavobjectparser.cpp b/ground/uavobjgenerator/uavobjectparser.cpp
index 6ef2496a6..dde870df4 100644
--- a/ground/uavobjgenerator/uavobjectparser.cpp
+++ b/ground/uavobjgenerator/uavobjectparser.cpp
@@ -587,7 +587,6 @@ QString UAVObjectParser::processObjectFields(QDomNode & childNode, ObjectInfo *i
     }
     // Add field to object
     info->fields.append(field);
-    qDebug() << "field added" << info->name << ", description" << field->description;
     // Done
     return QString();
 }

From d4d6789198a1e5feb79b93bf1a8fd893a96e82f5 Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Tue, 14 Oct 2014 16:40:07 +0200
Subject: [PATCH 21/30] OP-1538 Small formatting changes.

---
 .../uavobjectbrowserwidget.cpp                | 54 +++++++++++--------
 1 file changed, 32 insertions(+), 22 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index 9c5eb51e2..0bfbd894f 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -275,7 +275,9 @@ QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
     QString description;
     description.append("<html><head></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">");
     description.append("<table border='0' width='99%' cellpadding='5' cellspacing='0'><tbody><tr bgcolor='#498ae8'>");
-    description.append("<td nowrap='nowrap'><b>").append(tr("Name:")).append(" </b>").append(object->getName());
+
+    description.append("<td nowrap='nowrap'>");
+    description.append("<b>").append(tr("Name:")).append(" </b>").append(object->getName());
     description.append("<br><b>").append(tr("Type:")).append(" </b>")
             .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"));
     description.append("<br><b>").append(tr("Category:")).append(" </b>").append(object->getCategory());
@@ -283,56 +285,64 @@ QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
     description.append(tr("Description:")).append(" </b>").append(object->getDescription().replace("@ref", ""))
             .append("</td></tr><tr><td colspan='4' rowspan='1' valign='middle'><hr></td></tr>");
 
-    description.append("<tr><td><b>").append(tr("Fields:")).append(" </b></td>");
+    description.append("<tr><td><b>").append(tr("Fields:")).append(" </b></td></tr>");
 
     int fields = 0;
     foreach (UAVObjectField *field, object->getFields()) {
         fields++;
-        QString bgColor = fields & 1 ? "bgcolor='#ffcc99'>" : "bgcolor='#ff9900'>";
-        description.append("</tr><tr><td nowrap='nowrap' ").append(bgColor);
-        description.append("<b>").append(tr("Name:")).append(" </b>").append(field->getName())
-                .append("</td><td").append(bgColor);
-        description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()))
-                .append("</td>");
+        QString bgColor = fields & 1 ? "bgcolor='#76A9F3'" : "bgcolor='#98BDF3'";
+
+        description.append("<tr>");
+        description.append("<td nowrap='nowrap' ").append(bgColor).append(">");
+
+        description.append("<b>").append(tr("Name:")).append(" </b>").append(field->getName());
+        description.append("</td><td").append(bgColor);
+
+        description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()));
+
+        description.append("</td>");
 
         description.append("<td").append(bgColor);
-        description.append(tr("<b>Type:")).append(" </b>").append(field->getTypeAsString());
+        description.append(tr("<b>Type:&nbsp;")).append("</b>").append(field->getTypeAsString());
         int elements = field->getNumElements();
         if (elements > 1) {
             description.append("[").append(QString("%1").arg(field->getNumElements())).append("]");
         }
 
-        description.append("</td><td").append(bgColor);
+        description.append("</td>");
+        description.append("<td").append(bgColor).append(">");
         if (field->getUnits() != "") {
-            description.append("<b>").append(tr("Unit:")).append(" </b>").append(field->getUnits());
+            description.append("<b>").append(tr("Unit:&nbsp;")).append("</b>").append(field->getUnits());
         }
+        description.append("</td>");
+
+        description.append("</tr>");
 
-        description.append("</td></tr>");
         if (field->getDescription() != "") {
             description.append("<tr><td").append(bgColor);
-            description.append("<b>").append(tr("Description:")).append(" </b>").append(field->getDescription());
+            description.append("<b>").append(tr("Description:&nbsp;")).append("</b>").append(field->getDescription());
             description.append("</td></tr>");
         }
 
         if (elements > 1) {
-            description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
-            description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("<tr><td").append(bgColor);
+            description.append("</td><td").append(bgColor);
             description.append("<b>").append(tr("Elements:")).append(" </b>");
-            description.append("</td><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("</td><td").append(bgColor);
             QStringList names = field->getElementNames();
             for (uint i = 0; i < field->getNumElements(); i++) {
-                description.append( i == 0 ? tr("<b>Name: </b>") : " | ").append(names.at(i));
+                description.append( i == 0 ? tr("<b>Name:&nbsp;</b>") : "&nbsp;|&nbsp;").append(names.at(i));
                 if (field->getMinLimit(i).toString() != "" && field->getMaxLimit(i).toString() != "") {
-                    description.append(QString(" %1 - %2 ").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
+                    description.append(QString("%1&nbsp;-&nbsp;%2").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
                 }
             }
-            description.append("<td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
+            description.append("<td").append(bgColor);
             description.append("</td></tr>");
         } else {
             if (field->getMinLimit(0).toString() != "" && field->getMaxLimit(0).toString() != "") {
-                description.append("<tr><td").append(fields & 1 ? " bgcolor='#ffcc99'>" : " bgcolor='#ff9900'>");
-                description.append(tr("<b> Limits: </b>")).append(" </b>")
-                        .append(QString(" %1 - %2 ").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
+                description.append("<tr><td").append(bgColor);
+                description.append(tr("<b> Limits:&nbsp;</b>")).append(" </b>")
+                        .append(QString("%1&nbsp;-&nbsp;%2").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
                 description.append("</td></tr>");
             }
         }

From 26eff1bb4e41bd2a8decf8e6735b7b959eb7fb3f Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Wed, 15 Oct 2014 00:40:09 +0200
Subject: [PATCH 22/30] OP-1538 Added Mustache template renderer by Robert
 Knight. Added #include "utils_global.h" Added QTCREATOR_UTILS_EXPORT to all
 public classes in header file. See file header comments for Original Authors
 Copyright information. See https://github.com/robertknight/qt-mustache See
 http://mustache.github.io/

---
 .../openpilotgcs/src/libs/utils/mustache.cpp  | 559 ++++++++++++++++++
 ground/openpilotgcs/src/libs/utils/mustache.h | 266 +++++++++
 ground/openpilotgcs/src/libs/utils/utils.pro  |   6 +-
 3 files changed, 829 insertions(+), 2 deletions(-)
 create mode 100644 ground/openpilotgcs/src/libs/utils/mustache.cpp
 create mode 100644 ground/openpilotgcs/src/libs/utils/mustache.h

diff --git a/ground/openpilotgcs/src/libs/utils/mustache.cpp b/ground/openpilotgcs/src/libs/utils/mustache.cpp
new file mode 100644
index 000000000..8cb33b734
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mustache.cpp
@@ -0,0 +1,559 @@
+/*
+   Copyright 2012, Robert Knight
+
+   Redistribution and use in source and binary forms, with or without modification,
+   are permitted provided that the following conditions are met:
+
+    Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+    Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+ */
+
+#include "mustache.h"
+
+#include <QtCore/QDebug>
+#include <QtCore/QFile>
+#include <QtCore/QStringList>
+#include <QtCore/QTextStream>
+
+using namespace Mustache;
+
+QString Mustache::renderTemplate(const QString & templateString, const QVariantHash & args)
+{
+    Mustache::QtVariantContext context(args);
+    Mustache::Renderer renderer;
+
+    return renderer.render(templateString, &context);
+}
+
+QString escapeHtml(const QString & input)
+{
+    QString escaped(input);
+
+    for (int i = 0; i < escaped.count();) {
+        const char *replacement = 0;
+        ushort ch = escaped.at(i).unicode();
+        if (ch == '&') {
+            replacement = "&amp;";
+        } else if (ch == '<') {
+            replacement = "&lt;";
+        } else if (ch == '>') {
+            replacement = "&gt;";
+        } else if (ch == '"') {
+            replacement = "&quot;";
+        }
+        if (replacement) {
+            escaped.replace(i, 1, QLatin1String(replacement));
+            i += strlen(replacement);
+        } else {
+            ++i;
+        }
+    }
+    return escaped;
+}
+
+QString unescapeHtml(const QString & escaped)
+{
+    QString unescaped(escaped);
+
+    unescaped.replace(QLatin1String("&lt;"), QLatin1String("<"));
+    unescaped.replace(QLatin1String("&gt;"), QLatin1String(">"));
+    unescaped.replace(QLatin1String("&amp;"), QLatin1String("&"));
+    unescaped.replace(QLatin1String("&quot;"), QLatin1String("\""));
+    return unescaped;
+}
+
+Context::Context(PartialResolver *resolver)
+    : m_partialResolver(resolver)
+{}
+
+PartialResolver *Context::partialResolver() const
+{
+    return m_partialResolver;
+}
+
+QString Context::partialValue(const QString & key) const
+{
+    if (!m_partialResolver) {
+        return QString();
+    }
+    return m_partialResolver->getPartial(key);
+}
+
+bool Context::canEval(const QString &) const
+{
+    return false;
+}
+
+QString Context::eval(const QString & key, const QString & _template, Renderer *renderer)
+{
+    Q_UNUSED(key);
+    Q_UNUSED(_template);
+    Q_UNUSED(renderer);
+
+    return QString();
+}
+
+QtVariantContext::QtVariantContext(const QVariant & root, PartialResolver *resolver)
+    : Context(resolver)
+{
+    m_contextStack << root;
+}
+
+QVariant variantMapValue(const QVariant & value, const QString & key)
+{
+    if (value.userType() == QVariant::Map) {
+        return value.toMap().value(key);
+    } else {
+        return value.toHash().value(key);
+    }
+}
+
+QVariant variantMapValueForKeyPath(const QVariant & value, const QStringList keyPath)
+{
+    if (keyPath.count() > 1) {
+        QVariant firstValue = variantMapValue(value, keyPath.first());
+        return firstValue.isNull() ? QVariant() : variantMapValueForKeyPath(firstValue, keyPath.mid(1));
+    } else if (!keyPath.isEmpty()) {
+        return variantMapValue(value, keyPath.first());
+    }
+    return QVariant();
+}
+
+QVariant QtVariantContext::value(const QString & key) const
+{
+    if (key == "." && !m_contextStack.isEmpty()) {
+        return m_contextStack.last();
+    }
+    QStringList keyPath = key.split(".");
+    for (int i = m_contextStack.count() - 1; i >= 0; i--) {
+        QVariant value = variantMapValueForKeyPath(m_contextStack.at(i), keyPath);
+        if (!value.isNull()) {
+            return value;
+        }
+    }
+    return QVariant();
+}
+
+bool QtVariantContext::isFalse(const QString & key) const
+{
+    QVariant value = this->value(key);
+
+    switch (value.userType()) {
+    case QVariant::Bool:
+        return !value.toBool();
+
+    case QVariant::List:
+        return value.toList().isEmpty();
+
+    case QVariant::Hash:
+        return value.toHash().isEmpty();
+
+    case QVariant::Map:
+        return value.toMap().isEmpty();
+
+    default:
+        return value.toString().isEmpty();
+    }
+}
+
+QString QtVariantContext::stringValue(const QString & key) const
+{
+    if (isFalse(key)) {
+        return QString();
+    }
+    return value(key).toString();
+}
+
+void QtVariantContext::push(const QString & key, int index)
+{
+    QVariant mapItem = value(key);
+
+    if (index == -1) {
+        m_contextStack << mapItem;
+    } else {
+        QVariantList list = mapItem.toList();
+        m_contextStack << list.value(index, QVariant());
+    }
+}
+
+void QtVariantContext::pop()
+{
+    m_contextStack.pop();
+}
+
+int QtVariantContext::listCount(const QString & key) const
+{
+    if (value(key).userType() == QVariant::List) {
+        return value(key).toList().count();
+    }
+    return 0;
+}
+
+bool QtVariantContext::canEval(const QString & key) const
+{
+    return value(key).canConvert<fn_t>();
+}
+
+QString QtVariantContext::eval(const QString & key, const QString & _template, Renderer *renderer)
+{
+    QVariant fn = value(key);
+
+    if (fn.isNull()) {
+        return QString();
+    }
+    return fn.value<fn_t>() (_template, renderer, this);
+}
+
+PartialMap::PartialMap(const QHash<QString, QString> & partials)
+    : m_partials(partials)
+{}
+
+QString PartialMap::getPartial(const QString & name)
+{
+    return m_partials.value(name);
+}
+
+PartialFileLoader::PartialFileLoader(const QString & basePath)
+    : m_basePath(basePath)
+{}
+
+QString PartialFileLoader::getPartial(const QString & name)
+{
+    if (!m_cache.contains(name)) {
+        QString path = m_basePath + '/' + name + ".mustache";
+        QFile file(path);
+        if (file.open(QIODevice::ReadOnly)) {
+            QTextStream stream(&file);
+            m_cache.insert(name, stream.readAll());
+        }
+    }
+    return m_cache.value(name);
+}
+
+Renderer::Renderer()
+    : m_errorPos(-1)
+    , m_defaultTagStartMarker("{{")
+    , m_defaultTagEndMarker("}}")
+{}
+
+QString Renderer::error() const
+{
+    return m_error;
+}
+
+int Renderer::errorPos() const
+{
+    return m_errorPos;
+}
+
+QString Renderer::errorPartial() const
+{
+    return m_errorPartial;
+}
+
+QString Renderer::render(const QString & _template, Context *context)
+{
+    m_error.clear();
+    m_errorPos = -1;
+    m_errorPartial.clear();
+
+    m_tagStartMarker = m_defaultTagStartMarker;
+    m_tagEndMarker   = m_defaultTagEndMarker;
+
+    return render(_template, 0, _template.length(), context);
+}
+
+QString Renderer::render(const QString & _template, int startPos, int endPos, Context *context)
+{
+    QString output;
+    int lastTagEnd = startPos;
+
+    while (m_errorPos == -1) {
+        Tag tag = findTag(_template, lastTagEnd, endPos);
+        if (tag.type == Tag::Null) {
+            output += _template.midRef(lastTagEnd, endPos - lastTagEnd);
+            break;
+        }
+        output += _template.midRef(lastTagEnd, tag.start - lastTagEnd);
+        switch (tag.type) {
+        case Tag::Value:
+        {
+            QString value = context->stringValue(tag.key);
+            if (tag.escapeMode == Tag::Escape) {
+                value = escapeHtml(value);
+            } else if (tag.escapeMode == Tag::Unescape) {
+                value = unescapeHtml(value);
+            }
+            output    += value;
+            lastTagEnd = tag.end;
+        }
+        break;
+        case Tag::SectionStart:
+        {
+            Tag endTag = findEndTag(_template, tag, endPos);
+            if (endTag.type == Tag::Null) {
+                if (m_errorPos == -1) {
+                    setError("No matching end tag found for section", tag.start);
+                }
+            } else {
+                int listCount = context->listCount(tag.key);
+                if (listCount > 0) {
+                    for (int i = 0; i < listCount; i++) {
+                        context->push(tag.key, i);
+                        output += render(_template, tag.end, endTag.start, context);
+                        context->pop();
+                    }
+                } else if (context->canEval(tag.key)) {
+                    output += context->eval(tag.key, _template.mid(tag.end, endTag.start - tag.end), this);
+                } else if (!context->isFalse(tag.key)) {
+                    context->push(tag.key);
+                    output += render(_template, tag.end, endTag.start, context);
+                    context->pop();
+                }
+                lastTagEnd = endTag.end;
+            }
+        }
+        break;
+        case Tag::InvertedSectionStart:
+        {
+            Tag endTag = findEndTag(_template, tag, endPos);
+            if (endTag.type == Tag::Null) {
+                if (m_errorPos == -1) {
+                    setError("No matching end tag found for inverted section", tag.start);
+                }
+            } else {
+                if (context->isFalse(tag.key)) {
+                    output += render(_template, tag.end, endTag.start, context);
+                }
+                lastTagEnd = endTag.end;
+            }
+        }
+        break;
+        case Tag::SectionEnd:
+            setError("Unexpected end tag", tag.start);
+            lastTagEnd = tag.end;
+            break;
+        case Tag::Partial:
+        {
+            QString tagStartMarker = m_tagStartMarker;
+            QString tagEndMarker   = m_tagEndMarker;
+
+            m_tagStartMarker = m_defaultTagStartMarker;
+            m_tagEndMarker   = m_defaultTagEndMarker;
+
+            m_partialStack.push(tag.key);
+
+            QString partial = context->partialValue(tag.key);
+            output    += render(partial, 0, partial.length(), context);
+            lastTagEnd = tag.end;
+
+            m_partialStack.pop();
+
+            m_tagStartMarker = tagStartMarker;
+            m_tagEndMarker   = tagEndMarker;
+        }
+        break;
+        case Tag::SetDelimiter:
+            lastTagEnd = tag.end;
+            break;
+        case Tag::Comment:
+            lastTagEnd = tag.end;
+            break;
+        case Tag::Null:
+            break;
+        }
+    }
+
+    return output;
+}
+
+void Renderer::setError(const QString & error, int pos)
+{
+    Q_ASSERT(!error.isEmpty());
+    Q_ASSERT(pos >= 0);
+
+    m_error    = error;
+    m_errorPos = pos;
+
+    if (!m_partialStack.isEmpty()) {
+        m_errorPartial = m_partialStack.top();
+    }
+}
+
+Tag Renderer::findTag(const QString & content, int pos, int endPos)
+{
+    int tagStartPos = content.indexOf(m_tagStartMarker, pos);
+
+    if (tagStartPos == -1 || tagStartPos >= endPos) {
+        return Tag();
+    }
+
+    int tagEndPos = content.indexOf(m_tagEndMarker, tagStartPos + m_tagStartMarker.length());
+    if (tagEndPos == -1) {
+        return Tag();
+    }
+    tagEndPos += m_tagEndMarker.length();
+
+    Tag tag;
+    tag.type   = Tag::Value;
+    tag.start  = tagStartPos;
+    tag.end    = tagEndPos;
+
+    pos = tagStartPos + m_tagStartMarker.length();
+    endPos     = tagEndPos - m_tagEndMarker.length();
+
+    QChar typeChar = content.at(pos);
+
+    if (typeChar == '#') {
+        tag.type = Tag::SectionStart;
+        tag.key  = readTagName(content, pos + 1, endPos);
+    } else if (typeChar == '^') {
+        tag.type = Tag::InvertedSectionStart;
+        tag.key  = readTagName(content, pos + 1, endPos);
+    } else if (typeChar == '/') {
+        tag.type = Tag::SectionEnd;
+        tag.key  = readTagName(content, pos + 1, endPos);
+    } else if (typeChar == '!') {
+        tag.type = Tag::Comment;
+    } else if (typeChar == '>') {
+        tag.type = Tag::Partial;
+        tag.key  = readTagName(content, pos + 1, endPos);
+    } else if (typeChar == '=') {
+        tag.type = Tag::SetDelimiter;
+        readSetDelimiter(content, pos + 1, tagEndPos - m_tagEndMarker.length());
+    } else {
+        if (typeChar == '&') {
+            tag.escapeMode = Tag::Unescape;
+            ++pos;
+        } else if (typeChar == '{') {
+            tag.escapeMode = Tag::Raw;
+            ++pos;
+            int endTache = content.indexOf('}', pos);
+            if (endTache == tag.end - m_tagEndMarker.length()) {
+                ++tag.end;
+            } else {
+                endPos = endTache;
+            }
+        }
+        tag.type = Tag::Value;
+        tag.key  = readTagName(content, pos, endPos);
+    }
+
+    if (tag.type != Tag::Value) {
+        expandTag(tag, content);
+    }
+
+    return tag;
+}
+
+QString Renderer::readTagName(const QString & content, int pos, int endPos)
+{
+    QString name;
+
+    name.reserve(endPos - pos);
+    while (content.at(pos).isSpace()) {
+        ++pos;
+    }
+    while (!content.at(pos).isSpace() && pos < endPos) {
+        name += content.at(pos);
+        ++pos;
+    }
+    return name;
+}
+
+void Renderer::readSetDelimiter(const QString & content, int pos, int endPos)
+{
+    QString startMarker;
+    QString endMarker;
+
+    while (content.at(pos).isSpace() && pos < endPos) {
+        ++pos;
+    }
+
+    while (!content.at(pos).isSpace() && pos < endPos) {
+        if (content.at(pos) == '=') {
+            setError("Custom delimiters may not contain '='.", pos);
+            return;
+        }
+        startMarker += content.at(pos);
+        ++pos;
+    }
+
+    while (content.at(pos).isSpace() && pos < endPos) {
+        ++pos;
+    }
+
+    while (!content.at(pos).isSpace() && pos < endPos - 1) {
+        if (content.at(pos) == '=') {
+            setError("Custom delimiters may not contain '='.", pos);
+            return;
+        }
+        endMarker += content.at(pos);
+        ++pos;
+    }
+
+    m_tagStartMarker = startMarker;
+    m_tagEndMarker   = endMarker;
+}
+
+Tag Renderer::findEndTag(const QString & content, const Tag & startTag, int endPos)
+{
+    int tagDepth = 1;
+    int pos = startTag.end;
+
+    while (true) {
+        Tag nextTag = findTag(content, pos, endPos);
+        if (nextTag.type == Tag::Null) {
+            return nextTag;
+        } else if (nextTag.type == Tag::SectionStart || nextTag.type == Tag::InvertedSectionStart) {
+            ++tagDepth;
+        } else if (nextTag.type == Tag::SectionEnd) {
+            --tagDepth;
+            if (tagDepth == 0) {
+                if (nextTag.key != startTag.key) {
+                    setError("Tag start/end key mismatch", nextTag.start);
+                    return Tag();
+                }
+                return nextTag;
+            }
+        }
+        pos = nextTag.end;
+    }
+
+    return Tag();
+}
+
+void Renderer::setTagMarkers(const QString & startMarker, const QString & endMarker)
+{
+    m_defaultTagStartMarker = startMarker;
+    m_defaultTagEndMarker   = endMarker;
+}
+
+void Renderer::expandTag(Tag & tag, const QString & content)
+{
+    int start = tag.start;
+    int end   = tag.end;
+
+    // Move start to beginning of line.
+    while (start > 0 && content.at(start - 1) != QLatin1Char('\n')) {
+        --start;
+        if (!content.at(start).isSpace()) {
+            return; // Not standalone.
+        }
+    }
+
+    // Move end to one past end of line.
+    while (end <= content.size() && content.at(end - 1) != QLatin1Char('\n')) {
+        if (end < content.size() && !content.at(end).isSpace()) {
+            return; // Not standalone.
+        }
+        ++end;
+    }
+
+    tag.start = start;
+    tag.end   = end;
+}
diff --git a/ground/openpilotgcs/src/libs/utils/mustache.h b/ground/openpilotgcs/src/libs/utils/mustache.h
new file mode 100644
index 000000000..2d76e3564
--- /dev/null
+++ b/ground/openpilotgcs/src/libs/utils/mustache.h
@@ -0,0 +1,266 @@
+/*
+   Copyright 2012, Robert Knight
+
+   Redistribution and use in source and binary forms, with or without modification,
+   are permitted provided that the following conditions are met:
+
+    Redistributions of source code must retain the above copyright notice,
+    this list of conditions and the following disclaimer.
+
+    Redistributions in binary form must reproduce the above copyright notice,
+    this list of conditions and the following disclaimer in the documentation
+    and/or other materials provided with the distribution.
+ */
+
+#pragma once
+
+#include <QtCore/QStack>
+#include <QtCore/QString>
+#include <QtCore/QVariant>
+
+#include "utils_global.h"
+
+#if __cplusplus >= 201103L
+#include <functional> /* for std::function */
+#endif
+
+namespace Mustache {
+class PartialResolver;
+class Renderer;
+
+/** Context is an interface that Mustache::Renderer::render() uses to
+ * fetch substitutions for template tags.
+ */
+class QTCREATOR_UTILS_EXPORT Context {
+public:
+    /** Create a context.  @p resolver is used to fetch the expansions for any {{>partial}} tags
+     * which appear in a template.
+     */
+    explicit Context(PartialResolver *resolver = 0);
+    virtual ~Context() {}
+
+    /** Returns a string representation of the value for @p key in the current context.
+     * This is used to replace a Mustache value tag.
+     */
+    virtual QString stringValue(const QString & key) const = 0;
+
+    /** Returns true if the value for @p key is 'false' or an empty list.
+     * 'False' values typically include empty strings, the boolean value false etc.
+     *
+     * When processing a section Mustache tag, the section is not rendered if the key
+     * is false, or for an inverted section tag, the section is only rendered if the key
+     * is false.
+     */
+    virtual bool isFalse(const QString & key) const  = 0;
+
+    /** Returns the number of items in the list value for @p key or 0 if
+     * the value for @p key is not a list.
+     */
+    virtual int listCount(const QString & key) const = 0;
+
+    /** Set the current context to the value for @p key.
+     * If index is >= 0, set the current context to the @p index'th value
+     * in the list value for @p key.
+     */
+    virtual void push(const QString & key, int index = -1) = 0;
+
+    /** Exit the current context. */
+    virtual void pop() = 0;
+
+    /** Returns the partial template for a given @p key. */
+    QString partialValue(const QString & key) const;
+
+    /** Returns the partial resolver passed to the constructor. */
+    PartialResolver *partialResolver() const;
+
+    /** Returns true if eval() should be used to render section tags using @p key.
+     * If canEval() returns true for a key, the renderer will pass the literal, unrendered
+     * block of text for the section to eval() and replace the section with the result.
+     *
+     * canEval() and eval() are equivalents for callable objects (eg. lambdas) in other
+     * Mustache implementations.
+     *
+     * The default implementation always returns false.
+     */
+    virtual bool canEval(const QString & key) const;
+
+    /** Callback used to render a template section with the given @p key.
+     * @p renderer will substitute the original section tag with the result of eval().
+     *
+     * The default implementation returns an empty string.
+     */
+    virtual QString eval(const QString & key, const QString & _template, Renderer *renderer);
+
+private:
+    PartialResolver *m_partialResolver;
+};
+
+/** A context implementation which wraps a QVariantHash or QVariantMap. */
+class QTCREATOR_UTILS_EXPORT QtVariantContext : public Context {
+public:
+    /** Construct a QtVariantContext which wraps a dictionary in a QVariantHash
+     * or a QVariantMap.
+     */
+#if __cplusplus >= 201103L
+    typedef std::function<QString(const QString &, Mustache::Renderer *, Mustache::Context *)> fn_t;
+#else
+    typedef QString (*fn_t)(const QString &, Mustache::Renderer *, Mustache::Context *);
+#endif
+    explicit QtVariantContext(const QVariant & root, PartialResolver *resolver = 0);
+
+    virtual QString stringValue(const QString & key) const;
+    virtual bool isFalse(const QString & key) const;
+    virtual int listCount(const QString & key) const;
+    virtual void push(const QString & key, int index = -1);
+    virtual void pop();
+    virtual bool canEval(const QString & key) const;
+    virtual QString eval(const QString & key, const QString & _template, Mustache::Renderer *renderer);
+
+private:
+    QVariant value(const QString & key) const;
+
+    QStack<QVariant> m_contextStack;
+};
+
+/** Interface for fetching template partials. */
+class QTCREATOR_UTILS_EXPORT PartialResolver {
+public:
+    virtual ~PartialResolver() {}
+
+    /** Returns the partial template with a given @p name. */
+    virtual QString getPartial(const QString & name) = 0;
+};
+
+/** A simple partial fetcher which returns templates from a map of (partial name -> template)
+ */
+class QTCREATOR_UTILS_EXPORT PartialMap : public PartialResolver {
+public:
+    explicit PartialMap(const QHash<QString, QString> & partials);
+
+    virtual QString getPartial(const QString & name);
+
+private:
+    QHash<QString, QString> m_partials;
+};
+
+/** A partial fetcher when loads templates from '<name>.mustache' files
+ * in a given directory.
+ *
+ * Once a partial has been loaded, it is cached for future use.
+ */
+class QTCREATOR_UTILS_EXPORT PartialFileLoader : public PartialResolver {
+public:
+    explicit PartialFileLoader(const QString & basePath);
+
+    virtual QString getPartial(const QString & name);
+
+private:
+    QString m_basePath;
+    QHash<QString, QString> m_cache;
+};
+
+/** Holds properties of a tag in a mustache template. */
+struct Tag {
+    enum Type {
+        Null,
+        Value, /// A {{key}} or {{{key}}} tag
+        SectionStart, /// A {{#section}} tag
+        InvertedSectionStart, /// An {{^inverted-section}} tag
+        SectionEnd, /// A {{/section}} tag
+        Partial, /// A {{^partial}} tag
+        Comment, /// A {{! comment }} tag
+        SetDelimiter /// A {{=<% %>=}} tag
+    };
+
+    enum EscapeMode {
+        Escape,
+        Unescape,
+        Raw
+    };
+
+    Tag()
+        : type(Null)
+        , start(0)
+        , end(0)
+        , escapeMode(Escape)
+    {}
+
+    Type       type;
+    QString    key;
+    int        start;
+    int        end;
+    EscapeMode escapeMode;
+};
+
+/** Renders Mustache templates, replacing mustache tags with
+ * values from a provided context.
+ */
+class QTCREATOR_UTILS_EXPORT Renderer {
+public:
+    Renderer();
+
+    /** Render a Mustache template, using @p context to fetch
+     * the values used to replace Mustache tags.
+     */
+    QString render(const QString & _template, Context *context);
+
+    /** Returns a message describing the last error encountered by the previous
+     * render() call.
+     */
+    QString error() const;
+
+    /** Returns the position in the template where the last error occurred
+     * when rendering the template or -1 if no error occurred.
+     *
+     * If the error occurred in a partial template, the returned position is the offset
+     * in the partial template.
+     */
+    int errorPos() const;
+
+    /** Returns the name of the partial where the error occurred, or an empty string
+     * if the error occurred in the main template.
+     */
+    QString errorPartial() const;
+
+    /** Sets the default tag start and end markers.
+     * This can be overridden within a template.
+     */
+    void setTagMarkers(const QString & startMarker, const QString & endMarker);
+
+private:
+    QString render(const QString & _template, int startPos, int endPos, Context *context);
+
+    Tag findTag(const QString & content, int pos, int endPos);
+    Tag findEndTag(const QString & content, const Tag & startTag, int endPos);
+    void setError(const QString & error, int pos);
+
+    void readSetDelimiter(const QString & content, int pos, int endPos);
+    static QString readTagName(const QString & content, int pos, int endPos);
+
+    /** Expands @p tag to fill the line, but only if it is standalone.
+     *
+     * The start position is moved to the beginning of the line. The end position is
+     * moved to one past the end of the line. If @p tag is not standalone, it is
+     * left unmodified.
+     *
+     * A tag is standalone if it is the only non-whitespace token on the the line.
+     */
+    static void expandTag(Tag & tag, const QString & content);
+
+    QStack<QString> m_partialStack;
+    QString m_error;
+    int m_errorPos;
+    QString m_errorPartial;
+
+    QString m_tagStartMarker;
+    QString m_tagEndMarker;
+
+    QString m_defaultTagStartMarker;
+    QString m_defaultTagEndMarker;
+};
+
+/** A convenience function which renders a template using the given data. */
+QString renderTemplate(const QString & templateString, const QVariantHash & args);
+};
+
+Q_DECLARE_METATYPE(Mustache::QtVariantContext::fn_t)
diff --git a/ground/openpilotgcs/src/libs/utils/utils.pro b/ground/openpilotgcs/src/libs/utils/utils.pro
index 231ff64f0..be86d2abe 100644
--- a/ground/openpilotgcs/src/libs/utils/utils.pro
+++ b/ground/openpilotgcs/src/libs/utils/utils.pro
@@ -56,7 +56,8 @@ SOURCES += reloadpromptutils.cpp \
     svgimageprovider.cpp \
     hostosinfo.cpp \
     logfile.cpp \
-    crc.cpp
+    crc.cpp \
+    mustache.cpp
 
 SOURCES += xmlconfig.cpp
 
@@ -115,7 +116,8 @@ HEADERS += utils_global.h \
     svgimageprovider.h \
     hostosinfo.h \
     logfile.h \
-    crc.h
+    crc.h \
+    mustache.h
 
 
 HEADERS += xmlconfig.h

From 2d17d644065a4bac3c4feedff6579916525f8eca Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Wed, 15 Oct 2014 00:41:17 +0200
Subject: [PATCH 23/30] OP-1538 Fixed some runtime warnings and debug logging.

---
 .../src/plugins/config/configstabilizationwidget.cpp       | 7 -------
 .../src/plugins/config/configstabilizationwidget.h         | 2 +-
 .../plugins/magicwaypoint/magicwaypointgadgetwidget.cpp    | 4 ++--
 .../src/plugins/welcome/qml/ScrollDecorator.qml            | 2 --
 4 files changed, 3 insertions(+), 12 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
index 7c9fb0eae..f7786ec1a 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
@@ -187,14 +187,12 @@ void ConfigStabilizationWidget::updateThrottleCurveFromObject()
     UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
 
     Q_ASSERT(stabBank);
-    qDebug() << "updatingCurveFromObject" << stabBank->getName();
 
     UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
     Q_ASSERT(field);
 
     QList<double> curve;
     for (quint32 i = 0; i < field->getNumElements(); i++) {
-        qDebug() << field->getName() << field->getElementNames().at(i) << "=>" << field->getValue(i);
         curve.append(field->getValue(i).toDouble());
     }
 
@@ -214,7 +212,6 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
     UAVObject *stabBank = getObjectManager()->getObject(QString(m_pidTabBars.at(0)->tabData(m_currentPIDBank).toString()));
 
     Q_ASSERT(stabBank);
-    qDebug() << "updatingObjectFromCurve" << stabBank->getName();
 
     UAVObjectField *field = stabBank->getField("ThrustPIDScaleCurve");
     Q_ASSERT(field);
@@ -222,7 +219,6 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve()
     QList<double> curve   = ui->thrustPIDScalingCurve->getCurve();
     for (quint32 i = 0; i < field->getNumElements(); i++) {
         field->setValue(curve.at(i), i);
-        qDebug() << field->getName() << field->getElementNames().at(i) << "<=" << curve.at(i);
     }
 
     field = stabBank->getField("EnableThrustPIDScaling");
@@ -351,10 +347,8 @@ void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
 
     if (value && !realtimeUpdates->isActive()) {
         realtimeUpdates->start(AUTOMATIC_UPDATE_RATE);
-        qDebug() << "Instant Update timer started.";
     } else if (!value && realtimeUpdates->isActive()) {
         realtimeUpdates->stop();
-        qDebug() << "Instant Update timer stopped.";
     }
 }
 
@@ -451,7 +445,6 @@ void ConfigStabilizationWidget::pidBankChanged(int index)
     setWidgetBindingObjectEnabled(m_pidTabBars.at(0)->tabData(index).toString(), true);
 
     m_currentPIDBank = index;
-    qDebug() << "current bank:" << m_currentPIDBank;
     updateThrottleCurveFromObject();
     setDirty(dirty);
 }
diff --git a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
index 180700112..e8ed225a0 100644
--- a/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
+++ b/ground/openpilotgcs/src/plugins/config/configstabilizationwidget.h
@@ -56,7 +56,7 @@ private:
     static const int AUTOMATIC_UPDATE_RATE   = 500;
 
     static const int EXPO_CURVE_POINTS_COUNT = 100;
-    static const double EXPO_CURVE_CONSTANT = 1.00695;
+    static const double EXPO_CURVE_CONSTANT  = 1.00695;
 
     int boardModel;
     int m_pidBankCount;
diff --git a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
index 37231eaa5..981aeb5b7 100644
--- a/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/magicwaypoint/magicwaypointgadgetwidget.cpp
@@ -47,8 +47,8 @@ MagicWaypointGadgetWidget::MagicWaypointGadgetWidget(QWidget *parent) : QLabel(p
     m_magicwaypoint->setupUi(this);
 
     // Connect object updated event from UAVObject to also update check boxes
-    connect(getPathDesired(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(positionObjectChanged(UAVObject *)));
-    connect(getPositionState(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(positionObjectChanged(UAVObject *)));
+    connect(getPathDesired(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(positionStateChanged(UAVObject *)));
+    connect(getPositionState(), SIGNAL(objectUpdated(UAVObject *)), this, SLOT(positionStateChanged(UAVObject *)));
 
     // Connect updates from the position widget to this widget
     connect(m_magicwaypoint->widgetPosition, SIGNAL(positionClicked(double, double)), this, SLOT(positionSelected(double, double)));
diff --git a/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
index 5e4e7e8d9..b3bdb0313 100644
--- a/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
+++ b/ground/openpilotgcs/src/plugins/welcome/qml/ScrollDecorator.qml
@@ -10,8 +10,6 @@ Rectangle {
         sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
     }
 
-    Component.onDestruction: scrollLoader.sourceComponent = undefined
-
     Component {
         id: scrollBar
         Rectangle {

From f687a6d01c45da09254f5e2e4d304506ade13c48 Mon Sep 17 00:00:00 2001
From: m_thread <fredrik@arvidssons.org>
Date: Wed, 15 Oct 2014 00:42:23 +0200
Subject: [PATCH 24/30] OP-1538 Added mustache template and rendering code.

---
 .../resources/uavodescription.mustache        |  62 +++++++
 .../uavobjectbrowser/uavobjectbrowser.qrc     |   1 +
 .../uavobjectbrowserconfiguration.cpp         |   4 +-
 .../uavobjectbrowserwidget.cpp                | 153 ++++++++++--------
 .../uavobjectbrowser/uavobjectbrowserwidget.h |   4 +-
 .../src/plugins/uavobjects/uavobjectfield.cpp |  66 ++++++--
 .../src/plugins/uavobjects/uavobjectfield.h   |   3 +-
 7 files changed, 207 insertions(+), 86 deletions(-)
 create mode 100644 ground/openpilotgcs/src/plugins/uavobjectbrowser/resources/uavodescription.mustache

diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/resources/uavodescription.mustache b/ground/openpilotgcs/src/plugins/uavobjectbrowser/resources/uavodescription.mustache
new file mode 100644
index 000000000..1bb68c0f7
--- /dev/null
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/resources/uavodescription.mustache
@@ -0,0 +1,62 @@
+<html>
+    <head></head>
+    <body style="font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
+        <table width='100%' cellpadding="5">
+            <tr bgcolor='#308BC6'>
+                <td rowspan='1' colspan='4'><b>{{OBJECT_NAME_TITLE}}:&nbsp;</b>{{OBJECT_NAME}}</td>
+            </tr>
+            <tr>
+                <td colspan='1'><b>{{CATEGORY_TITLE}}:&nbsp;</b>{{CATEGORY}}</td>
+                <td colspan='1'><b>{{TYPE_TITLE}}:&nbsp;</b>{{TYPE}}</td>
+                <td colspan='1'><b>{{SIZE_TITLE}}:&nbsp;</b>{{SIZE}}&nbsp;bytes</td>
+                <td colspan='1'><b>{{MULTI_INSTANCE_TITLE}}:&nbsp;</b>{{MULTI_INSTANCE}}</td>
+            </tr>
+            <tr>
+                <td colspan='4' rowspan='1' valign='top'><b>{{DESCRIPTION_TITLE}}:&nbsp;</b>{{DESCRIPTION}}</td>
+            <tr bgcolor='#51A0D3'>
+                <td rowspan='1' colspan='4'><b>{{FIELDS_NAME_TITLE}}</td>
+            </tr>
+            {{#FIELDS}}
+            <tr>
+                <td colspan='4'>
+                    <table width='100%' cellpadding="5">
+                        <tr bgcolor='#7DBAE2'>
+                            <td rowspan='1' colspan='4'><b>{{FIELD_NAME_TITLE}}:&nbsp;</b>{{FIELD_NAME}}</td>
+                        </tr>
+                        <tr>
+                            <td rowspan='1' colspan='1'><b>{{FIELD_TYPE_TITLE}}:&nbsp;</b>{{FIELD_TYPE}}</td>
+                            {{#FIELD_UNIT_TITLE}}
+                            <td rowspan='1' colspan='2'><b>{{FIELD_UNIT_TITLE}}:&nbsp;</b>{{FIELD_UNIT}}</td>
+                            {{/FIELD_UNIT_TITLE}}
+                        </tr>
+                        {{#FIELD_OPTIONS_TITLE}}
+                        <tr>
+                            <td rowspan='1' colspan='2'><b>{{FIELD_OPTIONS_TITLE}}:&nbsp;
+                            </b>{{#FIELD_OPTIONS}}{{FIELD_OPTION_DELIM}}{{FIELD_OPTION}}{{/FIELD_OPTIONS}}</td>
+                        </tr>
+                        {{/FIELD_OPTIONS_TITLE}}
+                        {{#FIELD_ELEMENTS_TITLE}}
+                        <tr>
+                            <td rowspan='1' colspan='2'><b>{{FIELD_ELEMENTS_TITLE}}:&nbsp;
+                            </b>{{#FIELD_ELEMENTS}}{{FIELD_ELEMENT_DELIM}}{{FIELD_ELEMENT}}{{FIELD_ELEMENT_LIMIT}}{{/FIELD_ELEMENTS}}</td>
+                        </tr>
+                        {{/FIELD_ELEMENTS_TITLE}}
+                        {{^FIELD_ELEMENTS_TITLE}}
+                        {{#FIELD_LIMIT_TITLE}}
+                        <tr>
+                            <td rowspan='1' colspan='2'><b>{{FIELD_LIMIT_TITLE}}:&nbsp;</b>{{FIELD_LIMIT}}</td>
+                        </tr>
+                        {{/FIELD_LIMIT_TITLE}}
+                        {{/FIELD_ELEMENTS_TITLE}}
+                        {{#FIELD_DESCRIPTION_TITLE}}
+                        <tr>
+                            <td rowspan='1' colspan='2'><b>{{FIELD_DESCRIPTION_TITLE}}:&nbsp;</b>{{FIELD_DESCRIPTION}}</td>
+                        </tr>
+                        {{/FIELD_DESCRIPTION_TITLE}}
+                    </table>
+                </td>
+            </tr>
+            {{/FIELDS}}
+        </table>
+    </body>
+</html>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
index e5ac47658..7d3b82bb9 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowser.qrc
@@ -6,5 +6,6 @@
         <file>images/up_alt.png</file>
         <file>images/trash.png</file>
         <file>images/1343241276_eye.png</file>
+        <file>resources/uavodescription.mustache</file>
     </qresource>
 </RCC>
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
index 74de92a6c..54a756322 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserconfiguration.cpp
@@ -43,7 +43,7 @@ UAVObjectBrowserConfiguration::UAVObjectBrowserConfiguration(QString classId, QS
         m_useCategorizedView       = qSettings->value("CategorizedView").toBool();
         m_useScientificView        = qSettings->value("ScientificView").toBool();
         m_showMetaData = qSettings->value("showMetaData").toBool();
-        m_showDescription = qSettings->value("showDescription").toBool();
+        m_showDescription          = qSettings->value("showDescription").toBool();
         m_splitterState = qSettings->value("splitterState").toByteArray();
         m_recentlyUpdatedColor     = qSettings->value("recentlyUpdatedColor").value<QColor>();
         m_manuallyChangedColor     = qSettings->value("manuallyChangedColor").value<QColor>();
@@ -64,7 +64,7 @@ IUAVGadgetConfiguration *UAVObjectBrowserConfiguration::clone()
     m->m_useScientificView  = m_useScientificView;
     m->m_splitterState = m_splitterState;
     m->m_showMetaData = m_showMetaData;
-    m->m_showDescription = m_showDescription;
+    m->m_showDescription    = m_showDescription;
     return m;
 }
 
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
index 0bfbd894f..2c5456cc1 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp
@@ -39,6 +39,7 @@
 #include <QtCore/QDebug>
 #include <QItemEditorFactory>
 #include "extensionsystem/pluginmanager.h"
+#include "utils/mustache.h"
 
 UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent)
 {
@@ -55,6 +56,7 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     m_browser->treeView->setEditTriggers(QAbstractItemView::AllEditTriggers);
     m_browser->treeView->setSelectionBehavior(QAbstractItemView::SelectItems);
     m_browser->splitter->setChildrenCollapsible(false);
+    m_mustacheTemplate = loadFileIntoString(QString(":/uavobjectbrowser/resources/uavodescription.mustache"));
     showMetaData(m_viewoptions->cbMetaData->isChecked());
     showDescription(m_viewoptions->cbDescription->isChecked());
     connect(m_browser->treeView->selectionModel(), SIGNAL(currentChanged(QModelIndex, QModelIndex)),
@@ -73,7 +75,7 @@ UAVObjectBrowserWidget::UAVObjectBrowserWidget(QWidget *parent) : QWidget(parent
     connect(m_viewoptions->cbMetaData, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     connect(m_viewoptions->cbCategorized, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
     connect(m_viewoptions->cbDescription, SIGNAL(toggled(bool)), this, SLOT(viewOptionsChangedSlot()));
-    connect(m_browser->splitter, SIGNAL(splitterMoved(int,int)), this, SLOT(splitterMoved()));
+    connect(m_browser->splitter, SIGNAL(splitterMoved(int, int)), this, SLOT(splitterMoved()));
     enableSendRequest(false);
 }
 
@@ -176,6 +178,17 @@ ObjectTreeItem *UAVObjectBrowserWidget::findCurrentObjectTreeItem()
     return objItem;
 }
 
+QString UAVObjectBrowserWidget::loadFileIntoString(QString fileName)
+{
+    QFile file(fileName);
+
+    file.open(QIODevice::ReadOnly);
+    QTextStream stream(&file);
+    QString line = stream.readAll();
+    file.close();
+    return line;
+}
+
 void UAVObjectBrowserWidget::saveObject()
 {
     this->setFocus();
@@ -272,84 +285,83 @@ void UAVObjectBrowserWidget::splitterMoved()
 
 QString UAVObjectBrowserWidget::createObjectDescription(UAVObject *object)
 {
-    QString description;
-    description.append("<html><head></head><body style=\" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;\">");
-    description.append("<table border='0' width='99%' cellpadding='5' cellspacing='0'><tbody><tr bgcolor='#498ae8'>");
+    QString mustache(m_mustacheTemplate);
 
-    description.append("<td nowrap='nowrap'>");
-    description.append("<b>").append(tr("Name:")).append(" </b>").append(object->getName());
-    description.append("<br><b>").append(tr("Type:")).append(" </b>")
-            .append(object->isSettingsObject() ? tr("Settings") : object->isMetaDataObject() ? tr("Metadata") : tr("Data"));
-    description.append("<br><b>").append(tr("Category:")).append(" </b>").append(object->getCategory());
-    description.append("</td><td colspan='3' rowspan='1' valign='middle'><b>");
-    description.append(tr("Description:")).append(" </b>").append(object->getDescription().replace("@ref", ""))
-            .append("</td></tr><tr><td colspan='4' rowspan='1' valign='middle'><hr></td></tr>");
+    QVariantHash uavoHash;
 
-    description.append("<tr><td><b>").append(tr("Fields:")).append(" </b></td></tr>");
+    uavoHash["OBJECT_NAME_TITLE"] = tr("Name");
+    uavoHash["OBJECT_NAME"] = object->getName();
+    uavoHash["CATEGORY_TITLE"]    = tr("Category");
+    uavoHash["CATEGORY"]          = object->getCategory();
+    uavoHash["TYPE_TITLE"]        = tr("Type");
+    uavoHash["TYPE"] = object->isMetaDataObject() ? tr("Metadata") : object->isSettingsObject() ? tr("Setting") : tr("Data");
+    uavoHash["SIZE_TITLE"]        = tr("Size");
+    uavoHash["SIZE"] = object->getNumBytes();
+    uavoHash["DESCRIPTION_TITLE"] = tr("Description");
+    uavoHash["DESCRIPTION"]       = object->getDescription().replace("@ref", "");
+    uavoHash["MULTI_INSTANCE_TITLE"] = tr("Multi");
+    uavoHash["MULTI_INSTANCE"]    = object->isSingleInstance() ? tr("No") : tr("Yes");
+    uavoHash["FIELDS_NAME_TITLE"] = tr("Fields");
+    QVariantList fields;
+    foreach(UAVObjectField * field, object->getFields()) {
+        QVariantHash fieldHash;
 
-    int fields = 0;
-    foreach (UAVObjectField *field, object->getFields()) {
-        fields++;
-        QString bgColor = fields & 1 ? "bgcolor='#76A9F3'" : "bgcolor='#98BDF3'";
-
-        description.append("<tr>");
-        description.append("<td nowrap='nowrap' ").append(bgColor).append(">");
-
-        description.append("<b>").append(tr("Name:")).append(" </b>").append(field->getName());
-        description.append("</td><td").append(bgColor);
-
-        description.append("<b>").append(tr("Size:")).append(" </b>").append(tr("%1 bytes").arg(field->getNumBytes()));
-
-        description.append("</td>");
-
-        description.append("<td").append(bgColor);
-        description.append(tr("<b>Type:&nbsp;")).append("</b>").append(field->getTypeAsString());
-        int elements = field->getNumElements();
-        if (elements > 1) {
-            description.append("[").append(QString("%1").arg(field->getNumElements())).append("]");
+        fieldHash["FIELD_NAME_TITLE"] = tr("Name");
+        fieldHash["FIELD_NAME"] = field->getName();
+        fieldHash["FIELD_TYPE_TITLE"] = tr("Type");
+        fieldHash["FIELD_TYPE"] = QString("%1%2").arg(field->getTypeAsString(),
+                                                      (field->getNumElements() > 1 ? QString("[%1]").arg(field->getNumElements()) : QString()));
+        if (!field->getUnits().isEmpty()) {
+            fieldHash["FIELD_UNIT_TITLE"] = tr("Unit");
+            fieldHash["FIELD_UNIT"] = field->getUnits();
         }
+        if (!field->getOptions().isEmpty()) {
+            fieldHash["FIELD_OPTIONS_TITLE"] = tr("Options");
+            QVariantList options;
+            foreach(QString option, field->getOptions()) {
+                QVariantHash optionHash;
 
-        description.append("</td>");
-        description.append("<td").append(bgColor).append(">");
-        if (field->getUnits() != "") {
-            description.append("<b>").append(tr("Unit:&nbsp;")).append("</b>").append(field->getUnits());
-        }
-        description.append("</td>");
-
-        description.append("</tr>");
-
-        if (field->getDescription() != "") {
-            description.append("<tr><td").append(bgColor);
-            description.append("<b>").append(tr("Description:&nbsp;")).append("</b>").append(field->getDescription());
-            description.append("</td></tr>");
-        }
-
-        if (elements > 1) {
-            description.append("<tr><td").append(bgColor);
-            description.append("</td><td").append(bgColor);
-            description.append("<b>").append(tr("Elements:")).append(" </b>");
-            description.append("</td><td").append(bgColor);
-            QStringList names = field->getElementNames();
-            for (uint i = 0; i < field->getNumElements(); i++) {
-                description.append( i == 0 ? tr("<b>Name:&nbsp;</b>") : "&nbsp;|&nbsp;").append(names.at(i));
-                if (field->getMinLimit(i).toString() != "" && field->getMaxLimit(i).toString() != "") {
-                    description.append(QString("%1&nbsp;-&nbsp;%2").arg(field->getMinLimit(i).toString(), field->getMaxLimit(i).toString()));
+                optionHash["FIELD_OPTION"] = option;
+                if (!options.isEmpty()) {
+                    optionHash["FIELD_OPTION_DELIM"] = ", ";
                 }
+                options.append(optionHash);
             }
-            description.append("<td").append(bgColor);
-            description.append("</td></tr>");
-        } else {
-            if (field->getMinLimit(0).toString() != "" && field->getMaxLimit(0).toString() != "") {
-                description.append("<tr><td").append(bgColor);
-                description.append(tr("<b> Limits:&nbsp;</b>")).append(" </b>")
-                        .append(QString("%1&nbsp;-&nbsp;%2").arg(field->getMinLimit(0).toString(), field->getMaxLimit(0).toString()));
-                description.append("</td></tr>");
-            }
+            fieldHash["FIELD_OPTIONS"] = options;
+        }
+        if (field->getElementNames().count() > 1) {
+            fieldHash["FIELD_ELEMENTS_TITLE"] = tr("Elements");
+            QVariantList elements;
+            for (int i = 0; i < field->getElementNames().count(); i++) {
+                QString element = field->getElementNames().at(i);
+                QVariantHash elementHash;
+                elementHash["FIELD_ELEMENT"] = element;
+                QString limitsString = field->getLimitsAsString(i);
+                if (!limitsString.isEmpty()) {
+                    elementHash["FIELD_ELEMENT_LIMIT"] = limitsString.prepend(" (").append(")");
+                }
+                if (!elements.isEmpty()) {
+                    elementHash["FIELD_ELEMENT_DELIM"] = ", ";
+                }
+                elements.append(elementHash);
+            }
+            fieldHash["FIELD_ELEMENTS"] = elements;
+        } else if (!field->getLimitsAsString(0).isEmpty()) {
+            fieldHash["FIELD_LIMIT_TITLE"] = tr("Limits");
+            fieldHash["FIELD_LIMIT"] = field->getLimitsAsString(0);
         }
-    }
 
-    description.append("</tbody></table></body></html>");
-    return description;
+        if (!field->getDescription().isEmpty()) {
+            fieldHash["FIELD_DESCRIPTION_TITLE"] = tr("Description");
+            fieldHash["FIELD_DESCRIPTION"] = field->getDescription();
+        }
+
+        fields.append(fieldHash);
+    }
+    uavoHash["FIELDS"] = fields;
+    Mustache::QtVariantContext context(uavoHash);
+    Mustache::Renderer renderer;
+    return renderer.render(mustache, &context);
 }
 
 void UAVObjectBrowserWidget::enableSendRequest(bool enable)
@@ -364,6 +376,7 @@ void UAVObjectBrowserWidget::enableSendRequest(bool enable)
 void UAVObjectBrowserWidget::updateDescription()
 {
     ObjectTreeItem *objItem = findCurrentObjectTreeItem();
+
     if (objItem) {
         UAVObject *obj = objItem->object();
         if (obj) {
diff --git a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
index 8efdfab58..8843d0c29 100644
--- a/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
+++ b/ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.h
@@ -78,7 +78,7 @@ private slots:
     void viewSlot();
     void viewOptionsChangedSlot();
     void splitterMoved();
-    QString createObjectDescription(UAVObject* object);
+    QString createObjectDescription(UAVObject *object);
 signals:
     void viewOptionsChanged(bool categorized, bool scientific, bool metadata, bool description);
     void splitterChanged(QByteArray state);
@@ -94,11 +94,13 @@ private:
     QColor m_recentlyUpdatedColor;
     QColor m_manuallyChangedColor;
     bool m_onlyHilightChangedValues;
+    QString m_mustacheTemplate;
 
     void updateObjectPersistance(ObjectPersistence::OperationOptions op, UAVObject *obj);
     void enableSendRequest(bool enable);
     void updateDescription();
     ObjectTreeItem *findCurrentObjectTreeItem();
+    QString loadFileIntoString(QString fileName);
 };
 
 #endif /* UAVOBJECTBROWSERWIDGET_H_ */
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
index 9b22bb083..14309f8e6 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
@@ -459,11 +459,65 @@ bool UAVObjectField::isWithinLimits(QVariant var, quint32 index, int board)
             default:
                 return true;
             }
+        default:
+            return true;
         }
     }
     return true;
 }
 
+QString UAVObjectField::getLimitsAsString(quint32 index, int board)
+{
+    QString limitString;
+
+    if (elementLimits.keys().contains(index)) {
+        foreach(LimitStruct struc, elementLimits.value(index)) {
+            if ((struc.board != board) && board != 0 && struc.board != 0) {
+                continue;
+            }
+            switch (struc.type) {
+            case EQUAL:
+            {
+                limitString.append(tr("one of")).append(" [");
+                bool first = true;
+                foreach(QVariant var, struc.values) {
+                    if (!first) {
+                        limitString.append(", ");
+                    }
+                    limitString.append(var.toString());
+                    first = false;
+                }
+                return limitString.append("]");
+            }
+            case NOT_EQUAL:
+            {
+                limitString.append(tr("none of")).append(" [");
+                bool first = true;
+                foreach(QVariant var, struc.values) {
+                    if (!first) {
+                        limitString.append(", ");
+                    }
+                    limitString.append(var.toString());
+                    first = false;
+                }
+                return limitString.append("]");
+            }
+            case BIGGER: return limitString.append(QString("%1 %2").arg(tr("more than"), struc.values.at(0).toString()));
+
+            case BETWEEN: return limitString.append(QString("%1 %2 %3 %4")
+                                                    .arg(tr("between"), struc.values.at(0).toString(),
+                                                         tr(" and "), struc.values.at(1).toString()));
+
+            case SMALLER: return limitString.append(QString("%1 %2").arg(tr("less than"), struc.values.at(0).toString()));
+
+            default:
+                break;
+            }
+        }
+    }
+    return limitString;
+}
+
 QVariant UAVObjectField::getMaxLimit(quint32 index, int board)
 {
     if (!elementLimits.keys().contains(index)) {
@@ -479,20 +533,14 @@ QVariant UAVObjectField::getMaxLimit(quint32 index, int board)
         case BIGGER:
             return QVariant();
 
-            break;
-            break;
         case BETWEEN:
             return struc.values.at(1);
 
-            break;
         case SMALLER:
             return struc.values.at(0);
 
-            break;
         default:
             return QVariant();
-
-            break;
         }
     }
     return QVariant();
@@ -512,20 +560,14 @@ QVariant UAVObjectField::getMinLimit(quint32 index, int board)
         case SMALLER:
             return QVariant();
 
-            break;
-            break;
         case BETWEEN:
             return struc.values.at(0);
 
-            break;
         case BIGGER:
             return struc.values.at(0);
 
-            break;
         default:
             return QVariant();
-
-            break;
         }
     }
     return QVariant();
diff --git a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
index 4c1945bb2..6794c7308 100644
--- a/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
+++ b/ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h
@@ -45,7 +45,7 @@ class UAVOBJECTS_EXPORT UAVObjectField : public QObject {
 
 public:
     typedef enum { INT8 = 0, INT16, INT32, UINT8, UINT16, UINT32, FLOAT32, ENUM, BITFIELD, STRING } FieldType;
-    typedef enum { EQUAL, NOT_EQUAL, BETWEEN, BIGGER, SMALLER } LimitType;
+    typedef enum { EQUAL, NOT_EQUAL, BETWEEN, BIGGER, SMALLER, UNDEFINED } LimitType;
     typedef struct {
         LimitType type;
         QList<QVariant> values;
@@ -85,6 +85,7 @@ public:
     void fromJson(const QJsonObject &jsonObject);
 
     bool isWithinLimits(QVariant var, quint32 index, int board = 0);
+    QString getLimitsAsString(quint32 index, int board = 0);
     QVariant getMaxLimit(quint32 index, int board = 0);
     QVariant getMinLimit(quint32 index, int board = 0);
 signals:

From 3ac287468712f0e0d2d8b008173500e536bda14d Mon Sep 17 00:00:00 2001
From: Alessio Morale <alessiomorale@gmail.com>
Date: Wed, 15 Oct 2014 00:58:34 +0200
Subject: [PATCH 25/30] OP-1540 - sha1sum was not sent correctly by GPS V9

---
 flight/modules/gpsp/gpsdsysmod.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/flight/modules/gpsp/gpsdsysmod.c b/flight/modules/gpsp/gpsdsysmod.c
index 41987db43..92cf4be50 100644
--- a/flight/modules/gpsp/gpsdsysmod.c
+++ b/flight/modules/gpsp/gpsdsysmod.c
@@ -216,7 +216,7 @@ static void readFirmwareInfo()
     struct fw_version_info *fwinfo = (struct fw_version_info *)(bdinfo->fw_base + bdinfo->fw_size);
 
     memcpy(&sysPkt.fragments.data.commit_tag_name, &fwinfo->commit_tag_name, sizeof(sysPkt.fragments.data.commit_tag_name));
-    memcpy(&sysPkt.fragments.data.sha1sum, &fwinfo->commit_tag_name, sizeof(sysPkt.fragments.data.sha1sum));
+    memcpy(&sysPkt.fragments.data.sha1sum, &fwinfo->sha1sum, sizeof(sysPkt.fragments.data.sha1sum));
 }
 
 /**

From b69e222456ad8621827f904e801d9501f1fb1174 Mon Sep 17 00:00:00 2001
From: Karl Knutsson <karl.fb.knutsson@gmail.com>
Date: Wed, 15 Oct 2014 19:52:29 +0200
Subject: [PATCH 26/30] Revert "OP-1532 fix non-ppm mode"

This reverts commit 9fd4fb26b9dde4d9e29c4be19bcee98de695af04.
---
 flight/pios/common/pios_rfm22b.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/pios/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c
index 2783e09da..0269cedb2 100644
--- a/flight/pios/common/pios_rfm22b.c
+++ b/flight/pios/common/pios_rfm22b.c
@@ -1803,8 +1803,8 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
         len += (radio_dev->tx_out_cb)(radio_dev->tx_out_context, p + len, max_data_len - len, NULL, &need_yield);
     }
 
-    // Always send a packet if this modem is a coordinator.
-    if ((len == 0) && !rfm22_isCoordinator(radio_dev)) {
+    // Always send a packet on the sync channel if this modem is a coordinator.
+    if ((len == 0) && ((radio_dev->channel_index != 0) || !rfm22_isCoordinator(radio_dev))) {
         return RADIO_EVENT_RX_MODE;
     }
 

From 5ef8d3803d27819d5776a3d38b5f3d2215707cba Mon Sep 17 00:00:00 2001
From: Karl Knutsson <karl.fb.knutsson@gmail.com>
Date: Wed, 15 Oct 2014 19:52:52 +0200
Subject: [PATCH 27/30] Revert "OP-1530 Use rfm22b_dev->num_channels"

This reverts commit 4e365f6dffc2c0776e0d7efdf9e697d1a21c4047.
---
 flight/pios/common/pios_rfm22b.c | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

diff --git a/flight/pios/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c
index 0269cedb2..20b487925 100644
--- a/flight/pios/common/pios_rfm22b.c
+++ b/flight/pios/common/pios_rfm22b.c
@@ -2169,7 +2169,8 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType start_time = rfm22b_dev->packet_start_ticks;
 
     // This packet was transmitted on channel 0, calculate the time delta that will force us to transmit on channel 0 at the time this packet started.
-    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * rfm22b_dev->num_channels;
+    uint8_t num_chan    = num_channels[rfm22b_dev->datarate];
+    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * num_chan;
     uint16_t time_delta = start_time % frequency_hop_cycle_time;
 
     // Calculate the adjustment for the preamble
@@ -2231,7 +2232,8 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
 static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index)
 {
     // Make sure we don't index outside of the range.
-    uint8_t idx = index % rfm22b_dev->num_channels;
+    uint8_t num_chan = num_channels[rfm22b_dev->datarate];
+    uint8_t idx = index % num_chan;
 
     // Are we switching to a new channel?
     if (idx != rfm22b_dev->channel_index) {
@@ -2269,7 +2271,8 @@ static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
     // Divide time into 8ms blocks.  Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
     // Channel changes occur in the last 2 ms.
-    uint8_t n = (time / rfm22b_dev->packet_time) % rfm22b_dev->num_channels;
+    uint8_t num_chan  = num_channels[rfm22b_dev->datarate];
+    uint8_t n = (time / rfm22b_dev->packet_time) % num_chan;
 
     return rfm22_calcChannel(rfm22b_dev, n);
 }

From 5ab924c07e9538c4b70c614fb76008f80e5e786c Mon Sep 17 00:00:00 2001
From: Karl Knutsson <karl.fb.knutsson@gmail.com>
Date: Wed, 15 Oct 2014 19:53:05 +0200
Subject: [PATCH 28/30] Revert "OP-1522 Robustness of OPLink radio"

This reverts commit 00d9c668677cc0d6ae453651d27f30a445e0a1f8.
---
 flight/pios/common/pios_rfm22b.c   | 33 ++++++++++++------------------
 flight/pios/inc/pios_rfm22b_priv.h |  2 +-
 2 files changed, 14 insertions(+), 21 deletions(-)

diff --git a/flight/pios/common/pios_rfm22b.c b/flight/pios/common/pios_rfm22b.c
index 20b487925..eb2f2bb8b 100644
--- a/flight/pios/common/pios_rfm22b.c
+++ b/flight/pios/common/pios_rfm22b.c
@@ -116,8 +116,6 @@
 #define USB_LED_OFF
 #endif
 
-#define CONNECTED_LIVE                   8
-
 /* Local type definitions */
 
 struct pios_rfm22b_transition {
@@ -360,7 +358,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
 
 static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
 static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
-static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
+static const uint8_t num_channels[] = { 4, 4, 4, 6, 8, 8, 10, 12, 16 };
 
 static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
 
@@ -608,8 +606,6 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
         }
     }
 
-    rfm22b_dev->num_channels = num_found;
-
     // Calculate the maximum packet length from the datarate.
     float bytes_per_period = (float)data_rate[datarate] * (float)(rfm22b_dev->packet_time - 2) / 9000;
 
@@ -1359,7 +1355,7 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
     rfm22b_dev->packet_start_ticks = 0;
     rfm22b_dev->tx_complete_ticks  = 0;
     rfm22b_dev->rfm22b_state       = RFM22B_STATE_INITIALIZING;
-    rfm22b_dev->connected_timeout  = 0;
+    rfm22b_dev->on_sync_channel    = false;
 
     // software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
     rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@@ -1964,16 +1960,12 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
             (radio_dev->rx_in_cb)(radio_dev->rx_in_context, p, data_len, NULL, &rx_need_yield);
         }
 
-        /*
-         * If the packet is valid and destined for us we synchronize the clock.
-         */
-        if (!rfm22_isCoordinator(radio_dev) &&
-                radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) {
+        // We only synchronize the clock on packets from our coordinator on the sync channel.
+        if (!rfm22_isCoordinator(radio_dev) && (radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) && (radio_dev->channel_index == 0)) {
             rfm22_synchronizeClock(radio_dev);
             radio_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
+            radio_dev->on_sync_channel  = false;
         }
-
-        radio_dev->connected_timeout = CONNECTED_LIVE;
     } else {
         ret_event = RADIO_EVENT_RX_COMPLETE;
     }
@@ -2176,8 +2168,7 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
     // Calculate the adjustment for the preamble
     uint8_t offset = (uint8_t)ceil(35000.0F / data_rate[rfm22b_dev->datarate]);
 
-    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset +
-        rfm22b_dev->packet_time * rfm22b_dev->channel_index;
+    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset;
 }
 
 /**
@@ -2237,7 +2228,9 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
 
     // Are we switching to a new channel?
     if (idx != rfm22b_dev->channel_index) {
-        if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->connected_timeout == 0) {
+        // If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
+        if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
+            rfm22b_dev->on_sync_channel = false;
 
             // Set the link state to disconnected.
             if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
@@ -2248,14 +2241,14 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
                 }
             }
 
-            // Stay on first channel.
+            // Stay on the sync channel.
             idx = 0;
+        } else if (idx == 0) {
+            // If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
+            rfm22b_dev->on_sync_channel = true;
         }
 
         rfm22b_dev->channel_index = idx;
-        if (rfm22b_dev->connected_timeout > 0)
-            rfm22b_dev->connected_timeout--;
-
     }
 
     return rfm22b_dev->channels[idx];
diff --git a/flight/pios/inc/pios_rfm22b_priv.h b/flight/pios/inc/pios_rfm22b_priv.h
index 7efdd449e..bacc2dcda 100644
--- a/flight/pios/inc/pios_rfm22b_priv.h
+++ b/flight/pios/inc/pios_rfm22b_priv.h
@@ -780,7 +780,7 @@ struct pios_rfm22b_dev {
     portTickType packet_start_ticks;
     portTickType tx_complete_ticks;
     portTickType time_delta;
-    uint8_t      connected_timeout;
+    bool         on_sync_channel;
 };
 
 

From bf6b376b50b8aa8cc161efeb8a5527274b8b2dbf Mon Sep 17 00:00:00 2001
From: Fredrik Arvidsson <fredrik@arvidssons.org>
Date: Fri, 17 Oct 2014 01:13:25 +0200
Subject: [PATCH 29/30] OP-1504 Fxed a small issue with tab index.

---
 .../openpilotgcs/src/plugins/config/stabilization.ui   | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 889f9f65f..02a6f5aad 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -95,7 +95,7 @@
       <enum>QTabWidget::Rounded</enum>
      </property>
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <property name="documentMode">
       <bool>false</bool>
@@ -18055,8 +18055,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>973</width>
-            <height>703</height>
+            <width>797</width>
+            <height>598</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0">
@@ -23998,8 +23998,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>973</width>
-            <height>703</height>
+            <width>517</width>
+            <height>520</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">

From 97432893dc7ef7286e3af09cbadd71d39621e77f Mon Sep 17 00:00:00 2001
From: Fredrik Larsson <hayvosh@openpilot.org>
Date: Fri, 17 Oct 2014 23:15:13 +1100
Subject: [PATCH 30/30] Tooltip typoes

---
 .../src/plugins/config/stabilization.ui       | 28 +++++++++----------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/ground/openpilotgcs/src/plugins/config/stabilization.ui b/ground/openpilotgcs/src/plugins/config/stabilization.ui
index 4eca89f96..0d6ab931b 100644
--- a/ground/openpilotgcs/src/plugins/config/stabilization.ui
+++ b/ground/openpilotgcs/src/plugins/config/stabilization.ui
@@ -136,8 +136,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>952</width>
-            <height>771</height>
+            <width>950</width>
+            <height>780</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_3">
@@ -3435,7 +3435,7 @@ border-radius: 5;</string>
                        <enum>Qt::WheelFocus</enum>
                       </property>
                       <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is double the  Proportional value&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -5339,7 +5339,7 @@ border-radius: 5;</string>
                        </size>
                       </property>
                       <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is double the Proportional value&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -5455,7 +5455,7 @@ Then lower the value by 5 or so.</string>
                        </size>
                       </property>
                       <property name="toolTip">
-                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                       <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-family:'Lucida Grande,arial,sans-serif'; font-size:12px; color:#333333; background-color:#ffffff;&quot;&gt;This adjusts how much yaw stability your vehicle will have in Rate mode. A good starting point for Integral is double the Proportional value&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                       </property>
                       <property name="maximum">
                        <number>100</number>
@@ -8244,8 +8244,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>952</width>
-            <height>771</height>
+            <width>950</width>
+            <height>780</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_29">
@@ -13371,7 +13371,7 @@ border-radius: 5;</string>
                          <enum>Qt::StrongFocus</enum>
                         </property>
                         <property name="toolTip">
-                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is double the Proportional value&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                         </property>
                         <property name="styleSheet">
                          <string notr="true"/>
@@ -13971,7 +13971,7 @@ border-radius: 5;</string>
                          <enum>Qt::StrongFocus</enum>
                         </property>
                         <property name="toolTip">
-                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;&lt;span style=&quot; font-family:'Lucida Grande,arial,sans-serif'; font-size:12px; color:#333333; background-color:#ffffff;&quot;&gt;This adjusts how much yaw stability your vehicle will have in Rate mode. A good starting point for Integral is double the Proportional value&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                         </property>
                         <property name="styleSheet">
                          <string notr="true"/>
@@ -14621,7 +14621,7 @@ border-radius: 5;</string>
                          <enum>Qt::StrongFocus</enum>
                         </property>
                         <property name="toolTip">
-                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is the same as Proportional.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                         <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;This adjusts how much stability your vehicle will have when flying tilted (ie forward flight) in Rate mode. A good starting point for Integral is double the Proportional value&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
                         </property>
                         <property name="styleSheet">
                          <string notr="true"/>
@@ -18236,8 +18236,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>952</width>
-            <height>771</height>
+            <width>950</width>
+            <height>780</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_8" stretch="0,0,0,0,0,0">
@@ -24082,8 +24082,8 @@ font:bold;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>952</width>
-            <height>771</height>
+            <width>950</width>
+            <height>780</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">