Merge branch 'next' into amorale/OP-911_mpu6000_fix_isr

flight/Libraries/alarms.c

@@ -28,7 +28,7 @@
  */
 
 #include "openpilot.h"
-#include "alarms.h"
+#include "inc/alarms.h"
 
 // Private constants
 
@@ -46,12 +46,12 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
 int32_t AlarmsInitialize(void)
 {
     SystemAlarmsInitialize();
-    
+
-	lock = xSemaphoreCreateRecursiveMutex();
+    lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
+    //do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
+    //AlarmsClearAll();
-	//AlarmsDefaultAll();
+    //AlarmsDefaultAll();
-	return 0;
+    return 0;
 }
 
 /**
@@ -62,23 +62,21 @@ int32_t AlarmsInitialize(void)
  */
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
 {
-	SystemAlarmsData alarms;
+    SystemAlarmsData alarms;
 
-	// Check that this is a valid alarm
+    // Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+    if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
-	{
+        return -1;
-		return -1;
+    }
-	}
 
-	// Lock
+    // Lock
     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 
     // Read alarm and update its severity only if it was changed
     SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
+    if (alarms.Alarm[alarm] != severity) {
-    {
+        alarms.Alarm[alarm] = severity;
-    	alarms.Alarm[alarm] = severity;
+        SystemAlarmsSet(&alarms);
-    	SystemAlarmsSet(&alarms);
     }
 
     // Release lock
@@ -87,6 +85,43 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
 
 }
 
+/**
+ * Set an Extended Alarm
+ * @param alarm The system alarm to be modified
+ * @param severity The alarm severity
+ * @param status The Extended alarm status field
+ * @param subStatus The Extended alarm substatus field
+ * @return 0 if success, -1 if an error
+ */
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
+			  SystemAlarmsAlarmOptions severity,
+			  SystemAlarmsExtendedAlarmStatusOptions status,
+			  uint8_t subStatus)
+{
+    SystemAlarmsData alarms;
+
+    // Check that this is a valid alarm
+    if (alarm >= SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
+        return -1;
+    }
+
+    // Lock
+    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
+
+    // Read alarm and update its severity only if it was changed
+    SystemAlarmsGet(&alarms);
+    if (alarms.Alarm[alarm] != severity) {
+        alarms.ExtendedAlarmStatus[alarm] = status;
+        alarms.ExtendedAlarmSubStatus[alarm] = subStatus;
+        alarms.Alarm[alarm] = severity;
+        SystemAlarmsSet(&alarms);
+    }
+
+    // Release lock
+    xSemaphoreGiveRecursive(lock);
+    return 0;
+}
+
 /**
  * Get an alarm
  * @param alarm The system alarm to be read
@@ -94,13 +129,12 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
  */
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
 {
-	SystemAlarmsData alarms;
+    SystemAlarmsData alarms;
 
-	// Check that this is a valid alarm
+    // Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
+    if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
-	{
+        return 0;
-		return 0;
+    }
-	}
 
     // Read alarm
     SystemAlarmsGet(&alarms);
@@ -114,7 +148,7 @@ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
  */
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
 {
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
+    return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
 }
 
 /**
@@ -122,10 +156,8 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsDefaultAll()
 {
-	uint32_t n;
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+        AlarmsDefault(n);
-    {
-    	AlarmsDefault(n);
     }
 }
 
@@ -136,7 +168,11 @@ void AlarmsDefaultAll()
  */
 int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
 {
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    if (alarm < SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM) {
+        return ExtendedAlarmsSet(alarm, SYSTEMALARMS_ALARM_OK, SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE, 0);
+    } else {
+        return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
+    }
 }
 
 /**
@@ -144,10 +180,8 @@ int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
  */
 void AlarmsClearAll()
 {
-	uint32_t n;
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+        AlarmsClear(n);
-    {
-    	AlarmsClear(n);
     }
 }
 
@@ -157,7 +191,7 @@ void AlarmsClearAll()
  */
 int32_t AlarmsHasWarnings()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
+    return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
 }
 
 /**
@@ -166,8 +200,9 @@ int32_t AlarmsHasWarnings()
  */
 int32_t AlarmsHasErrors()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
+    return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
+}
+
 
 /**
  * Check if there are any alarms with critical or higher severity
@@ -175,8 +210,9 @@ int32_t AlarmsHasErrors()
  */
 int32_t AlarmsHasCritical()
 {
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
+    return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
+}
+
 
 /**
  * Check if there are any alarms with the given or higher severity
@@ -184,31 +220,28 @@ int32_t AlarmsHasCritical()
  */
 static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
 {
-	SystemAlarmsData alarms;
+    SystemAlarmsData alarms;
-	uint32_t n;
 
-	// Lock
+    // Lock
     xSemaphoreTakeRecursive(lock, portMAX_DELAY);
 
     // Read alarms
     SystemAlarmsGet(&alarms);
 
     // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
+    for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
-    {
+        if (alarms.Alarm[n] >= severity) {
-    	if ( alarms.Alarm[n] >= severity)
+            xSemaphoreGiveRecursive(lock);
-    	{
+            return 1;
-    		xSemaphoreGiveRecursive(lock);
+        }
-    		return 1;
-    	}
     }
 
     // If this point is reached then no alarms found
     xSemaphoreGiveRecursive(lock);
     return 0;
 }
+
 /**
  * @}
  * @}
  */
-

flight/Libraries/inc/alarms.h

@@ -33,6 +33,10 @@
 
 int32_t AlarmsInitialize(void);
 int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
+int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
+			  SystemAlarmsAlarmOptions severity,
+			  SystemAlarmsExtendedAlarmStatusOptions status,
+			  uint8_t subStatus);
 SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
 int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
 void AlarmsDefaultAll();

flight/Libraries/inc/sanitycheck.h

@@ -26,9 +26,22 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+#include <systemalarms.h>
+
 #ifndef SANITYCHECK_H
 #define SANITYCHECK_H
 
+#define SANITYCHECK_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
+#define SANITYCHECK_STATUS_ERROR_FLIGHTMODE SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE
+
+#define BOOTFAULT_STATUS_ERROR_NONE SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE
+#define BOOTFAULT_STATUS_ERROR_REQUIRE_REBOOT SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED
+
+#if (SYSTEMALARMS_EXTENDEDALARMSTATUS_NUMELEM != SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM) || \
+    (SYSTEMALARMS_EXTENDEDALARMSUBSTATUS_NUMELEM > SYSTEMALARMS_ALARM_NUMELEM)
+#error Incongruent SystemAlarms. Please revise the UAVO definition in systemalarms.xml
+#endif
+
 extern int32_t configuration_check();
 
-#endif /* SANITYCHECK_H */
+#endif /* SANITYCHECK_H */

flight/Libraries/sanitycheck.c

@@ -26,13 +26,16 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
-#include "taskmonitor.h"
 #include <pios_board_info.h>
-#include "sanitycheck.h"
+
-#include "manualcontrolsettings.h"
+// Private includes
-#include "systemalarms.h"
+#include "inc/taskmonitor.h"
-#include "systemsettings.h"
+#include "inc/sanitycheck.h"
+
+// UAVOs
+#include <manualcontrolsettings.h>
+#include <systemsettings.h>
 
 /****************************
  * Current checks:
@@ -49,98 +52,101 @@ static int32_t check_stabilization_settings(int index, bool multirotor);
  */
 int32_t configuration_check()
 {
-	int32_t status = SYSTEMALARMS_ALARM_OK;
+    int32_t severity = SYSTEMALARMS_ALARM_OK;
+    SystemAlarmsExtendedAlarmStatusOptions alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
+    uint8_t alarmsubstatus = 0;
+    // Get board type
+    const struct pios_board_info * bdinfo = &pios_board_info_blob;
+    bool coptercontrol = bdinfo->board_type == 0x04;
 
-	// Get board type
+    // Classify airframe type
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;	
+    bool multirotor = true;
-	bool coptercontrol = bdinfo->board_type == 0x04;
+    uint8_t airframe_type;
+    SystemSettingsAirframeTypeGet(&airframe_type);
+    switch(airframe_type) {
+        case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
+        case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
+            multirotor = true;
+            break;
+        default:
+            multirotor = false;
+    }
 
-	// Classify airframe type
+    // For each available flight mode position sanity check the available
-	bool multirotor = true;
+    // modes
-	uint8_t airframe_type;
+    uint8_t num_modes;
-	SystemSettingsAirframeTypeGet(&airframe_type);
+    uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
-	switch(airframe_type) {
+    ManualControlSettingsFlightModeNumberGet(&num_modes);
-		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADX:
+    ManualControlSettingsFlightModePositionGet(modes);
-		case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX:
-		case SYSTEMSETTINGS_AIRFRAMETYPE_TRI:
-			multirotor = true;
-			break;
-		default:
-			multirotor = false;
-	}
 
-	// For each available flight mode position sanity check the available
+    for(uint32_t i = 0; i < num_modes; i++) {
-	// modes
+        switch(modes[i]) {
-	uint8_t num_modes;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
-	uint8_t modes[MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM];
+                if (multirotor) {
-	ManualControlSettingsFlightModeNumberGet(&num_modes);
+                    severity = SYSTEMALARMS_ALARM_ERROR;
-	ManualControlSettingsFlightModePositionGet(modes);
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
+                severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
+                if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE)) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
+                if (coptercontrol) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
+                if (coptercontrol) {
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
+                if (coptercontrol){
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                } else if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
+                    severity = SYSTEMALARMS_ALARM_ERROR;
+                }
+                break;
+            default:
+                // Uncovered modes are automatically an error
+                severity = SYSTEMALARMS_ALARM_ERROR;
+        }
+        // mark the first encountered erroneous setting in status and substatus
+        if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) {
+            alarmstatus = SYSTEMALARMS_EXTENDEDALARMSTATUS_FLIGHTMODE;
+            alarmsubstatus = i;
+        }
 
-	for(uint32_t i = 0; i < num_modes; i++) {
+    }
-		switch(modes[i]) {
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL:
-				if (multirotor)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : status;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : status;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
-				status = (status == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : status;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_AUTOTUNE))
-					status = SYSTEMALARMS_ALARM_ERROR;
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-				if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_ALTITUDEHOLD))
-						status = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
-				if (coptercontrol)
-					status = SYSTEMALARMS_ALARM_ERROR;
-				else {
-					// Revo supports altitude hold
-					if (!TaskMonitorQueryRunning(TASKINFO_RUNNING_PATHFOLLOWER))
-						status = SYSTEMALARMS_ALARM_ERROR;
-				}
-				break;
-			default:
-				// Uncovered modes are automatically an error
-				status = SYSTEMALARMS_ALARM_ERROR;
-		}
-	}
 
-	// TODO: Check on a multirotor no axis supports "None"
+    // TODO: Check on a multirotor no axis supports "None"
-	if(status != SYSTEMALARMS_ALARM_OK)
+    if(severity != SYSTEMALARMS_ALARM_OK)
-		AlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, status);
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION, severity, alarmstatus, alarmsubstatus);
-	else
+    else
-		AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
+        AlarmsClear(SYSTEMALARMS_ALARM_SYSTEMCONFIGURATION);
 
-	return 0;
+    return 0;
 }
 
 /**
@@ -151,39 +157,39 @@ int32_t configuration_check()
  */
 static int32_t check_stabilization_settings(int index, bool multirotor)
 {
-	// Make sure the modes have identical sizes
+    // Make sure the modes have identical sizes
-	if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
+    if (MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
-		MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
+            MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM != MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NUMELEM)
-		return SYSTEMALARMS_ALARM_ERROR;
+        return SYSTEMALARMS_ALARM_ERROR;
 
-	uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
+    uint8_t modes[MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NUMELEM];
 
-	// Get the different axis modes for this switch position
+    // Get the different axis modes for this switch position
-	switch(index) {
+    switch(index) {
-		case 1:
+        case 1:
-			ManualControlSettingsStabilization1SettingsGet(modes);
+            ManualControlSettingsStabilization1SettingsGet(modes);
-			break;
+            break;
-		case 2:
+        case 2:
-			ManualControlSettingsStabilization2SettingsGet(modes);
+            ManualControlSettingsStabilization2SettingsGet(modes);
-			break;
+            break;
-		case 3:
+        case 3:
-			ManualControlSettingsStabilization3SettingsGet(modes);
+            ManualControlSettingsStabilization3SettingsGet(modes);
-			break;
+            break;
-		default:
+        default:
-			return SYSTEMALARMS_ALARM_ERROR;
+            return SYSTEMALARMS_ALARM_ERROR;
-	}
+    }
 
-	// For multirotors verify that nothing is set to "none"
+    // For multirotors verify that nothing is set to "none"
-	if (multirotor) {
+    if (multirotor) {
-		for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
+        for(uint32_t i = 0; i < NELEMENTS(modes); i++) {
-			if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
+            if (modes[i] == MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE)
-				return SYSTEMALARMS_ALARM_ERROR;
+                return SYSTEMALARMS_ALARM_ERROR;
-		}
+        }
-	}
+    }
 
-	// Warning: This assumes that certain conditions in the XML file are met.  That 
+    // Warning: This assumes that certain conditions in the XML file are met.  That
-	// MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
+    // MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
-	// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
+    // and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE
 
-	return SYSTEMALARMS_ALARM_OK;
+    return SYSTEMALARMS_ALARM_OK;
 }

flight/Modules/Attitude/attitude.c

@@ -218,14 +218,14 @@ static void AttitudeTask(void *parameters)
 			// For first 7 seconds use accels to get gyro bias
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
-			yawBiasRate = 0.23;
+			yawBiasRate = 0.01;
 			accel_filter_enabled = false;
 			init = 0;
 		} else if (init == 0) {

flight/Modules/System/systemmod.c

@@ -38,17 +38,25 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#include "openpilot.h"
+#include <openpilot.h>
-#include "systemmod.h"
+
-#include "objectpersistence.h"
+// private includes
-#include "flightstatus.h"
+#include "inc/systemmod.h"
-#include "systemstats.h"
+
-#include "systemsettings.h"
+// UAVOs
-#include "i2cstats.h"
+#include <objectpersistence.h>
-#include "taskinfo.h"
+#include <flightstatus.h>
-#include "watchdogstatus.h"
+#include <systemstats.h>
-#include "taskmonitor.h"
+#include <systemsettings.h>
-#include "hwsettings.h"
+#include <i2cstats.h>
+#include <taskinfo.h>
+#include <watchdogstatus.h>
+#include <taskmonitor.h>
+#include <hwsettings.h>
+
+// Flight Libraries
+#include <sanitycheck.h>
+
 
 //#define DEBUG_THIS_FILE
 
@@ -64,8 +72,8 @@
 
 #ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
 #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998	// calibrated by running tests/test_cpuload.c
-											  // must be updated if the FreeRTOS or compiler
+						// must be updated if the FreeRTOS or compiler
-											  // optimisation options are changed.
+						// optimisation options are changed.
 #endif
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
@@ -85,6 +93,7 @@ static xTaskHandle systemTaskHandle;
 static xQueueHandle objectPersistenceQueue;
 static bool stackOverflow;
 static bool mallocFailed;
+static HwSettingsData bootHwSettings;
 
 // Private functions
 static void objectUpdatedCb(UAVObjEvent * ev);
@@ -171,6 +180,8 @@ static void systemTask(void *parameters)
 	// Listen for SettingPersistance object updates, connect a callback function
 	ObjectPersistenceConnectQueue(objectPersistenceQueue);
 
+	// Load a copy of HwSetting active at boot time
+	HwSettingsGet(&bootHwSettings);
 	// Whenever the configuration changes, make sure it is safe to fly
 	HwSettingsConnectCallback(hwSettingsUpdatedCb);
 
@@ -303,9 +314,10 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 				retval = UAVObjDeleteMetaobjects();
 			}
 		} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
-			retval = -1;
 #if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
 			retval = PIOS_FLASHFS_Format(0);
+#else
+			retval = -1;
 #endif
 		}
 		switch(retval) {
@@ -328,7 +340,12 @@ static void objectUpdatedCb(UAVObjEvent * ev)
  */
 static void hwSettingsUpdatedCb(UAVObjEvent * ev)
 {
-	AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT,SYSTEMALARMS_ALARM_ERROR);
+    HwSettingsData currentHwSettings;
+    HwSettingsGet(&currentHwSettings);
+    // check whether the Hw Configuration has changed from the one used at boot time
+    if (memcmp(&bootHwSettings, &currentHwSettings, sizeof(HwSettingsData)) != 0) {
+        ExtendedAlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_ERROR, SYSTEMALARMS_EXTENDEDALARMSTATUS_REBOOTREQUIRED, 0);
+    }
 }
 
 /**

flight/PiOS/Common/Libraries/CMSIS2/library.mk

@@ -11,7 +11,7 @@ ifeq ($(USE_DSP_LIB), YES)
     CMSIS_DSPLIB	:= $(CMSIS2_DIR)DSP_Lib/Source
 
     # Compile all files into output directory
-    DSPLIB_SRC		:= $(wildcard $(CMSIS_DSPLIB)/*/*.c)
+    DSPLIB_SRC		:= $(sort $(wildcard $(CMSIS_DSPLIB)/*/*.c))
     DSPLIB_SRCBASE	:= $(notdir $(basename $(DSPLIB_SRC)))
     $(foreach src, $(DSPLIB_SRC), $(eval $(call COMPILE_C_TEMPLATE, $(src))))
 

flight/PiOS/Common/Libraries/FreeRTOS/library.mk

@@ -6,5 +6,5 @@
 #
 
 FREERTOS_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))/Source
-SRC		+= $(wildcard $(FREERTOS_DIR)/*.c)
+SRC		+= $(sort $(wildcard $(FREERTOS_DIR)/*.c))
 EXTRAINCDIRS	+= $(FREERTOS_DIR)/include

flight/PiOS/Common/Libraries/dosfs/library.mk

@@ -3,5 +3,5 @@
 #
 
 DOSFS_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))
-SRC		+= $(wildcard $(DOSFS_DIR)*.c)
+SRC		+= $(sort $(wildcard $(DOSFS_DIR)*.c))
 EXTRAINCDIRS	+= $(DOSFS_DIR)

flight/PiOS/Common/Libraries/msheap/library.mk

@@ -3,5 +3,5 @@
 #
 
 MSHEAP_DIR	:= $(dir $(lastword $(MAKEFILE_LIST)))
-SRC		+= $(wildcard $(MSHEAP_DIR)*.c)
+SRC		+= $(sort $(wildcard $(MSHEAP_DIR)*.c))
 EXTRAINCDIRS	+= $(MSHEAP_DIR)

flight/PiOS/Common/pios_gcsrcvr.c

@@ -122,6 +122,11 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
 	if (!gcsrcvr_dev)
 		return -1;
 
+	for (uint8_t i = 0; i < GCSRECEIVER_CHANNEL_NUMELEM; i++) {
+		/* Flush channels */
+		gcsreceiverdata.Channel[i] = PIOS_RCVR_TIMEOUT;
+	}
+
 	/* Register uavobj callback */
 	GCSReceiverConnectCallback (gcsreceiver_updated);
 
@@ -133,11 +138,18 @@ extern int32_t PIOS_GCSRCVR_Init(uint32_t *gcsrcvr_id)
 	return 0;
 }
 
+/**
+ * Get the value of an input channel
+ * \param[in] channel Number of the channel desired (zero based)
+ * \output PIOS_RCVR_INVALID channel not available
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
+ * \output >=0 channel value
+ */
 static int32_t PIOS_GCSRCVR_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	if (channel >= GCSRECEIVER_CHANNEL_NUMELEM) {
 		/* channel is out of range */
-		return -1;
+		return PIOS_RCVR_INVALID;
 	}
 
 	return (gcsreceiverdata.Channel[channel]);

flight/PiOS/Common/pios_sbus.c

@@ -166,7 +166,7 @@ out_fail:
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_SBus_Get(uint32_t rcvr_id, uint8_t channel)
 {

flight/PiOS/STM32F10x/library.mk

@@ -18,7 +18,7 @@ ARCHFLAGS		+= -mcpu=cortex-m3 --specs=nano.specs
 ASRC			+= $(PIOS_DEVLIB)startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # PIOS device library source and includes
-SRC			+= $(wildcard $(PIOS_DEVLIB)*.c)
+SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 
 # CMSIS for the F1
 include $(PIOS)/Common/Libraries/CMSIS2/library.mk
@@ -29,12 +29,12 @@ EXTRAINCDIRS		+= $(CMSIS_DIR)
 
 # ST Peripheral library
 PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F10x_StdPeriph_Driver
-SRC			+= $(wildcard $(PERIPHLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB Device library
 USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB-FS-Device_Driver
-SRC			+= $(wildcard $(USBDEVLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(USBDEVLIB)/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 
 #
@@ -45,7 +45,7 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/inc
 #
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c)
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3/*.c))
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c)
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/heap_1.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM3
 endif

flight/PiOS/STM32F10x/pios_dsm.c

@@ -348,7 +348,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
 {

flight/PiOS/STM32F10x/pios_ppm.c

@@ -146,8 +146,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
 
 	for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
 		/* Flush counter variables */
-		ppm_dev->CaptureValue[i] = 0;
+		ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
-		ppm_dev->CaptureValueNewFrame[i] = 0;
+		ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
 
 	}
 
@@ -201,11 +201,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
+ * Get the value of an input channel
-* \param[in] Channel Number of the channel desired
+ * \param[in] channel Number of the channel desired (zero based)
-* \output -1 Channel not available
+ * \output PIOS_RCVR_INVALID channel not available
-* \output >0 Channel value
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
-*/
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;

flight/PiOS/STM32F10x/pios_pwm.c

@@ -171,11 +171,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
+ * Get the value of an input channel
-* \param[in] Channel Number of the channel desired
+ * \param[in] channel Number of the channel desired (zero based)
-* \output -1 Channel not available
+ * \output PIOS_RCVR_INVALID channel not available
-* \output >0 Channel value
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
-*/
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;

flight/PiOS/STM32F4xx/library.mk

@@ -20,18 +20,18 @@ CDEFS			+= -DARM_MATH_CM4 -D__FPU_PRESENT=1
 ARCHFLAGS		+= -mcpu=cortex-m4 -march=armv7e-m -mfpu=fpv4-sp-d16 -mfloat-abi=hard
 
 # PIOS device library source and includes
-SRC			+= $(wildcard $(PIOS_DEVLIB)*.c)
+SRC			+= $(sort $(wildcard $(PIOS_DEVLIB)*.c))
 EXTRAINCDIRS		+= $(PIOS_DEVLIB)inc
 
 # CMSIS for the F4
 include $(PIOSCOMMON)/Libraries/CMSIS2/library.mk
 CMSIS2_DEVICEDIR	:= $(PIOS_DEVLIB)Libraries/CMSIS2/Device/ST/STM32F4xx
-SRC			+= $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c)
+SRC			+= $(sort $(wildcard $(CMSIS2_DEVICEDIR)/Source/$(BOARD_NAME)/*.c))
 EXTRAINCDIRS		+= $(CMSIS2_DEVICEDIR)/Include
 
 # ST Peripheral library
 PERIPHLIB		=  $(PIOS_DEVLIB)Libraries/STM32F4xx_StdPeriph_Driver
-SRC			+= $(wildcard $(PERIPHLIB)/src/*.c)
+SRC			+= $(sort $(wildcard $(PERIPHLIB)/src/*.c))
 EXTRAINCDIRS		+= $(PERIPHLIB)/inc
 
 # ST USB OTG library
@@ -42,7 +42,7 @@ EXTRAINCDIRS		+= $(USBOTGLIB)/inc
 
 # ST USB Device library
 USBDEVLIB		=  $(PIOS_DEVLIB)Libraries/STM32_USB_Device_Library
-SRC			+= $(wildcard $(USBDEVLIB)/Core/src/*.c)
+SRC			+= $(sort $(wildcard $(USBDEVLIB)/Core/src/*.c))
 EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 
 #
@@ -53,7 +53,7 @@ EXTRAINCDIRS		+= $(USBDEVLIB)/Core/inc
 #
 ifneq ($(FREERTOS_DIR),)
     FREERTOS_PORTDIR	:= $(PIOS_DEVLIB)Libraries/FreeRTOS/Source
-    SRC			+= $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c)
+    SRC			+= $(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F/*.c))
     EXTRAINCDIRS	+= $(FREERTOS_PORTDIR)/portable/GCC/ARM_CM4F
     include $(PIOSCOMMON)/Libraries/msheap/library.mk
 endif

flight/PiOS/STM32F4xx/pios_dsm.c

@@ -349,7 +349,7 @@ static uint16_t PIOS_DSM_RxInCallback(uint32_t context,
  * \param[in] channel Number of the channel desired (zero based)
  * \output PIOS_RCVR_INVALID channel not available
  * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
- * \output >0 channel value
+ * \output >=0 channel value
  */
 static int32_t PIOS_DSM_Get(uint32_t rcvr_id, uint8_t channel)
 {

flight/PiOS/STM32F4xx/pios_ppm.c

@@ -145,8 +145,8 @@ extern int32_t PIOS_PPM_Init(uint32_t * ppm_id, const struct pios_ppm_cfg * cfg)
 
 	for (uint8_t i = 0; i < PIOS_PPM_IN_MAX_NUM_CHANNELS; i++) {
 		/* Flush counter variables */
-		ppm_dev->CaptureValue[i] = 0;
+		ppm_dev->CaptureValue[i] = PIOS_RCVR_TIMEOUT;
-		ppm_dev->CaptureValueNewFrame[i] = 0;
+		ppm_dev->CaptureValueNewFrame[i] = PIOS_RCVR_TIMEOUT;
 
 	}
 
@@ -200,11 +200,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
+ * Get the value of an input channel
-* \param[in] Channel Number of the channel desired
+ * \param[in] channel Number of the channel desired (zero based)
-* \output -1 Channel not available
+ * \output PIOS_RCVR_INVALID channel not available
-* \output >0 Channel value
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
-*/
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PPM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_ppm_dev * ppm_dev = (struct pios_ppm_dev *)rcvr_id;

flight/PiOS/STM32F4xx/pios_pwm.c

@@ -170,11 +170,12 @@ out_fail:
 }
 
 /**
-* Get the value of an input channel
+ * Get the value of an input channel
-* \param[in] Channel Number of the channel desired
+ * \param[in] channel Number of the channel desired (zero based)
-* \output -1 Channel not available
+ * \output PIOS_RCVR_INVALID channel not available
-* \output >0 Channel value
+ * \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
-*/
+ * \output >=0 channel value
+ */
 static int32_t PIOS_PWM_Get(uint32_t rcvr_id, uint8_t channel)
 {
 	struct pios_pwm_dev * pwm_dev = (struct pios_pwm_dev *)rcvr_id;

flight/PiOS/inc/pios_rcvr.h

@@ -42,11 +42,11 @@ extern int32_t PIOS_RCVR_Read(uint32_t rcvr_id, uint8_t channel);
 /*! Define error codes for PIOS_RCVR_Get */
 enum PIOS_RCVR_errors {
 	/*! Indicates that a failsafe condition or missing receiver detected for that channel */
-	PIOS_RCVR_TIMEOUT = 0,
+	PIOS_RCVR_TIMEOUT = -1,
 	/*! Channel is invalid for this driver (usually out of range supported) */
-	PIOS_RCVR_INVALID = -1,
+	PIOS_RCVR_INVALID = -2,
 	/*! Indicates that the driver for this channel has not been initialized */
-	PIOS_RCVR_NODRIVER = -2
+	PIOS_RCVR_NODRIVER = -3
 };
 
 #endif /* PIOS_RCVR_H */

flight/PiOS/posix/Libraries/FreeRTOS/library.mk

@@ -6,5 +6,5 @@
 #
 
 FREERTOS_DIR	:=	$(dir $(lastword $(MAKEFILE_LIST)))/Source
-SRC		+=	$(wildcard $(FREERTOS_DIR)/*.c)
+SRC		+=	$(sort $(wildcard $(FREERTOS_DIR)/*.c))
 EXTRAINCDIRS	+=	$(FREERTOS_DIR)/include

flight/PiOS/posix/library.mk

@@ -27,7 +27,7 @@ ARCHFLAGS			+= -DARCH_POSIX
 #
 # PIOS device library source and includes
 #
-SRC					+=	$(wildcard $(PIOS_DEVLIB)*.c)
+SRC					+=	$(sort $(wildcard $(PIOS_DEVLIB)*.c))
 EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 
 #
@@ -68,8 +68,8 @@ EXTRAINCDIRS		+=	$(PIOS_DEVLIB)/inc
 #
 ifneq ($(FREERTOS_DIR),)
 FREERTOS_PORTDIR	:=	$(PIOS_DEVLIB)/Libraries/FreeRTOS/Source
-SRC					+=	$(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c)
+SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/GCC/Posix/*.c))
-SRC					+=	$(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c)
+SRC					+=	$(sort $(wildcard $(FREERTOS_PORTDIR)/portable/MemMang/*.c))
 
 EXTRAINCDIRS		+=	$(FREERTOS_PORTDIR)/portable/GCC/Posix
 endif

flight/targets/CopterControl/Makefile

@@ -62,7 +62,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/CopterControl/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/OSD/Makefile

@@ -48,7 +48,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/osd.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/OSD/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/OSD/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/PipXtreme/System/alarms.c

@@ -1,214 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-    SystemAlarmsInitialize();
-    
-	lock = xSemaphoreCreateRecursiveMutex();
-	//do not change the default states of the alarms, let the init code generated by the uavobjectgenerator handle that
-	//AlarmsClearAll();
-	//AlarmsDefaultAll();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/RevoMini/Makefile

@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/RevoMini/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/RevoMini/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/Revolution/Makefile

@@ -66,7 +66,7 @@ ifndef TESTAPP
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c
-    SRC += $(OPSYSTEM)/alarms.c
+    SRC += $(FLIGHTLIB)/alarms.c
     SRC += $(OPUAVTALK)/uavtalk.c
     SRC += $(OPUAVOBJ)/uavobjectmanager.c
     SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/Revolution/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/Revolution/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

flight/targets/SimPosix/Makefile

@@ -78,7 +78,7 @@ SRC += ${OUTDIR}/InitMods.c
 SRC += ${OPMODULEDIR}/System/systemmod.c
 SRC += $(OPSYSTEM)/simposix.c
 SRC += $(OPSYSTEM)/pios_board.c
-SRC += $(OPSYSTEM)/alarms.c
+SRC += $(FLIGHTLIB)/alarms.c
 SRC += $(OPUAVTALK)/uavtalk.c
 SRC += $(OPUAVOBJ)/uavobjectmanager.c
 SRC += $(OPUAVOBJ)/eventdispatcher.c

flight/targets/SimPosix/System/alarms.c

@@ -1,210 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @brief OpenPilot System libraries are available to all OP modules.
- * @{
- * @file       alarms.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Library for setting and clearing system alarms
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-
-#include "openpilot.h"
-#include "alarms.h"
-
-// Private constants
-
-// Private types
-
-// Private variables
-static xSemaphoreHandle lock;
-
-// Private functions
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
-
-/**
- * Initialize the alarms library
- */
-int32_t AlarmsInitialize(void)
-{
-	SystemAlarmsInitialize();
-	lock = xSemaphoreCreateRecursiveMutex();
-	return 0;
-}
-
-/**
- * Set an alarm
- * @param alarm The system alarm to be modified
- * @param severity The alarm severity
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return -1;
-	}
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarm and update its severity only if it was changed
-    SystemAlarmsGet(&alarms);
-    if ( alarms.Alarm[alarm] != severity )
-    {
-    	alarms.Alarm[alarm] = severity;
-    	SystemAlarmsSet(&alarms);
-    }
-
-    // Release lock
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-
-}
-
-/**
- * Get an alarm
- * @param alarm The system alarm to be read
- * @return Alarm severity
- */
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
-{
-	SystemAlarmsData alarms;
-
-	// Check that this is a valid alarm
-	if (alarm >= SYSTEMALARMS_ALARM_NUMELEM)
-	{
-		return 0;
-	}
-
-    // Read alarm
-    SystemAlarmsGet(&alarms);
-    return alarms.Alarm[alarm];
-}
-
-/**
- * Set an alarm to it's default value
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_DEFAULT);
-}
-
-/**
- * Default all alarms
- */
-void AlarmsDefaultAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsDefault(n);
-    }
-}
-
-/**
- * Clear an alarm
- * @param alarm The system alarm to be modified
- * @return 0 if success, -1 if an error
- */
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm)
-{
-	return AlarmsSet(alarm, SYSTEMALARMS_ALARM_OK);
-}
-
-/**
- * Clear all alarms
- */
-void AlarmsClearAll()
-{
-	uint32_t n;
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	AlarmsClear(n);
-    }
-}
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasWarnings()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_WARNING);
-}
-
-/**
- * Check if there are any alarms with error or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasErrors()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_ERROR);
-};
-
-/**
- * Check if there are any alarms with critical or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-int32_t AlarmsHasCritical()
-{
-	return hasSeverity(SYSTEMALARMS_ALARM_CRITICAL);
-};
-
-/**
- * Check if there are any alarms with the given or higher severity
- * @return 0 if no alarms are found, 1 if at least one alarm is found
- */
-static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
-{
-	SystemAlarmsData alarms;
-	uint32_t n;
-
-	// Lock
-    xSemaphoreTakeRecursive(lock, portMAX_DELAY);
-
-    // Read alarms
-    SystemAlarmsGet(&alarms);
-
-    // Go through alarms and check if any are of the given severity or higher
-    for (n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n)
-    {
-    	if ( alarms.Alarm[n] >= severity)
-    	{
-    		xSemaphoreGiveRecursive(lock);
-    		return 1;
-    	}
-    }
-
-    // If this point is reached then no alarms found
-    xSemaphoreGiveRecursive(lock);
-    return 0;
-}
-/**
- * @}
- * @}
- */
-

flight/targets/SimPosix/System/inc/alarms.h

@@ -1,50 +0,0 @@
-/**
- ******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
- * @{
- * @addtogroup OpenPilotLibraries OpenPilot System Libraries
- * @{
- * @file       alarms.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Include file of the alarm library
- * @see        The GNU Public License (GPL) Version 3
- *
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#ifndef ALARMS_H
-#define ALARMS_H
-
-#include "systemalarms.h"
-#define SYSTEMALARMS_ALARM_DEFAULT SYSTEMALARMS_ALARM_UNINITIALISED
-
-int32_t AlarmsInitialize(void);
-int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity);
-SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm);
-int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm);
-void AlarmsDefaultAll();
-int32_t AlarmsClear(SystemAlarmsAlarmElem alarm);
-void AlarmsClearAll();
-int32_t AlarmsHasWarnings();
-int32_t AlarmsHasErrors();
-int32_t AlarmsHasCritical();
-
-#endif // ALARMS_H
-
-/**
- * @}
- * @}
- */

ground/openpilotgcs/src/app/gcsversioninfo.pri

@@ -17,16 +17,17 @@ PYTHON_DIR = python-2.7.4
     # Search the python using environment override first
     OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)
     !isEmpty(OPENPILOT_TOOLS_DIR):exists($$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python*) {
-        PYTHON = $$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python
+        PYTHON = \"$$OPENPILOT_TOOLS_DIR/$$PYTHON_DIR/python\"
     } else {
         # If not found, search the predefined tools path
         exists($$ROOT_DIR/tools/$$PYTHON_DIR/python*) {
-            PYTHON = $$ROOT_DIR/tools/$$PYTHON_DIR/python
+            PYTHON = \"$$ROOT_DIR/tools/$$PYTHON_DIR/python\"
         } else {
             # not found, hope it's in the path...
-            PYTHON = python
+            PYTHON = \"python\"
         }
     }
+    PYTHON = $$replace(PYTHON, \\\\, /)
     message(Using python interpreter: $$PYTHON)
 
     # Define other variables

ground/openpilotgcs/src/app/main.cpp

@@ -26,6 +26,57 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
+/*
+ The GCS locale is set to the system locale by default unless the "hidden" setting General/Locale has a value.
+ The user can not change General/Locale from the Options dialog.
+
+ The GCS language will default to the GCS locale unless the General/OverrideLanguage has a value.
+ The user can change General/OverrideLanguage to any available language from the Options dialog.
+
+ Both General/Locale and General/OverrideLanguage can be set from the command line or through the the factory defaults file.
+
+ The -D option is used to permanently set a user setting.
+
+ The -reset switch will clear all the user settings and will trigger a reload of the factory defaults.
+
+ You can combine it with the -config-file=<file> command line argument to quickly switch between multiple settings files.
+
+ [code]
+ openpilotgcs -reset -config-file ./MyOpenPilotGCS.xml
+ [/code]
+
+ Relative paths are relative to <install dir>/share/openpilotgcs/default_configurations/
+
+ The specified file will be used to load the factory defaults from but only when the user settings are empty.
+ If the user settings are not empty the file will not be used.
+ This switch is useful on the 1st run when the user settings are empty or in combination with -reset.
+
+
+ Quickly switch configurations
+
+ [code]
+ openpilotgcs -reset -config-file <relative or absolute path>
+ [/code]
+
+ Configuring GCS from installer
+
+ The -D option is used to permanently set a user setting.
+
+ If the user chooses to start GCS at the end of the installer:
+
+ [code]
+ openpilotgcs -D General/OverrideLanguage=de
+ [/code]
+
+ If the user chooses not to start GCS at the end of the installer, you still need to configure GCS.
+ In that case you can use -exit-after-config
+
+ [code]
+ openpilotgcs -D General/OverrideLanguage=de -exit-after-config
+ [/code]
+
+ */
+
 #include "qtsingleapplication.h"
 #include "utils/xmlconfig.h"
 #include "gcssplashscreen.h"
@@ -35,6 +86,7 @@
 #include <extensionsystem/iplugin.h>
 
 #include <QtCore/QDir>
+#include <QtCore/QElapsedTimer>
 #include <QtCore/QTextStream>
 #include <QtCore/QFileInfo>
 #include <QtCore/QDebug>
@@ -48,292 +100,415 @@
 #include <QtGui/QApplication>
 #include <QtGui/QMainWindow>
 #include <QtGui/QSplashScreen>
-#include <QtGui/QPainter>
 
-#include <QElapsedTimer>
+namespace {
 
-enum { OptionIndent = 4, DescriptionIndent = 24 };
+    typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
+    typedef QMap<QString, bool> AppOptions;
+    typedef QMap<QString, QString> AppOptionValues;
 
-static const char *appNameC = "OpenPilot GCS";
+    const int OptionIndent = 4;
-static const char *corePluginNameC = "Core";
+    const int DescriptionIndent = 24;
-static const char *fixedOptionsC =
-" [OPTION]... [FILE]...\n"
-"Options:\n"
-"    -help               Display this help\n"
-"    -version            Display program version\n"
-"    -client             Attempt to connect to already running instance\n"
-"    -clean-config       Delete all existing configuration settings\n"
-"    -exit-after-config  Exit GCS after manipulating configuration settings\n"
-"    -D key=value        Override configuration settings e.g: -D General/OverrideLanguage=de\n"
-"    -configfile=value       Default configuration file to load if settings file is empty\n";
-static const char *HELP_OPTION1 = "-h";
-static const char *HELP_OPTION2 = "-help";
-static const char *HELP_OPTION3 = "/h";
-static const char *HELP_OPTION4 = "--help";
-static const char *VERSION_OPTION = "-version";
-static const char *CLIENT_OPTION = "-client";
-static const char *CONFIG_OPTION = "-D";
-static const char *CLEAN_CONFIG_OPTION = "-clean-config";
-static const char *EXIT_AFTER_CONFIG_OPTION = "-exit-after-config";
 
-typedef QList<ExtensionSystem::PluginSpec *> PluginSpecSet;
+    const QLatin1String APP_NAME("OpenPilot GCS");
 
-// Helpers for displaying messages. Note that there is no console on Windows.
+    const QLatin1String CORE_PLUGIN_NAME("Core");
-#ifdef Q_OS_WIN
-// Format as <pre> HTML
-static inline void toHtml(QString &t)
-{
-    t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
-    t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
-    t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
-    t.insert(0, QLatin1String("<html><pre>"));
-    t.append(QLatin1String("</pre></html>"));
-}
 
-static void displayHelpText(QString t) // No console on Windows.
+    const QLatin1String SETTINGS_ORG_NAME("OpenPilot");
-{
+    const QLatin1String SETTINGS_APP_NAME("OpenPilotGCS_config");
-    toHtml(t);
-    QMessageBox::information(0, QLatin1String(appNameC), t);
-}
-
-static void displayError(const QString &t) // No console on Windows.
-{
-    QMessageBox::critical(0, QLatin1String(appNameC), t);
-}
-
-#else
-
-static void displayHelpText(const QString &t)
-{
-    qWarning("%s", qPrintable(t));
-}
-
-static void displayError(const QString &t)
-{
-    qCritical("%s", qPrintable(t));
-}
-
-#endif
-
-static void printVersion(const ExtensionSystem::PluginSpec *coreplugin,
-                         const ExtensionSystem::PluginManager &pm)
-{
-    QString version;
-    QTextStream str(&version);
-    str << '\n' << appNameC << ' ' << coreplugin->version()<< " based on Qt " << qVersion() << "\n\n";
-    pm.formatPluginVersions(str);
-    str << '\n' << coreplugin->copyright() << '\n';
-    displayHelpText(version);
-}
-
-static void printHelp(const QString &a0, const ExtensionSystem::PluginManager &pm)
-{
-    QString help;
-    QTextStream str(&help);
-    str << "Usage: " << a0  << fixedOptionsC;
-    ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
-    pm.formatPluginOptions(str,  OptionIndent, DescriptionIndent);
-    displayHelpText(help);
-}
-
-static inline QString msgCoreLoadFailure(const QString &why)
-{
-    return QCoreApplication::translate("Application", "Failed to load core: %1").arg(why);
-}
-
-static inline QString msgSendArgumentFailed()
-{
-    return QCoreApplication::translate("Application", "Unable to send command line arguments to the already running instance. It appears to be not responding.");
-}
-
-// Prepare a remote argument: If it is a relative file, add the current directory
-// since the the central instance might be running in a different directory.
-
-static inline QString prepareRemoteArgument(const QString &a)
-{
-    QFileInfo fi(a);
-    if (!fi.exists())
-        return a;
-    if (fi.isRelative())
-        return fi.absoluteFilePath();
-    return a;
-}
-
-// Send the arguments to an already running instance of OpenPilot GCS
-static bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
-{
-    if (!arguments.empty()) {
-        // Send off arguments
-        const QStringList::const_iterator acend = arguments.constEnd();
-        for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
-            if (!app.sendMessage(prepareRemoteArgument(*it))) {
-                displayError(msgSendArgumentFailed());
-                return false;
-            }
-        }
-    }
-    // Special empty argument means: Show and raise (the slot just needs to be triggered)
-    if (!app.sendMessage(QString())) {
-        displayError(msgSendArgumentFailed());
-        return false;
-    }
-    return true;
-}
-
-static inline QStringList getPluginPaths()
-{
-    QStringList rc;
-    // Figure out root:  Up one from 'bin'
-    QDir rootDir = QApplication::applicationDirPath();
-    rootDir.cdUp();
-    const QString rootDirPath = rootDir.canonicalPath();
-    // 1) "plugins" (Win/Linux)
-    QString pluginPath = rootDirPath;
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("openpilotgcs");
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("plugins");
-    rc.push_back(pluginPath);
-    // 2) "PlugIns" (OS X)
-    pluginPath = rootDirPath;
-    pluginPath += QLatin1Char('/');
-    pluginPath += QLatin1String("Plugins");
-    rc.push_back(pluginPath);
-    return rc;
-}
 
 #ifdef Q_OS_MAC
-#  define SHARE_PATH "/../Resources"
+    const QLatin1String SHARE_PATH("/../Resources");
 #else
-#  define SHARE_PATH "/../share/openpilotgcs"
+    const QLatin1String SHARE_PATH("/../share/openpilotgcs");
 #endif
 
-static void overrideSettings(QSettings &settings, int argc, char **argv){
+    const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
-    QMap<QString, QString> settingOptions;
+    const char *fixedOptionsC = " [OPTION]... [FILE]...\n"
-    // Options like -DMy/setting=test
+            "Options:\n"
-    QRegExp rx("([^=]+)=(.*)");
+            "    -help               Display this help\n"
+            "    -version            Display application version\n"
+            "    -no-splash          Don't display splash screen\n"
+            "    -client             Attempt to connect to already running instance\n"
+            "    -D <key>=<value>    Permanently set a user setting, e.g: -D General/OverrideLanguage=de\n"
+            "    -reset              Reset user settings to factory defaults.\n"
+            "    -config-file <file> Specify alternate factory defaults settings file (used with -reset)\n"
+            "    -exit-after-config  Exit after manipulating configuration settings\n";
 
-    for(int i = 0; i < argc; ++i ){
+    const QLatin1String HELP1_OPTION("-h");
-        if ( QString(CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
+    const QLatin1String HELP2_OPTION("-help");
-            if ( rx.indexIn(argv[++i]) > -1 ){
+    const QLatin1String HELP3_OPTION("/h");
-                settingOptions.insert(rx.cap(1), rx.cap(2));
+    const QLatin1String HELP4_OPTION("--help");
+    const QLatin1String VERSION_OPTION("-version");
+    const QLatin1String NO_SPLASH_OPTION("-no-splash");
+    const QLatin1String CLIENT_OPTION("-client");
+    const QLatin1String CONFIG_OPTION("-D");
+    const QLatin1String RESET_OPTION("-reset");
+    const QLatin1String CONFIG_FILE_OPTION("-config-file");
+    const QLatin1String EXIT_AFTER_CONFIG_OPTION("-exit-after-config");
+
+    // Helpers for displaying messages. Note that there is no console on Windows.
+    void displayHelpText(QString t)
+    {
+#ifdef Q_OS_WIN
+        // No console on Windows. (???)
+        // TODO there is a console on windows and popups are not always desired
+        t.replace(QLatin1Char('&'), QLatin1String("&amp;"));
+        t.replace(QLatin1Char('<'), QLatin1String("&lt;"));
+        t.replace(QLatin1Char('>'), QLatin1String("&gt;"));
+        t.insert(0, QLatin1String("<html><pre>"));
+        t.append(QLatin1String("</pre></html>"));
+        QMessageBox::information(0, APP_NAME, t);
+#else
+        qWarning("%s", qPrintable(t));
+#endif
+    }
+
+    void displayError(const QString &t)
+    {
+#ifdef Q_OS_WIN
+        // No console on Windows. (???)
+        // TODO there is a console on windows and popups are not always desired
+        QMessageBox::critical(0, APP_NAME, t);
+#else
+        qCritical("%s", qPrintable(t));
+#endif
+    }
+
+    void printVersion(const ExtensionSystem::PluginSpec *corePlugin, const ExtensionSystem::PluginManager &pm)
+    {
+        QString version;
+        QTextStream str(&version);
+        str << '\n' << APP_NAME << ' ' << corePlugin->version() << " based on Qt " << qVersion() << "\n\n";
+        pm.formatPluginVersions(str);
+        str << '\n' << corePlugin->copyright() << '\n';
+        displayHelpText(version);
+    }
+
+    void printHelp(const QString &appExecName, const ExtensionSystem::PluginManager &pm)
+    {
+        QString help;
+        QTextStream str(&help);
+        str << "Usage: " << appExecName << fixedOptionsC;
+        ExtensionSystem::PluginManager::formatOptions(str, OptionIndent, DescriptionIndent);
+        pm.formatPluginOptions(str, OptionIndent, DescriptionIndent);
+        displayHelpText(help);
+    }
+
+    inline QString msgCoreLoadFailure(const QString &reason)
+    {
+        return QCoreApplication::translate("Application", "Failed to load core plug-in, reason is: %1").arg(reason);
+    }
+
+    inline QString msgSendArgumentFailed()
+    {
+        return QCoreApplication::translate("Application",
+                "Unable to send command line arguments to the already running instance. It appears to be not responding.");
+    }
+
+    // Prepare a remote argument: If it is a relative file, add the current directory
+    // since the the central instance might be running in a different directory.
+    inline QString prepareRemoteArgument(const QString &arg)
+    {
+        QFileInfo fi(arg);
+        if (!fi.exists()) {
+            return arg;
+        }
+        if (fi.isRelative()) {
+            return fi.absoluteFilePath();
+        }
+        return arg;
+    }
+
+    // Send the arguments to an already running instance of application
+    bool sendArguments(SharedTools::QtSingleApplication &app, const QStringList &arguments)
+    {
+        if (!arguments.empty()) {
+            // Send off arguments
+            const QStringList::const_iterator acend = arguments.constEnd();
+            for (QStringList::const_iterator it = arguments.constBegin(); it != acend; ++it) {
+                if (!app.sendMessage(prepareRemoteArgument(*it))) {
+                    displayError(msgSendArgumentFailed());
+                    return false;
+                }
             }
         }
-        if ( QString(CLEAN_CONFIG_OPTION).compare(QString(argv[i])) == 0 ){
+        // Special empty argument means: Show and raise (the slot just needs to be triggered)
-            settings.clear();
+        if (!app.sendMessage(QString())) {
+            displayError(msgSendArgumentFailed());
+            return false;
+        }
+        return true;
+    }
+
+    void systemInit()
+    {
+#ifdef Q_OS_MAC
+        // increase the number of file that can be opened in application
+        struct rlimit rl;
+        getrlimit(RLIMIT_NOFILE, &rl);
+        rl.rlim_cur = rl.rlim_max;
+        setrlimit(RLIMIT_NOFILE, &rl);
+#endif
+#ifdef Q_OS_LINUX
+        QApplication::setAttribute(Qt::AA_X11InitThreads, true);
+#endif
+    }
+
+    inline QStringList getPluginPaths()
+    {
+        QStringList rc;
+        // Figure out root:  Up one from 'bin'
+        QDir rootDir = QApplication::applicationDirPath();
+        rootDir.cdUp();
+        const QString rootDirPath = rootDir.canonicalPath();
+        // 1) "plugins" (Win/Linux)
+        QString pluginPath = rootDirPath;
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String(GCS_LIBRARY_BASENAME);
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("openpilotgcs");
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("plugins");
+        rc.push_back(pluginPath);
+        // 2) "PlugIns" (OS X)
+        pluginPath = rootDirPath;
+        pluginPath += QLatin1Char('/');
+        pluginPath += QLatin1String("Plugins");
+        rc.push_back(pluginPath);
+        return rc;
+    }
+
+    AppOptions options()
+    {
+        AppOptions appOptions;
+        appOptions.insert(HELP1_OPTION, false);
+        appOptions.insert(HELP2_OPTION, false);
+        appOptions.insert(HELP3_OPTION, false);
+        appOptions.insert(HELP4_OPTION, false);
+        appOptions.insert(VERSION_OPTION, false);
+        appOptions.insert(NO_SPLASH_OPTION, false);
+        appOptions.insert(CLIENT_OPTION, false);
+        appOptions.insert(CONFIG_OPTION, true);
+        appOptions.insert(RESET_OPTION, false);
+        appOptions.insert(CONFIG_FILE_OPTION, true);
+        appOptions.insert(EXIT_AFTER_CONFIG_OPTION, false);
+        return appOptions;
+    }
+
+    AppOptionValues parseCommandLine(SharedTools::QtSingleApplication &app,
+            ExtensionSystem::PluginManager &pluginManager, QString &errorMessage)
+    {
+        AppOptionValues appOptionValues;
+        const QStringList arguments = app.arguments();
+        if (arguments.size() > 1) {
+            AppOptions appOptions = options();
+            pluginManager.parseOptions(arguments, appOptions, &appOptionValues, &errorMessage);
+        }
+        return appOptionValues;
+    }
+
+    void loadFactoryDefaults(QSettings &settings, AppOptionValues &appOptionValues)
+    {
+        QDir directory(QCoreApplication::applicationDirPath() + SHARE_PATH + QString("/default_configurations"));
+        qDebug() << "Looking for factory defaults configuration files in:" << directory.absolutePath();
+
+        QString fileName;
+
+        // check if command line option -config-file contains a file name
+        QString commandLine = appOptionValues.value(CONFIG_FILE_OPTION);
+        if (!commandLine.isEmpty()) {
+            QFileInfo fi(commandLine);
+            if (fi.isRelative()) {
+                // file name specified on command line has a relative path
+                commandLine = directory.absolutePath() + QDir::separator() + commandLine;
+            }
+            if (QFile::exists(commandLine)) {
+                fileName = commandLine;
+                qDebug() << "Configuration file" << fileName << "specified on command line will be loaded.";
+            } else {
+                qWarning() << "Configuration file" << commandLine << "specified on command line does not exist.";
+            }
+        }
+
+        if (fileName.isEmpty()) {
+            // check default file
+            if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+                // use default file name
+                fileName = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+                qDebug() << "Default configuration file" << fileName << "will be loaded.";
+            } else {
+                qWarning() << "No default configuration file found in" << directory.absolutePath();
+            }
+        }
+
+        if (fileName.isEmpty()) {
+            // TODO should we exit violently?
+            qCritical() << "No default configuration file found!";
+            return;
+        }
+
+        // create settings from file
+        QSettings qs(fileName, XmlConfig::XmlSettingsFormat);
+
+        // transfer loaded settings to application settings
+        QStringList keys = qs.allKeys();
+        foreach(QString key, keys) {
+            settings.setValue(key, qs.value(key));
+        }
+
+        qDebug() << "Configuration file" << fileName << "was loaded.";
+    }
+
+    void overrideSettings(QSettings &settings, int argc, char **argv)
+    {
+        // Options like -D My/setting=test
+        QRegExp rx("([^=]+)=(.*)");
+
+        for (int i = 0; i < argc; ++i) {
+            if (CONFIG_OPTION == QString(argv[i])) {
+                if (rx.indexIn(argv[++i]) > -1) {
+                    QString key = rx.cap(1);
+                    QString value = rx.cap(2);
+                    qDebug() << "User setting" << key << "set to value" << value;
+                    settings.setValue(key, value);
+                }
+            }
+        }
+
+        settings.sync();
+    }
+
+    void loadTranslators(QString language, QTranslator &translator, QTranslator &qtTranslator)
+    {
+        const QString &creatorTrPath = QCoreApplication::applicationDirPath() + SHARE_PATH
+                + QLatin1String("/translations");
+        if (translator.load(QLatin1String("openpilotgcs_") + language, creatorTrPath)) {
+            const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
+            const QString &qtTrFile = QLatin1String("qt_") + language;
+            // Binary installer puts Qt tr files into creatorTrPath
+            if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
+                QCoreApplication::installTranslator(&translator);
+                QCoreApplication::installTranslator(&qtTranslator);
+            } else {
+                // unload()
+                translator.load(QString());
+            }
         }
     }
 
-    QList<QString> keys = settingOptions.keys();
+} //  namespace anonymous
-    foreach ( QString key, keys ){
-        settings.setValue(key, settingOptions.value(key));
-    }
-    settings.sync();
-}
 
 int main(int argc, char **argv)
 {
     QElapsedTimer timer;
     timer.start();
 
-#ifdef Q_OS_MAC
+    // low level init
-    // increase the number of file that can be opened in OpenPilot GCS
+    systemInit();
-    struct rlimit rl;
-    getrlimit(RLIMIT_NOFILE, &rl);
-    rl.rlim_cur = rl.rlim_max;
-    setrlimit(RLIMIT_NOFILE, &rl);
-#endif
-#ifdef Q_OS_LINUX
-    QApplication::setAttribute(Qt::AA_X11InitThreads, true);
-#endif
 
-    //Set the default locale to EN, if this is not set the system locale will be used
+    // create application
-    //and as of now we dont want that behaviour.
+    SharedTools::QtSingleApplication app(APP_NAME, argc, argv);
-    QLocale::setDefault(QLocale::English);
 
-    SharedTools::QtSingleApplication app((QLatin1String(appNameC)), argc, argv);
+    // initialize the plugin manager
-
-    //Open Splashscreen
-    GCSSplashScreen splash;
-    splash.show();
-
-    QString locale = QLocale::system().name();
-
-    // Must be done before any QSettings class is created
-    QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
-            QCoreApplication::applicationDirPath()+QLatin1String(SHARE_PATH));
-    // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
-    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
-                                 QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS_config"));
-
-    overrideSettings(settings, argc, argv);
-    locale = settings.value("General/OverrideLanguage", locale).toString();
-
-    QTranslator translator;
-    QTranslator qtTranslator;
-
-    const QString &creatorTrPath = QCoreApplication::applicationDirPath()
-                                   + QLatin1String(SHARE_PATH "/translations");
-    if (translator.load(QLatin1String("openpilotgcs_") + locale, creatorTrPath)) {
-        const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath);
-        const QString &qtTrFile = QLatin1String("qt_") + locale;
-        // Binary installer puts Qt tr files into creatorTrPath
-        if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) {
-            QCoreApplication::installTranslator(&translator);
-            QCoreApplication::installTranslator(&qtTranslator);
-        } else {
-            translator.load(QString()); // unload()
-        }
-    }
-    app.setProperty("qtc_locale", locale); // Do we need this?
-
-    splash.showProgressMessage(QObject::tr("Application starting..."));
-
-    // Load
     ExtensionSystem::PluginManager pluginManager;
     pluginManager.setFileExtension(QLatin1String("pluginspec"));
+    pluginManager.setPluginPaths(getPluginPaths());
 
-    const QStringList pluginPaths = getPluginPaths();
+    // parse command line
-    pluginManager.setPluginPaths(pluginPaths);
+    qDebug() << "Command line" << app.arguments();
-
+    QString errorMessage;
-    const QStringList arguments = app.arguments();
+    AppOptionValues appOptionValues = parseCommandLine(app, pluginManager, errorMessage);
-    QMap<QString, QString> foundAppOptions;
+    if (!errorMessage.isEmpty()) {
-    if (arguments.size() > 1) {
+        // this will display two popups : one error popup + one usage string popup
-        QMap<QString, bool> appOptions;
+        // TODO merge two popups into one.
-        appOptions.insert(QLatin1String(HELP_OPTION1), false);
+        displayError(errorMessage);
-        appOptions.insert(QLatin1String(HELP_OPTION2), false);
+        printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
-        appOptions.insert(QLatin1String(HELP_OPTION3), false);
+        return -1;
-        appOptions.insert(QLatin1String(HELP_OPTION4), false);
-        appOptions.insert(QLatin1String(VERSION_OPTION), false);
-        appOptions.insert(QLatin1String(CLIENT_OPTION), false);
-        appOptions.insert(QLatin1String(CONFIG_OPTION), true);
-        appOptions.insert(QLatin1String(CLEAN_CONFIG_OPTION), false);
-        appOptions.insert(QLatin1String(EXIT_AFTER_CONFIG_OPTION), false);
-        QString errorMessage;
-        if (!pluginManager.parseOptions(arguments,
-                                        appOptions,
-                                        &foundAppOptions,
-                                        &errorMessage)) {
-            displayError(errorMessage);
-            printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
-            return -1;
-        }
     }
 
+    // load user settings
+    // Must be done before any QSettings class is created
+    // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
+    QString settingsPath = QCoreApplication::applicationDirPath() + SHARE_PATH;
+    qDebug() << "Loading system settings from" << settingsPath;
+    QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope, settingsPath);
+    qDebug() << "Loading user settings from" << SETTINGS_ORG_NAME << "/" << SETTINGS_APP_NAME;
+    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope, SETTINGS_ORG_NAME, SETTINGS_APP_NAME);
+
+    // need to reset all user settings?
+    if (appOptionValues.contains(RESET_OPTION)) {
+        qDebug() << "Resetting user settings!";
+        settings.clear();
+    }
+
+    // check if we have user settings
+    if (!settings.allKeys().count()) {
+        // no user settings, load the factory defaults
+        qDebug() << "No user settings found, loading factory defaults...";
+        loadFactoryDefaults(settings, appOptionValues);
+    }
+
+    // override settings with command line provided values
+    // take notice that the overridden values will be saved in the user settings and will continue to be effective
+    // in subsequent GCS runs
+    overrideSettings(settings, argc, argv);
+
+    // initialize GCS locale
+    // use the value defined by the General/Locale setting or default to system Locale.
+    // the General/Locale setting is not available in the Options dialog, it is a hidden setting but can still be changed:
+    // - through the command line
+    // - editing the factory defaults XML file before 1st launch
+    // - editing the user XML file
+    QString localeName = settings.value("General/Locale", QLocale::system().name()).toString();
+    QLocale::setDefault(localeName);
+
+    // some debugging
+    qDebug() << "main - system locale:" << QLocale::system().name();
+    qDebug() << "main - GCS locale:" << QLocale().name();
+
+    // load translation file
+    // the language used is defined by the General/OverrideLanguage setting (defaults to GCS locale)
+    // if the translation file for the given language is not found, GCS will default to built in English.
+    QString language = settings.value("General/OverrideLanguage", localeName).toString();
+    qDebug() << "main - language:" << language;
+    QTranslator translator;
+    QTranslator qtTranslator;
+    loadTranslators(language, translator, qtTranslator);
+
+    app.setProperty("qtc_locale", localeName); // Do we need this?
+
+    if (appOptionValues.contains(EXIT_AFTER_CONFIG_OPTION)) {
+        qDebug() << "main - exiting after config!";
+        return 0;
+    }
+
+    // open the splash screen
+    GCSSplashScreen *splash = 0;
+    if (!appOptionValues.contains(NO_SPLASH_OPTION)) {
+        splash = new GCSSplashScreen();
+        // show splash
+        splash->showProgressMessage(QObject::tr("Application starting..."));
+        splash->show();
+        // connect to track progress of plugin manager
+        QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)), splash,
+                SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
+    }
+
+    // find and load core plugin
     const PluginSpecSet plugins = pluginManager.plugins();
     ExtensionSystem::PluginSpec *coreplugin = 0;
     foreach (ExtensionSystem::PluginSpec *spec, plugins) {
-        if (spec->name() == QLatin1String(corePluginNameC)) {
+        if (spec->name() == CORE_PLUGIN_NAME) {
             coreplugin = spec;
             break;
         }
     }
-    if(!coreplugin){
+    if (!coreplugin) {
-        QString nativePaths = QDir::toNativeSeparators(pluginPaths.join(QLatin1String(",")));
+        QString nativePaths = QDir::toNativeSeparators(getPluginPaths().join(QLatin1String(",")));
-        const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(nativePaths);
+        const QString reason = QCoreApplication::translate("Application", "Could not find 'Core.pluginspec' in %1").arg(
+                nativePaths);
         displayError(msgCoreLoadFailure(reason));
         return 1;
     }
@@ -341,26 +516,21 @@ int main(int argc, char **argv)
         displayError(msgCoreLoadFailure(coreplugin->errorString()));
         return 1;
     }
-    if (foundAppOptions.contains(QLatin1String(VERSION_OPTION))) {
+
+    if (appOptionValues.contains(VERSION_OPTION)) {
         printVersion(coreplugin, pluginManager);
         return 0;
     }
-    if (foundAppOptions.contains(QLatin1String(EXIT_AFTER_CONFIG_OPTION))) {
+    if (appOptionValues.contains(HELP1_OPTION) || appOptionValues.contains(HELP2_OPTION)
-        return 0;
+            || appOptionValues.contains(HELP3_OPTION) || appOptionValues.contains(HELP4_OPTION)) {
-    }
-    if (foundAppOptions.contains(QLatin1String(HELP_OPTION1))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION2))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION3))
-            || foundAppOptions.contains(QLatin1String(HELP_OPTION4))) {
         printHelp(QFileInfo(app.applicationFilePath()).baseName(), pluginManager);
         return 0;
     }
-    const bool isFirstInstance = !app.isRunning();
-    if (!isFirstInstance && foundAppOptions.contains(QLatin1String(CLIENT_OPTION)))
-        return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
 
-    QObject::connect(&pluginManager, SIGNAL(pluginAboutToBeLoaded(ExtensionSystem::PluginSpec*)),
+    const bool isFirstInstance = !app.isRunning();
-                     &splash, SLOT(showPluginLoadingProgress(ExtensionSystem::PluginSpec*)));
+    if (!isFirstInstance && appOptionValues.contains(CLIENT_OPTION)) {
+        return sendArguments(app, pluginManager.arguments()) ? 0 : -1;
+    }
 
     pluginManager.loadPlugins();
 
@@ -371,19 +541,21 @@ int main(int argc, char **argv)
 
     {
         QStringList errors;
-        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins())
+        foreach (ExtensionSystem::PluginSpec *p, pluginManager.plugins()) {
-            if (p->hasError())
+            if (p->hasError()) {
                 errors.append(p->errorString());
-        if (!errors.isEmpty())
+            }
+        }
+        if (!errors.isEmpty()) {
             QMessageBox::warning(0,
-                QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
+                    QCoreApplication::translate("Application", "OpenPilot GCS - Plugin loader messages"),
-                errors.join(QString::fromLatin1("\n\n")));
+                    errors.join(QString::fromLatin1("\n\n")));
+        }
     }
 
     if (isFirstInstance) {
         // Set up lock and remote arguments for the first instance only.
-        // Silently fallback to unconnected instances for any subsequent
+        // Silently fallback to unconnected instances for any subsequent instances.
-        // instances.
         app.initialize();
         QObject::connect(&app, SIGNAL(messageReceived(QString)), coreplugin->plugin(), SLOT(remoteArgument(QString)));
     }
@@ -392,15 +564,17 @@ int main(int argc, char **argv)
     // Do this after the event loop has started
     QTimer::singleShot(100, &pluginManager, SLOT(startTests()));
 
-    //Update message and postpone closing of splashscreen 3 seconds
+    if (splash) {
-    splash.showProgressMessage(QObject::tr("Application started."));
+        // close and delete splash
-    QTimer::singleShot(1500, &splash, SLOT(close()));
+        splash->close();
+        delete splash;
+    }
 
-    qDebug() << "main() took" << timer.elapsed() << "ms";
+    qDebug() << "main - main took" << timer.elapsed() << "ms";
 
     int ret = app.exec();
 
-    qDebug() << "GCS ran for" << timer.elapsed() << "ms";
+    qDebug() << "main - GCS ran for" << timer.elapsed() << "ms";
 
     return ret;
 }

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

@@ -125,23 +125,23 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
     m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos1, 0, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos2, 1, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos3, 2, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos4, 3, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos5, 4, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos6, 5, 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
+    addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModeNumber", m_config->fmsPosNum);
 
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Roll, "Roll", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Roll, "Roll", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Roll, "Roll", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Pitch, "Pitch", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Pitch, "Pitch", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Pitch, "Pitch", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Yaw, "Yaw", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Yaw, "Yaw", 1, true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
+    addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Yaw, "Yaw", 1, true);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
     addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);

ground/openpilotgcs/src/plugins/coreplugin/core.qrc

@@ -64,7 +64,8 @@
 		<file>images/tx-rx.svg</file>
 		<file>qml/images/tab.png</file>
 		<file>qml/AboutDialog.qml</file>
-		<file>qml/FlickableWebView.qml</file>
+		<file>qml/AuthorsModel.qml</file>
+		<file>qml/ScrollDecorator.qml</file>
 		<file>qml/TabWidget.qml</file>
     </qresource>
 </RCC>

ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro

@@ -1,22 +1,27 @@
 TEMPLATE = lib
 TARGET = Core
 DEFINES += CORE_LIBRARY
+
 QT += declarative \
     xml \
     network \
     script \
     svg \
     sql 
+
 include(../../openpilotgcsplugin.pri)
 include(../../libs/utils/utils.pri)
 include(../../shared/scriptwrapper/scriptwrapper.pri)
 include(coreplugin_dependencies.pri)
+
 INCLUDEPATH += dialogs \
     uavgadgetmanager \
     actionmanager
+
 DEPENDPATH += dialogs \
     uavgadgetmanager \
     actionmanager
+
 SOURCES += mainwindow.cpp \
     tabpositionindicator.cpp \
     fancyactionbar.cpp \
@@ -64,8 +69,8 @@ SOURCES += mainwindow.cpp \
     workspacesettings.cpp \
     uavconfiginfo.cpp \
     authorsdialog.cpp \
-    telemetrymonitorwidget.cpp \
+    telemetrymonitorwidget.cpp
-    dialogs/importsettings.cpp
+
 HEADERS += mainwindow.h \
     tabpositionindicator.h \
     fancyactionbar.h \
@@ -126,20 +131,22 @@ HEADERS += mainwindow.h \
     uavconfiginfo.h \
     authorsdialog.h \
     iconfigurableplugin.h \
-    telemetrymonitorwidget.h \
+    telemetrymonitorwidget.h
-    dialogs/importsettings.h
+
 FORMS += dialogs/settingsdialog.ui \
     dialogs/shortcutsettings.ui \
     generalsettings.ui \
     uavgadgetoptionspage.ui \
-    workspacesettings.ui \
+    workspacesettings.ui
-    dialogs/importsettings.ui
+
 RESOURCES += core.qrc \
     fancyactionbar.qrc
+
 unix:!macx { 
     images.files = images/openpilot_logo_*.png
     images.files = images/qtcreator_logo_*.png
     images.path = /share/pixmaps
     INSTALLS += images
 }
+
 OTHER_FILES += Core.pluginspec

ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.cpp

@@ -1,57 +0,0 @@
-#include "importsettings.h"
-#include "ui_importsettings.h"
-#include <QDir>
-#include <QSettings>
-#include <utils/xmlconfig.h>
-#include <QTimer>
-
-importSettings::importSettings(QWidget *parent) :
-    QDialog(parent),
-    ui(new Ui::importSettings)
-{
-    ui->setupUi(this);
-    connect(ui->cbConfigs, SIGNAL(currentIndexChanged(int)), this, SLOT(updateDetails(int)));
-    connect(ui->btnLoad, SIGNAL(clicked()), this, SLOT(accept()));
-    QTimer::singleShot(500, this, SLOT(repaint()));
-}
-
-void importSettings::loadFiles(QString path)
-{
-    QDir myDir(path);
-    QStringList filters;
-    filters << "*.xml";
-    QStringList list = myDir.entryList(filters,QDir::Files);
-    int x = 0;
-    foreach(QString fileStr, list) {
-        fileInfo *info = new fileInfo;
-        QSettings settings(path+QDir::separator() + fileStr, XmlConfig::XmlSettingsFormat);
-        settings.beginGroup("General");
-        info->description = settings.value("Description", "None").toString();
-        info->details = settings.value("Details", "None").toString();
-        settings.endGroup();
-        info->file = path + QDir::separator() + fileStr;
-        configList.insert(x,info);
-        ui->cbConfigs->addItem(info->description, x);
-        ++x;
-    }
-}
-
-void importSettings::updateDetails(int index)
-{
-    fileInfo *info = configList.value(ui->cbConfigs->itemData(index).toInt());
-    ui->lblDetails->setText(info->details);
-}
-
-QString importSettings::choosenConfig()
-{
-    fileInfo *info = configList.value(ui->cbConfigs->itemData(ui->cbConfigs->currentIndex()).toInt());
-    return info->file;
-}
-
-importSettings::~importSettings()
-{
-    foreach(fileInfo * info,configList.values()) {
-        delete info;
-    }
-    delete ui;
-}

ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.h

@@ -1,35 +0,0 @@
-
-#ifndef IMPORTSETTINGS_H
-#define IMPORTSETTINGS_H
-
-#include <QDialog>
-#include <QMap>
-namespace Ui {
-class importSettings;
-}
-
-class importSettings : public QDialog
-{
-    Q_OBJECT
-    struct fileInfo {
-        QString file;
-        QString description;
-        QString details;
-    };
-
-public:
-    explicit importSettings(QWidget *parent = 0);
-    ~importSettings();
-    
-    void loadFiles(QString path);
-    QString choosenConfig();
-
-private:
-    Ui::importSettings *ui;
-    QMap<int,fileInfo*> configList;
-
-private slots:
-    void updateDetails(int);
-};
-
-#endif // IMPORTSETTINGS_H

ground/openpilotgcs/src/plugins/coreplugin/dialogs/importsettings.ui

@@ -1,82 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>importSettings</class>
- <widget class="QDialog" name="importSettings">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>373</width>
-    <height>167</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>OpenPilotGCS</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QLabel" name="label">
-     <property name="text">
-      <string>No configuration file could be found.
-Please choose from one of the default configurations</string>
-     </property>
-     <property name="scaledContents">
-      <bool>false</bool>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignTop</set>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <widget class="QComboBox" name="cbConfigs"/>
-   </item>
-   <item>
-    <widget class="QLabel" name="lblDetails">
-     <property name="text">
-      <string>TextLabel</string>
-     </property>
-    </widget>
-   </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout">
-     <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>
-     <item>
-      <widget class="QPushButton" name="btnLoad">
-       <property name="text">
-        <string>Load</string>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <spacer name="horizontalSpacer_2">
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-       <property name="sizeHint" stdset="0">
-        <size>
-         <width>40</width>
-         <height>20</height>
-        </size>
-       </property>
-      </spacer>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.cpp

@@ -45,11 +45,11 @@ using namespace Core::Internal;
 
 GeneralSettings::GeneralSettings():
     m_saveSettingsOnExit(true),
-    m_dialog(0),
     m_autoConnect(true),
     m_autoSelect(true),
     m_useUDPMirror(false),
-    m_useExpertMode(false)
+    m_useExpertMode(false),
+    m_dialog(0)
 {
 }
 
@@ -88,23 +88,23 @@ void GeneralSettings::fillLanguageBox() const
     m_page->languageBox->addItem(tr("<System Language>"), QString());
     // need to add this explicitly, since there is no qm file for English
     m_page->languageBox->addItem(QLatin1String("English"), QLatin1String("C"));
-    if (currentLocale == QLatin1String("C"))
+    if (currentLocale == QLatin1String("C")) {
         m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
+    }
 
-    const QString creatorTrPath =
+    const QString creatorTrPath = Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
-            Core::ICore::instance()->resourcePath() + QLatin1String("/translations");
     const QStringList languageFiles = QDir(creatorTrPath).entryList(QStringList(QLatin1String("openpilotgcs*.qm")));
 
-    Q_FOREACH(const QString &languageFile, languageFiles)
+    foreach(QString languageFile, languageFiles) {
-    {
+        int start = languageFile.indexOf(QLatin1Char('_')) + 1;
-        int start = languageFile.indexOf(QLatin1Char('_'))+1;
         int end = languageFile.lastIndexOf(QLatin1Char('.'));
-        const QString locale = languageFile.mid(start, end-start);
+        const QString locale = languageFile.mid(start, end - start);
         // no need to show a language that creator will not load anyway
         if (hasQmFilesForLocale(locale, creatorTrPath)) {
             m_page->languageBox->addItem(QLocale::languageToString(QLocale(locale).language()), locale);
-            if (locale == currentLocale)
+            if (locale == currentLocale) {
                 m_page->languageBox->setCurrentIndex(m_page->languageBox->count() - 1);
+            }
         }
     }
 }
@@ -114,8 +114,11 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page = new Ui::GeneralSettings();
     QWidget *w = new QWidget(parent);
     m_page->setupUi(w);
+
     fillLanguageBox();
-    connect(m_page->checkAutoConnect,SIGNAL(stateChanged(int)),this,SLOT(slotAutoConnect(int)));
+
+    connect(m_page->checkAutoConnect, SIGNAL(stateChanged(int)), this, SLOT(slotAutoConnect(int)));
+
     m_page->checkBoxSaveOnExit->setChecked(m_saveSettingsOnExit);
     m_page->checkAutoConnect->setChecked(m_autoConnect);
     m_page->checkAutoSelect->setChecked(m_autoSelect);
@@ -123,8 +126,7 @@ QWidget *GeneralSettings::createPage(QWidget *parent)
     m_page->cbExpertMode->setChecked(m_useExpertMode);
     m_page->colorButton->setColor(StyleHelper::baseColor());
 
-    connect(m_page->resetButton, SIGNAL(clicked()),
+    connect(m_page->resetButton, SIGNAL(clicked()), this, SLOT(resetInterfaceColor()));
-            this, SLOT(resetInterfaceColor()));
 
     return w;
 }
@@ -148,26 +150,28 @@ void GeneralSettings::finish()
     delete m_page;
 }
 
-void GeneralSettings::readSettings(QSettings* qs)
+void GeneralSettings::readSettings(QSettings *qs)
 {
     qs->beginGroup(QLatin1String("General"));
-    m_language = qs->value(QLatin1String("OverrideLanguage"),QLocale::system().name()).toString();
+    m_language = qs->value(QLatin1String("OverrideLanguage"), QLocale::system().name()).toString();
-    m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"),m_saveSettingsOnExit).toBool();
+    m_saveSettingsOnExit = qs->value(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit).toBool();
-    m_autoConnect = qs->value(QLatin1String("AutoConnect"),m_autoConnect).toBool();
+    m_autoConnect = qs->value(QLatin1String("AutoConnect"), m_autoConnect).toBool();
-    m_autoSelect = qs->value(QLatin1String("AutoSelect"),m_autoSelect).toBool();
+    m_autoSelect = qs->value(QLatin1String("AutoSelect"), m_autoSelect).toBool();
-    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"),m_useUDPMirror).toBool();
+    m_useUDPMirror = qs->value(QLatin1String("UDPMirror"), m_useUDPMirror).toBool();
-    m_useExpertMode = qs->value(QLatin1String("ExpertMode"),m_useExpertMode).toBool();
+    m_useExpertMode = qs->value(QLatin1String("ExpertMode"), m_useExpertMode).toBool();
     qs->endGroup();
 }
 
-void GeneralSettings::saveSettings(QSettings* qs)
+void GeneralSettings::saveSettings(QSettings *qs)
 {
     qs->beginGroup(QLatin1String("General"));
 
-    if (m_language.isEmpty())
+    if (m_language.isEmpty()) {
         qs->remove(QLatin1String("OverrideLanguage"));
-    else
+    }
+    else {
         qs->setValue(QLatin1String("OverrideLanguage"), m_language);
+    }
 
     qs->setValue(QLatin1String("SaveSettingsOnExit"), m_saveSettingsOnExit);
     qs->setValue(QLatin1String("AutoConnect"), m_autoConnect);
@@ -217,8 +221,8 @@ void GeneralSettings::setLanguage(const QString &locale)
 {
     if (m_language != locale) {
         if (!locale.isEmpty()) {
-        QMessageBox::information((QWidget*)Core::ICore::instance()->mainWindow(), tr("Restart required"),
+            QMessageBox::information((QWidget*) Core::ICore::instance()->mainWindow(), tr("Restart required"),
-                                 tr("The language change will take effect after a restart of the OpenPilot GCS."));
+                    tr("The language change will take effect after a restart of the OpenPilot GCS."));
         }
         m_language = locale;
     }
@@ -251,8 +255,10 @@ bool GeneralSettings::useExpertMode() const
 
 void GeneralSettings::slotAutoConnect(int value)
 {
-    if (value==Qt::Checked)
+    if (value==Qt::Checked) {
         m_page->checkAutoSelect->setEnabled(false);
-    else
+    }
+    else {
         m_page->checkAutoSelect->setEnabled(true);
+    }
 }

ground/openpilotgcs/src/plugins/coreplugin/generalsettings.h

@@ -85,6 +85,7 @@ private:
     QList<QTextCodec *> m_codecs;
 
 };
+
 } // namespace Internal
 } // namespace Core
 

ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp

@@ -85,14 +85,12 @@
 #include <QtGui/QMessageBox>
 #include <QDesktopServices>
 #include <QElapsedTimer>
-#include "dialogs/importsettings.h"
 #include <QDir>
 
 using namespace Core;
 using namespace Core::Internal;
 
 static const char *uriListMimeFormatC = "text/uri-list";
-static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
 enum { debugMainWindow = 0 };
 
@@ -269,66 +267,9 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 void MainWindow::extensionsInitialized()
 {
     QSettings *qs = m_settings;
-    if (!qs->allKeys().count()) {
-        // no user settings, so try to load some default ones
-        QDir directory(QCoreApplication::applicationDirPath());
-#ifdef Q_OS_MAC
-        directory.cdUp();
-        directory.cd("Resources");
-#else
-        directory.cdUp();
-        directory.cd("share");
-        directory.cd("openpilotgcs");
-#endif
-        directory.cd("default_configurations");
-
-        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
-
-        QString filename;
-        // check if command line contains a config file name
-        QString commandLine;
-        foreach(QString str, qApp->arguments()) {
-            if (str.contains("configfile")) {
-                commandLine = str.split("=").at(1);
-            }
-        }
-        if (!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
-            // use file name specified on command line
-            filename = directory.absolutePath() + QDir::separator() + commandLine;
-            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
-        } else if (QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
-            // use default file name
-            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
-            qDebug() << "Default configuration file" << filename << "will be loaded.";
-        } else {
-            // prompt user for default file name
-            qDebug() << "Default configuration file" << directory.absolutePath() << QDir::separator()
-                    << DEFAULT_CONFIG_FILENAME << "was not found.";
-            importSettings *dialog = new importSettings(this);
-            dialog->loadFiles(directory.absolutePath());
-            dialog->exec();
-            filename = dialog->choosenConfig();
-            delete dialog;
-            qDebug() << "Configuration file" << filename << "was selected and will be loaded.";
-        }
-
-        // create settings from file
-        qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-
-        // transfer loaded settings to application settings
-        QStringList keys = qs->allKeys();
-        foreach(QString key, keys) {
-            m_settings->setValue(key, qs->value(key));
-        }
-
-        // and delete loaded settings
-        delete qs;
-        qs = m_settings;
-
-        qDebug() << "Configuration file" << filename << "was loaded.";
-    }
 
     qs->beginGroup("General");
+
     m_config_description = qs->value("Description", "none").toString();
     m_config_details = qs->value("Details", "none").toString();
     m_config_stylesheet = qs->value("StyleSheet", "none").toString();

ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml

@@ -39,72 +39,74 @@
  ****************************************************************************/
 
  import QtQuick 1.1
- import QtWebKit 1.0 
+ 
  
  // This is a tabbed pane element. Add a nested Rectangle to add a tab.
  TabWidget {
-	 	id: tabs
+    // Define AuthorsModel as type
-		width: 640; height: 480
+    property AuthorsModel authors: AuthorsModel {}
-		// This  tab is for the GCS version information
+
-		Rectangle {
+    id: tabs
-			property string title: "OpenPilot GCS"
+    width: 640; height: 480
-			anchors.fill: parent
+    // This  tab is for the GCS version information
-			color: "#e3e3e3"
+    Rectangle {
-			
+        property string title: "OpenPilot GCS"
-			Rectangle {
+        anchors.fill: parent
-				anchors.fill: parent; anchors.margins: 20
+        color: "#e3e3e3"
-				color: "#e3e3e3"
+
-				Image {
+        Rectangle {
-					source: "../images/openpilot_logo_128.png"
+            anchors.fill: parent; anchors.margins: 20
-					x: 0; y: 0; z: 100
+            color: "#e3e3e3"
-					fillMode: Image.PreserveAspectFit
+            Image {
-				}
+                source: "../images/openpilot_logo_128.png"
-                Flickable  {
+                x: 0; y: 0; z: 100
-					anchors.fill: parent
+                fillMode: Image.PreserveAspectFit
-					anchors.centerIn: parent
+            }
-                   Text {
+            Flickable  {
-					   id: versionLabel
+                anchors.fill: parent
-					   x: 156; y: 0
+                anchors.centerIn: parent
-					   width: 430; height: 379
+               Text {
-					   horizontalAlignment: Qt.AlignLeft
+                   id: versionLabel
-					   font.pixelSize: 12
+                   x: 156; y: 0
-					   wrapMode: Text.WordWrap
+                   width: 430; height: 379
-					// @var version exposed in authorsdialog.cpp
+                   horizontalAlignment: Qt.AlignLeft
-					   text: version
+                   font.pixelSize: 12
-                   }
+                   wrapMode: Text.WordWrap
-                }
+                // @var version exposed in authorsdialog.cpp
+                   text: version
+               }
             }
         }
-		// This is a stub for the Plugins.
+    }
-        // Rectangle {
+
-        //      property string title: "Plugins"
+    //  This tab is for the authors/contributors/credits
-        //      anchors.fill: parent
+    Rectangle {
-        //      color: "#e3e3e3"
+        property string title: "Authors"
-        //  
+        anchors.fill: parent; color: "#e3e3e3"
-        //      Rectangle {
-        //          anchors.fill: parent; anchors.margins: 20
-        //          color: "#7fff7f"
-        //          Text {
-        //              width: parent.width - 20
-        //              anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter
-        //              font.pixelSize: 20
-        //              wrapMode: Text.WordWrap
-        //          }
-        //      }
-        //  }
-  //  This tab is for the authors/contributors/credits
         Rectangle {
-			property string title: "Authors"
+            anchors.fill: parent; anchors.margins: 20
-			anchors.fill: parent; color: "#e3e3e3"
+            color: "#e3e3e3"
-			 Rectangle {
+            Text {
-				anchors.fill: parent; anchors.margins: 20
+                id: description
-				color: "#e3e3e3"
+                text: "<h4>These people have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.</h4><p>This list is sorted alphabetically by name</p>"
-				 FlickableWebView {
+                width: 600
-					  id: webView
+                wrapMode: Text.WordWrap
-					  z: 0
+
-					  url: "../CREDITS.html"
+            }
-					  anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom }
+            ListView {
-				 }
+                id: authorsView
-			 }
+                y: description.y + description.height + 20
-		 }
+                width: parent.width; height: parent.height - description.height - 20
- }
+                spacing: 3
+                model: authors
+                delegate: Text {
+                    text: name
+                }
+                clip: true
+            }
+            ScrollDecorator {
+                flickableItem: authorsView
+            }
+        }
+    }
+}

ground/openpilotgcs/src/plugins/coreplugin/qml/AuthorsModel.qml

@@ -0,0 +1,151 @@
+/*
+This list model was created for the AuthorsDialog. 
+*/
+import QtQuick 1.1
+
+ListModel {
+	
+	ListElement{ name:"Connor Abbott" }
+
+	ListElement{ name:"David Ankers" }
+
+	ListElement{ name:"Sergiy Anikeyev" }
+
+	ListElement{ name:"Pedro Assuncao" }
+
+	ListElement{ name:"Fredrik Arvidsson" }
+
+	ListElement{ name:"Werner Backes" }
+
+	ListElement{ name:"Jose Barros" }
+
+	ListElement{ name:"Pete Boehl" }
+
+	ListElement{ name:"David Carlson" }
+
+	ListElement{ name:"James Cotton" }
+
+	ListElement{ name:"Steve Doll" }
+
+	ListElement{ name:"Piotr Esden-Tempski" }
+
+	ListElement{ name:"Richard Flay" }
+
+	ListElement{ name:"Peter Farnworth" }
+
+	ListElement{ name:"Ed Faulkner" }
+
+	ListElement{ name:"Darren Furniss" }
+
+	ListElement{ name:"Frederic Goddeeris" }
+
+	ListElement{ name:"Daniel Godin" }
+
+	ListElement{ name:"Bani Greyling" }
+
+	ListElement{ name:"Nuno Guedes" }
+
+	ListElement{ name:"Erik Gustavsson" }
+
+	ListElement{ name:"Peter Gunnarsson" }
+
+	ListElement{ name:"Dean Hall" }
+
+	ListElement{ name:"Joe Hlebasko" }
+
+	ListElement{ name:"Andy Honecker" }
+
+	ListElement{ name:"Ryan Hunt" }
+
+	ListElement{ name:"Mark James" }
+
+	ListElement{ name:"Sami Korhonen" }
+
+	ListElement{ name:"Thorsten Klose" }
+
+	ListElement{ name:"Hallvard Kristiansen" }
+
+	ListElement{ name:"Edouard Lafargue" }
+
+	ListElement{ name:"Mike Labranche" }
+
+	ListElement{ name:"Fredrik Larsson" }
+
+	ListElement{ name:"Pablo Lema" }
+
+	ListElement{ name:"David Llama" }
+
+	ListElement{ name:"Matt Lipski" }
+
+	ListElement{ name:"Les Newell" }
+
+	ListElement{ name:"Ken Northup" }
+
+	ListElement{ name:"Greg Matthews" }
+
+	ListElement{ name:"Guy McCaldin" }
+
+	ListElement{ name:"Gary Mortimer" }
+
+	ListElement{ name:"Alessio Morale" }
+
+	ListElement{ name:"Cathy Moss" }
+
+	ListElement{ name:"Angus Peart" }
+
+	ListElement{ name:"Dmytro Poplavskiy" }
+
+	ListElement{ name:"Eric Price" }
+
+	ListElement{ name:"Richard Querin" }
+
+	ListElement{ name:"Randy Ram" }
+
+	ListElement{ name:"Laurent Ribon" }
+
+	ListElement{ name:"Julien Rouviere" }
+
+	ListElement{ name:"Jackson Russell" }
+
+	ListElement{ name:"Zik Saleeba" }
+
+	ListElement{ name:"Professor Dale Schinstock" }
+
+	ListElement{ name:"Professor Kenn Sebesta" }
+
+	ListElement{ name:"Oleg Semyonov" }
+
+	ListElement{ name:"Stacey Sheldon" }
+
+	ListElement{ name:"Troy Schultz" }
+
+	ListElement{ name:"Dr. Erhard Siegl" }
+
+	ListElement{ name:"Mike Smith" }
+
+	ListElement{ name:"Alex Sowa" }
+
+	ListElement{ name:"Pete Stapley" }
+
+	ListElement{ name:"Rowan Taubitz" }
+
+	ListElement{ name:"Andrew Thoms" }
+
+	ListElement{ name:"Jasper van Loenen" }
+
+	ListElement{ name:"Vassilis Varveropoulos" }
+
+	ListElement{ name:"Kevin Vertucio" }
+
+	ListElement{ name:"Alex Vrubel" }
+
+	ListElement{ name:"Brian Webb" }
+
+	ListElement{ name:"Justin Welander" }
+
+	ListElement{ name:"Mat Wellington" }
+
+	ListElement{ name:"Kendal Wells" }
+
+	ListElement{ name:"Dmitriy Zaitsev" }
+}

ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml

@@ -1,196 +0,0 @@
-/****************************************************************************
-**
-** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
-** Contact: http://www.qt-project.org/
-**
-** This file is part of the QtDeclarative module of the Qt Toolkit.
-**
-** $QT_BEGIN_LICENSE:LGPL$
-** GNU Lesser General Public License Usage
-** This file may be used under the terms of the GNU Lesser General Public
-** License version 2.1 as published by the Free Software Foundation and
-** appearing in the file LICENSE.LGPL included in the packaging of this
-** file. Please review the following information to ensure the GNU Lesser
-** General Public License version 2.1 requirements will be met:
-** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
-**
-** In addition, as a special exception, Nokia gives you certain additional
-** rights. These rights are described in the Nokia Qt LGPL Exception
-** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
-**
-** GNU General Public License Usage
-** Alternatively, this file may be used under the terms of the GNU General
-** Public License version 3.0 as published by the Free Software Foundation
-** and appearing in the file LICENSE.GPL included in the packaging of this
-** file. Please review the following information to ensure the GNU General
-** Public License version 3.0 requirements will be met:
-** http://www.gnu.org/copyleft/gpl.html.
-**
-** Other Usage
-** Alternatively, this file may be used in accordance with the terms and
-** conditions contained in a signed written agreement between you and Nokia.
-**
-**
-**
-**
-**
-**
-** $QT_END_LICENSE$
-**
-****************************************************************************/
-
-import QtQuick 1.0
-import QtWebKit 1.0
-
-Flickable {
-    property alias title: webView.title
-    property alias icon: webView.icon
-    property alias progress: webView.progress
-    property alias url: webView.url
-    property alias back: webView.back
-    property alias stop: webView.stop
-    property alias reload: webView.reload
-    property alias forward: webView.forward
-
-    id: flickable
-    width: parent.width
-    contentWidth: Math.max(parent.width,webView.width)
-    contentHeight: Math.max(parent.height,webView.height)
-    // anchors.top: headerSpace.bottom
-    anchors.bottom: parent.top
-    anchors.left: parent.left
-    anchors.right: parent.right
-    pressDelay: 200
-	clip: true
-	
-    onWidthChanged : {
-        // Expand (but not above 1:1) if otherwise would be smaller that available width.
-        if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0)
-            webView.contentsScale = width / webView.width * webView.contentsScale;
-    }
-
-    WebView {
-        id: webView
-        transformOrigin: Item.TopLeft
-
-        function fixUrl(url)
-        {
-            if (url == "") return url
-            if (url[0] == "/") return "file://"+url
-            if (url.indexOf(":")<0) {
-                if (url.indexOf(".")<0 || url.indexOf(" ")>=0) {
-                    // Fall back to a search engine; hard-code Wikipedia
-                    return "http://en.wikipedia.org/w/index.php?search="+url
-                } else {
-                    return "http://"+url
-                }
-            }
-            return url
-        }
-
-        url: fixUrl(webBrowser.urlString)
-        smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions
-        focus: true
-
-        onAlert: console.log(message)
-
-        function doZoom(zoom,centerX,centerY)
-        {
-            if (centerX) {
-                var sc = zoom*contentsScale;
-                scaleAnim.to = sc;
-                flickVX.from = flickable.contentX
-                flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width))
-                finalX.value = flickVX.to
-                flickVY.from = flickable.contentY
-                flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height))
-                finalY.value = flickVY.to
-                quickZoom.start()
-            }
-        }
-
-        Keys.onLeftPressed: webView.contentsScale -= 0.1
-        Keys.onRightPressed: webView.contentsScale += 0.1
-
-        preferredWidth: flickable.width
-        preferredHeight: flickable.height
-        contentsScale: 1
-        onContentsSizeChanged: {
-            // zoom out
-            contentsScale = Math.min(1,flickable.width / contentsSize.width)
-        }
-        onUrlChanged: {
-            // got to topleft
-            flickable.contentX = 0
-            flickable.contentY = 0
-            // if (url != null) { header.editUrl = url.toString(); }
-        }
-        onDoubleClick: {
-                        if (!heuristicZoom(clickX,clickY,2.5)) {
-                            var zf = flickable.width / contentsSize.width
-                            if (zf >= contentsScale)
-                                zf = 2.0*contentsScale // zoom in (else zooming out)
-                            doZoom(zf,clickX*zf,clickY*zf)
-                         }
-                       }
-
-        SequentialAnimation {
-            id: quickZoom
-
-            PropertyAction {
-                target: webView
-                property: "renderingEnabled"
-                value: false
-            }
-            ParallelAnimation {
-                NumberAnimation {
-                    id: scaleAnim
-                    target: webView
-                    property: "contentsScale"
-                    // the to property is set before calling
-                    easing.type: Easing.Linear
-                    duration: 200
-                }
-                NumberAnimation {
-                    id: flickVX
-                    target: flickable
-                    property: "contentX"
-                    easing.type: Easing.Linear
-                    duration: 200
-                    from: 0 // set before calling
-                    to: 0 // set before calling
-                }
-                NumberAnimation {
-                    id: flickVY
-                    target: flickable
-                    property: "contentY"
-                    easing.type: Easing.Linear
-                    duration: 200
-                    from: 0 // set before calling
-                    to: 0 // set before calling
-                }
-            }
-            // Have to set the contentXY, since the above 2
-            // size changes may have started a correction if
-            // contentsScale < 1.0.
-            PropertyAction {
-                id: finalX
-                target: flickable
-                property: "contentX"
-                value: 0 // set before calling
-            }
-            PropertyAction {
-                id: finalY
-                target: flickable
-                property: "contentY"
-                value: 0 // set before calling
-            }
-            PropertyAction {
-                target: webView
-                property: "renderingEnabled"
-                value: true
-            }
-        }
-        onZoomTo: doZoom(zoom,centerX,centerY)
-    }
-}

ground/openpilotgcs/src/plugins/coreplugin/qml/ScrollDecorator.qml

@@ -0,0 +1,40 @@
+import QtQuick 1.1
+
+Rectangle {
+    id: scrollDecorator
+
+    property Flickable flickableItem: null
+
+    Loader {
+        id: scrollLoader
+        sourceComponent: scrollDecorator.flickableItem ? scrollBar : undefined
+    }
+
+    Component.onDestruction: scrollLoader.sourceComponent = undefined
+
+    Component {
+        id: scrollBar
+        Rectangle {
+            property Flickable flickable: scrollDecorator.flickableItem
+
+            parent: flickable
+            anchors.right: parent.right
+
+            smooth: true
+            radius: 2
+            color: "gray"
+            border.color: "lightgray"
+            border.width: 1.0
+            opacity: flickable.moving ? 0.8 : 0.4
+
+            Behavior on opacity {
+                NumberAnimation { duration: 500 }
+            }
+
+            width: 4
+            height: flickable.height * (flickable.height / flickable.contentHeight)
+            y: flickable.height * (flickable.contentY / flickable.contentHeight)
+            visible: flickable.height < flickable.contentHeight
+        }
+    }
+}

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp

@@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
 
 void UAVObjectField::limitsInitialize(const QString &limits)
 {
-    /// format
+    // Limit string format:
-    /// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller)
+    //     %        - start char
-    /// (VALX)->value
+    //     XXXX     - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
-    /// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3
+    //     TY       - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
-    /// example: first element bigger than 3 and second element inside [2.3,5]
+    //     VAL      - values for TY separated by colon
-    /// "%BI:3,%BE:2.3:5"
+    //     ,        - rule separator (may have leading or trailing spaces)
+    //     ;        - element separator (may have leading or trailing spaces)
+    //
+    // Examples:
+    //     Disable few flight modes for Revo (00903):
+    //         "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
+    //     Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
+    //         "%0401BI:3; %BE:2.3:5"
+    //     Set applicable range [0-500] for 3 elements of array for all boards:
+    //         "%BE:0:500; %BE:0:500; %BE:0:500"
     if(limits.isEmpty())
         return;
-    QStringList stringPerElement=limits.split(",");
+    QStringList stringPerElement = limits.split(";");
     quint32 index=0;
     foreach (QString str, stringPerElement) {
-        QStringList ruleList=str.split(";");
+        QStringList ruleList = str.split(",");
         QList<LimitStruct> limitList;
         foreach(QString rule,ruleList)
         {

make/apps-defs.mk

@@ -101,8 +101,8 @@ SRC += $(MATHLIB)/sin_lookup.c
 SRC += $(MATHLIB)/pid.c
 
 ## Modules
-SRC += $(foreach mod, $(MODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
+SRC += $(foreach mod, $(MODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
-SRC += $(foreach mod, $(OPTMODULES), $(wildcard $(OPMODULEDIR)/$(mod)/*.c))
+SRC += $(foreach mod, $(OPTMODULES), $(sort $(wildcard $(OPMODULEDIR)/$(mod)/*.c)))
 
 # Declare all non-optional modules as built-in to force inclusion.
 # Built-in modules are always enabled and cannot be disabled.
@@ -175,3 +175,6 @@ ifeq ($(MCU),cortex-m3)
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 endif
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

make/boot-defs.mk

@@ -126,3 +126,6 @@ ifeq ($(MCU),cortex-m3)
 else ifeq ($(MCU),cortex-m4)
     LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_BL))
 endif
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))

make/common-defs.mk

@@ -223,13 +223,10 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
-
 # Add opfw target
 $(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
 
-# Add jtag targets (program and wipe)
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
-$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_JTAG_CONFIG),$(OPENOCD_CONFIG)))
 
 .PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf

make/tools.mk

@@ -52,15 +52,16 @@ endif
 ##############################
 
 ifeq ($(UNAME), Linux)
-    ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux.tar.bz2
     ifeq ($(ARCH), x86_64)
-        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux-x64.tar.bz2
+        ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-amd64.tar.bz2
+        QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
     else
-        QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-linux.tar.bz2
+        ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-linux-i686.tar.bz2
+        QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
     endif
 else ifeq ($(UNAME), Darwin)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-mac.tar.bz2
-    QT_SDK_URL  := TODO/qt-4.8.4-mac.tar.bz2
+    QT_SDK_URL  := "Please install native Qt 4.8.x SDK using package manager"
 else ifeq ($(UNAME), Windows)
     ARM_SDK_URL := http://wiki.openpilot.org/download/attachments/18612236/gcc-arm-none-eabi-4_7-2013q1-20130313-windows.tar.bz2
     QT_SDK_URL  := http://wiki.openpilot.org/download/attachments/18612236/qt-4.8.4-windows.tar.bz2

package/linux/deb_common/postinst

@@ -20,7 +20,7 @@ set -e
 
 case "$1" in
     configure)
-        sudo udevadm control --reload-rules >&2
+        /sbin/udevadm control --reload-rules >&2
     ;;
 
     abort-upgrade|abort-remove|abort-deconfigure)

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -20,13 +20,55 @@
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
-        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum"
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+		elementnames="Roll,Pitch,Yaw"
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization2Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
+        <field name="Stabilization3Settings" units="" type="enum"
+		elementnames="Roll,Pitch,Yaw"
+		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
+		defaultvalue="Attitude,Attitude,Rate"
+		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
-        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/>
+        <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
+        <field name="FlightModePosition"
+               units=""
+               type="enum"
+               elements="6"
+               options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
+               defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
+               limits="\
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
+                       \
+                       %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -4,15 +4,15 @@
 	<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
 	<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
-	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
+	<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
-	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
+	<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
 
-	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
+	<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
+	<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
-	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
+	<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
-	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
+	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
-	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
+	<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
-	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
+	<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
 
 	<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
 	<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>

shared/uavobjectdefinition/systemalarms.xml

@@ -1,12 +1,13 @@
 <xml>
     <object name="SystemAlarms" singleinstance="true" settings="false">
-        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.</description>
+        <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.  Some modules may have a module defined Status and Substatus fields that details its condition.</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical" defaultvalue="Uninitialised">
 		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
 			<elementname>OutOfMemory</elementname>
 			<elementname>StackOverflow</elementname>
 			<elementname>CPUOverload</elementname>
-			<elementname>SystemConfiguration</elementname>
 			<elementname>EventSystem</elementname>
 			<elementname>Telemetry</elementname>
 			<elementname>ManualControl</elementname>
@@ -19,10 +20,26 @@
 			<elementname>FlightTime</elementname>
 			<elementname>I2C</elementname>
 			<elementname>GPS</elementname>
-			<elementname>BootFault</elementname>
 			<elementname>Power</elementname>
 		</elementnames>
 	</field>
+	<field name="ExtendedAlarmStatus" units="" type="enum" defaultvalue="None">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+		<options>
+			<option>None</option>
+			<option>RebootRequired</option>
+			<option>FlightMode</option>
+		</options>
+	</field>
+	<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">
+		<elementnames>
+			<elementname>SystemConfiguration</elementname>
+			<elementname>BootFault</elementname>
+		</elementnames>
+	</field>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>