Merge branch 'next' into MikeL

Conflicts:
	ground/openpilotgcs/src/plugins/config/airframe.ui
	ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configoutputwidget.h
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h

HISTORY.txt

@@ -1,5 +1,19 @@
 Short summary of changes.  For a complete list see the git log.
 
+2012-06-04
+AeroSimRC support merged into next
+
+2012-05-26
+VirtualFlybar which allows a more aggressive flight mode than rate mode
+support.  Also PiroCompensation added.
+
+2012-05-26
+Revert some UI changes that didn't work consistently between OSX and Windows.
+
+2012-05-24
+Merged the updated firmware for the PipXtreme, thanks to Brian for a lot of
+work on this.
+
 2012-05-04
 Support for CC3D.  This involved changes to various things such as the sensors
 being split from AttitudeRaw to Accels,Gyros,Magnetometer.  A single firmware

Makefile

@@ -630,7 +630,7 @@ all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
 all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
 endef
 
-ALL_BOARDS := coptercontrol pipxtreme revolution simposix
+ALL_BOARDS := coptercontrol pipxtreme
 
 # Friendly names of each board (used to find source tree)
 coptercontrol_friendly := CopterControl

flight/CopterControl/System/pios_board.c

@@ -122,6 +122,7 @@ static const struct flashfs_cfg flashfs_w25x_cfg = {
 	.obj_table_start = 0x00000010,
 	.obj_table_end = 0x00001000,
 	.sector_size = 0x00001000,
+	.chip_size = 0x00080000,
 };
 
 static const struct pios_flash_jedec_cfg flash_w25x_cfg = {
@@ -135,6 +136,7 @@ static const struct flashfs_cfg flashfs_m25p_cfg = {
 	.obj_table_start = 0x00000010,
 	.obj_table_end = 0x00010000,
 	.sector_size = 0x00010000,
+	.chip_size = 0x00200000,
 };
 
 static const struct pios_flash_jedec_cfg flash_m25p_cfg = {

flight/Modules/Attitude/attitude.c

@@ -234,17 +234,21 @@ static void AttitudeTask(void *parameters)
 
 		AccelsData accels;
 		GyrosData gyros;
-		int32_t retval;
-		if(cc3d) 
+		int32_t retval = 0;
+
+		if (cc3d)
 			retval = updateSensorsCC3D(&accels, &gyros);
 		else
 			retval = updateSensors(&accels, &gyros);
 
-		if(retval != 0)
+		// Only update attitude when sensor data is good
+		if (retval != 0)
 			AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
 		else {
-			// Only update attitude when sensor data is good
-			updateAttitude(&accels, &gyros);
+			// Do not update attitude data in simulation mode
+			if (!AttitudeActualReadOnly())
+				updateAttitude(&accels, &gyros);
+
 			AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
 		}
 	}
@@ -267,7 +271,11 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
 		AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
 		return -1;
 	}
-	
+
+	// Do not read raw sensor data in simulation mode
+	if (GyrosReadOnly() || AccelsReadOnly())
+		return 0;
+
 	// No accel data available
 	if(PIOS_ADXL345_FifoElements() == 0)
 		return -1;

flight/Modules/ManualControl/manualcontrol.c

@@ -586,6 +586,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
 	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
+	     (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
 	     0; // this is an invalid mode
 					      ;
 	stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@@ -593,6 +594,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
 	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
+	     (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
 	     0; // this is an invalid mode
 
 	stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@@ -600,6 +602,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
 	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
+	     (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
 	     0; // this is an invalid mode
 
 	stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;

flight/Modules/Stabilization/stabilization.c

@@ -55,7 +55,7 @@
 #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
 #define FAILSAFE_TIMEOUT_MS 30
 
-enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
+enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
 
 enum {ROLL,PITCH,YAW,MAX_AXES};
 
@@ -74,21 +74,24 @@ typedef struct {
 static xTaskHandle taskHandle;
 static StabilizationSettingsData settings;
 static xQueueHandle queue;
-float dT = 1;
 float gyro_alpha = 0;
 float gyro_filtered[3] = {0,0,0};
 float axis_lock_accum[3] = {0,0,0};
+float vbar_sensitivity[3] = {1, 1, 1};
 uint8_t max_axis_lock = 0;
 uint8_t max_axislock_rate = 0;
 float weak_leveling_kp = 0;
 uint8_t weak_leveling_max = 0;
 bool lowThrottleZeroIntegral;
-
+float vbar_integral[3] = {0, 0, 0};
+float vbar_decay = 0.991f;
 pid_type pids[PID_MAX];
+int8_t vbar_gyros_suppress;
+bool vbar_piro_comp = false;
 
 // Private functions
 static void stabilizationTask(void* parameters);
-static float ApplyPid(pid_type * pid, const float err);
+static float ApplyPid(pid_type * pid, const float err, float dT);
 static float bound(float val);
 static void ZeroPids(void);
 static void SettingsUpdatedCb(UAVObjEvent * ev);
@@ -154,6 +157,8 @@ static void stabilizationTask(void* parameters)
 	// Main task loop
 	ZeroPids();
 	while(1) {
+		float dT;
+
 		PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
 
 		// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
@@ -227,6 +232,7 @@ static void stabilizationTask(void* parameters)
 			switch(stabDesired.StabilizationMode[i])
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
 					rateDesiredAxis[i] = attitudeDesiredAxis[i];
 
 					// Zero attitude and axis lock accumulators
@@ -251,7 +257,7 @@ static void stabilizationTask(void* parameters)
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
-					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
+					rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
 					
 					if(rateDesiredAxis[i] > settings.MaximumRate[i])
 						rateDesiredAxis[i] = settings.MaximumRate[i];
@@ -275,7 +281,7 @@ static void stabilizationTask(void* parameters)
 						else if(axis_lock_accum[i] < -max_axis_lock)
 							axis_lock_accum[i] = -max_axis_lock;
 
-						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
+						rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
 					}
 					
 					if(rateDesiredAxis[i] > settings.MaximumRate[i])
@@ -287,42 +293,78 @@ static void stabilizationTask(void* parameters)
 			}
 		}
 
+		// Piro compensation rotates the virtual flybar by yaw step to keep it
+		// rotated to external world
+		if (vbar_piro_comp) {
+			const float F_PI = 3.14159f;
+			float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
+			float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
+			
+			float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
+			float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
+			
+			vbar_integral[1] = vbar_pitch;
+			vbar_integral[0] = vbar_roll;
+		}
+
 		uint8_t shouldUpdate = 1;
 #if defined(DIAGNOSTICS)
 		RateDesiredSet(&rateDesired);
 #endif
 		ActuatorDesiredGet(&actuatorDesired);
 		//Calculate desired command
-		for(int8_t ct=0; ct< MAX_AXES; ct++)
+		for(uint32_t i = 0; i < MAX_AXES; i++)
 		{
-			switch(stabDesired.StabilizationMode[ct])
+			switch(stabDesired.StabilizationMode[i])
 			{
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
 				{
-					float command = ApplyPid(&pids[PID_RATE_ROLL + ct],  rateDesiredAxis[ct] - gyro_filtered[ct]);
-					actuatorDesiredAxis[ct] = bound(command);
+					float command = ApplyPid(&pids[PID_RATE_ROLL + i],  rateDesiredAxis[i] - gyro_filtered[i], dT);
+					actuatorDesiredAxis[i] = bound(command);
+					break;
+				}
+				case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
+				{
+					// Track the angle of the virtual flybar which includes a slow decay
+					vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
+					if (vbar_integral[i] > settings.VbarMaxAngle)
+						vbar_integral[i] = settings.VbarMaxAngle;
+					if (-vbar_integral[i] < -settings.VbarMaxAngle)
+						vbar_integral[i] = -settings.VbarMaxAngle;
+
+					// Command signal is composed of stick input added to the gyro and virtual flybar
+					float gyro_gain = 1.0f;
+					if (vbar_gyros_suppress > 0) {
+						gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
+						gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
+					}
+					float command = rateDesiredAxis[i] * vbar_sensitivity[i] - gyro_gain * (
+							vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
+							gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
+
+					actuatorDesiredAxis[i] = bound(command);
 					break;
 				}
 				case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
-					switch (ct)
+					switch (i)
 				{
 					case ROLL:
-						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
+						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
 						shouldUpdate = 1;
 						pids[PID_RATE_ROLL].iAccumulator = 0;
 						pids[PID_ROLL].iAccumulator = 0;
 						break;
 					case PITCH:
-						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
+						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
 						shouldUpdate = 1;
 						pids[PID_RATE_PITCH].iAccumulator = 0;
 						pids[PID_PITCH].iAccumulator = 0;
 						break;
 					case YAW:
-						actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]);
+						actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
 						shouldUpdate = 1;
 						pids[PID_RATE_YAW].iAccumulator = 0;
 						pids[PID_YAW].iAccumulator = 0;
@@ -360,7 +402,7 @@ static void stabilizationTask(void* parameters)
 	}
 }
 
-float ApplyPid(pid_type * pid, const float err)
+float ApplyPid(pid_type * pid, const float err, float dT)
 {
 	float diff = (err - pid->lastErr);
 	pid->lastErr = err;
@@ -400,44 +442,60 @@ static float bound(float val)
 	return val;
 }
 
-
 static void SettingsUpdatedCb(UAVObjEvent * ev)
 {
 	memset(pids,0,sizeof (pid_type) * PID_MAX);
 	StabilizationSettingsGet(&settings);
 
 	// Set the roll rate PID constants
-	pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
-	pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
-	pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
-	pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
+	pids[PID_RATE_ROLL].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
+	pids[PID_RATE_ROLL].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
+	pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
+	pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
 
 	// Set the pitch rate PID constants
-	pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
-	pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
-	pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
-	pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
+	pids[PID_RATE_PITCH].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
+	pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
+	pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
+	pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
 
 	// Set the yaw rate PID constants
-	pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
-	pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
-	pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
-	pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
+	pids[PID_RATE_YAW].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
+	pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
+	pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
+	pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
 
 	// Set the roll attitude PI constants
-	pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
-	pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
-	pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
+	pids[PID_ROLL].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
+	pids[PID_ROLL].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
+	pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
 
 	// Set the pitch attitude PI constants
-	pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
-	pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
-	pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
+	pids[PID_PITCH].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
+	pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
+	pids[PID_PITCH].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
 
 	// Set the yaw attitude PI constants
-	pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
-	pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
-	pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
+	pids[PID_YAW].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
+	pids[PID_YAW].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
+	pids[PID_YAW].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
+
+	// Set the roll attitude PI constants
+	pids[PID_VBAR_ROLL].p = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
+	pids[PID_VBAR_ROLL].i = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
+	
+	// Set the pitch attitude PI constants
+	pids[PID_VBAR_PITCH].p = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KP];
+	pids[PID_VBAR_PITCH].i = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KI];
+	
+	// Set the yaw attitude PI constants
+	pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
+	pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
+
+	// Need to store the vbar sensitivity
+	vbar_sensitivity[0] = settings.VbarSensitivity[0];
+	vbar_sensitivity[1] = settings.VbarSensitivity[1];
+	vbar_sensitivity[2] = settings.VbarSensitivity[2];
 
 	// Maximum deviation to accumulate for axis lock
 	max_axis_lock = settings.MaxAxisLock;
@@ -460,6 +518,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
 		gyro_alpha = 0;   // not trusting this to resolve to 0
 	else
 		gyro_alpha = expf(-fakeDt  / settings.GyroTau);
+
+	// Compute time constant for vbar decay term based on a tau
+	vbar_decay = expf(-fakeDt / settings.VbarTau);
+	vbar_gyros_suppress = settings.VbarGyroSuppress;
+	vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
 }
 
 

flight/Modules/System/systemmod.c

@@ -215,7 +215,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 		// Get object data
 		ObjectPersistenceGet(&objper);
 
-		int retval = -1;
+		int retval = 1;
 		// Execute action
 		if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
 			if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
@@ -242,6 +242,13 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 				}
 				// Save selected instance
 				retval = UAVObjSave(obj, objper.InstanceID);
+
+				// Not sure why this is needed
+				vTaskDelay(10);
+
+				// Verify saving worked
+				if (retval == 0)
+					retval = UAVObjLoad(obj, objper.InstanceID);
 			} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
 				   || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
 				retval = UAVObjSaveSettings();
@@ -271,9 +278,17 @@ static void objectUpdatedCb(UAVObjEvent * ev)
 			retval = PIOS_FLASHFS_Format();
 #endif
 		}
-		if(retval == 0) { 
-			objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
-			ObjectPersistenceSet(&objper);
+		switch(retval) {
+			case 0:
+				objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
+				ObjectPersistenceSet(&objper);
+				break;
+			case -1:
+				objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR;
+				ObjectPersistenceSet(&objper);
+				break;
+			default:
+				break;
 		}
 	}
 }

flight/Modules/TxPID/txpid.c

@@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
 			case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
 				needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
 				break;
+			case TXPIDSETTINGS_PIDS_GYROTAU:
+				needsUpdate |= update(&stab.GyroTau, value);
+				break;
 			default:
 				PIOS_Assert(0);
 			}

flight/PiOS/Common/pios_flashfs_objlist.c

@@ -186,6 +186,7 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
  * @retval -2 No room in object table
  * @retval -3 Unable to write entry into object table
  * @retval -4 FS not initialized
+ * @retval -5
  */
 int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 {
@@ -206,6 +207,10 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
 	if((addr + sizeof(header)) > cfg->obj_table_end)
 		return -2;
 
+	// Verify the address is within the chip
+	if((addr + cfg->sector_size) > cfg->chip_size)
+		return -5;
+
 	if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
 		return -3;
 

flight/PiOS/inc/pios_flashfs_objlist.h

@@ -37,6 +37,7 @@ struct flashfs_cfg {
 	uint32_t obj_table_start;
 	uint32_t obj_table_end;
 	uint32_t sector_size;
+	uint32_t chip_size;
 };
 
 int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * cfg);

flight/Revolution/System/pios_board.c

@@ -234,6 +234,7 @@ static const struct flashfs_cfg flashfs_m25p_cfg = {
 	.obj_table_start = 0x00000010,
 	.obj_table_end = 0x00010000,
 	.sector_size = 0x00010000,
+	.chip_size = 0x00200000,
 };
 
 static const struct pios_flash_jedec_cfg flash_m25p_cfg = {

flight/UAVObjects/inc/uavobjectmanager.h

@@ -74,8 +74,8 @@ typedef enum {
  *
  *   Bit(s)  Name                     Meaning
  *   ------  ----                     -------
- *      0    access                   Defines the access level for the local transactions (readonly=0 and readwrite=1)
- *      1    gcsAccess                Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
+ *      0    access                   Defines the access level for the local transactions (readonly=1 and readwrite=0)
+ *      1    gcsAccess                Defines the access level for the local GCS transactions (readonly=1 and readwrite=0), not used in the flight s/w
  *      2    telemetryAcked           Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
  *      3    gcsTelemetryAcked        Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
  *    4-5    telemetryUpdateMode      Update mode used by the telemetry module (UAVObjUpdateMode)

flight/UAVObjects/uavobjectmanager.c

@@ -721,10 +721,11 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
 		return -1;
 
 	// Fire event on success
-	if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0)
+	int32_t retval;
+	if ((retval = PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data)) == 0)
 		sendEvent(objEntry, instId, EV_UNPACKED);
 	else
-		return -1;
+		return retval;
 #endif
 
 #if defined(PIOS_INCLUDE_SDCARD)

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

@@ -1,894 +1,835 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>CameraStabilizationWidget</class>
- <widget class="QWidget" name="CameraStabilizationWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>720</width>
-    <height>567</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
-   <item>
-    <widget class="QScrollArea" name="scrollArea">
-     <property name="styleSheet">
-      <string notr="true">#groupBox_5,#groupBox{
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-border: 1px outset #999;
-border-radius: 3;
-font:bold;
-}
-
-QGroupBox::title {
-     subcontrol-origin: margin;
-     subcontrol-position: top center; /* position at the top center */
-     padding: 0 3px;
-     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
-                                       stop: 0 #FFOECE, stop: 1 #FFFFFF);
-	top: 5px;
- }</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
-     </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
-     </property>
-     <widget class="QWidget" name="scrollAreaWidgetContents_2">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>702</width>
-        <height>484</height>
-       </rect>
-      </property>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <widget class="QCheckBox" name="enableCameraStabilization">
-         <property name="focusPolicy">
-          <enum>Qt::StrongFocus</enum>
-         </property>
-         <property name="text">
-          <string>Enable CameraStabilization module</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>After enabling the module, you must power cycle before using and configuring.</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_3">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_5">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>100</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Basic Settings (Stabilization)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_9">
-          <item row="3" column="3">
-           <widget class="QSpinBox" name="yawOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera yaw angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QSpinBox" name="pitchOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera pitch angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QSpinBox" name="rollOutputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Camera roll angle for 100% output value, deg.
-
-This value should be tuned for particular gimbal and servo. You also
-have to define channel output range using Output configuration tab.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QComboBox" name="yawChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Yaw output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="pitchChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Pitch output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="rollChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Roll output channel for camera gimbal</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_42">
-            <property name="text">
-             <string>Output Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_43">
-            <property name="text">
-             <string>Output Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QLabel" name="label_44">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QLabel" name="label_45">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QLabel" name="label_46">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <spacer name="verticalSpacer_4">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>40</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>204</height>
-          </size>
-         </property>
-         <property name="title">
-          <string>Advanced Settings (Control)</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout_8">
-          <item row="1" column="3">
-           <widget class="QLabel" name="label_32">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Yaw</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QLabel" name="label_33">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Pitch</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="1">
-           <widget class="QLabel" name="label_34">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Roll</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QComboBox" name="yawInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera yaw
-
-Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="pitchInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera pitch
-
-Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="rollInputChannel">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input channel to control camera roll
-
-Don't forget to map this channel using Input configuration tab.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>None</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_35">
-            <property name="text">
-             <string>Input Channel</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="3">
-           <widget class="QComboBox" name="yawStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="4" column="3">
-           <widget class="QSpinBox" name="yawInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="3">
-           <widget class="QSpinBox" name="yawInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="3">
-           <widget class="QSpinBox" name="yawResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for yaw axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QComboBox" name="pitchStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="4" column="2">
-           <widget class="QSpinBox" name="pitchInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="2">
-           <widget class="QSpinBox" name="pitchInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="2">
-           <widget class="QSpinBox" name="pitchResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for pitch axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QComboBox" name="rollStabilizationMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Axis stabilization mode
-
-Attitude: camera tracks level for the axis. Input controls the deflection.
-AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
-            </property>
-            <item>
-             <property name="text">
-              <string>Attitude</string>
-             </property>
-            </item>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QSpinBox" name="rollInputRange">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>20</number>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="1">
-           <widget class="QSpinBox" name="rollInputRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
-            </property>
-            <property name="maximum">
-             <number>180</number>
-            </property>
-            <property name="value">
-             <number>50</number>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="1">
-           <widget class="QSpinBox" name="rollResponseTime">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Input low-pass filter response time for roll axis, ms.
-
-This option smoothes the stick input. Zero value disables LPF.</string>
-            </property>
-            <property name="maximum">
-             <number>1000</number>
-            </property>
-            <property name="value">
-             <number>150</number>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="0">
-           <widget class="QLabel" name="label_36">
-            <property name="text">
-             <string>MaxAxisLockRate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="0">
-           <widget class="QLabel" name="label_37">
-            <property name="text">
-             <string>Response Time</string>
-            </property>
-           </widget>
-          </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="label_38">
-            <property name="text">
-             <string>Input Rate</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_39">
-            <property name="text">
-             <string>Input Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_40">
-            <property name="text">
-             <string>Stabilization Mode</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="2" colspan="2">
-           <widget class="QLabel" name="label_41">
-            <property name="text">
-             <string>(the same value for Roll, Pitch, Yaw)</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="1">
-           <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Stick input deadband for all axes in AxisLock mode, deg/s.
-
-When stick input is within the MaxAxisLockRate range, camera tracks
-current attitude. Otherwise it starts moving according to input with
-rate depending on input value.
-
-If you have drift in your Tx controls, you may want to increase this
-value.</string>
-            </property>
-            <property name="decimals">
-             <number>1</number>
-            </property>
-            <property name="singleStep">
-             <double>0.100000000000000</double>
-            </property>
-            <property name="value">
-             <double>1.000000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <spacer name="verticalSpacer_5">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>40</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="message">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationHelp">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>32</width>
-           <height>32</height>
-          </size>
-         </property>
-         <property name="font">
-          <font>
-           <kerning>true</kerning>
-          </font>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-         <property name="icon">
-          <iconset resource="../coreplugin/core.qrc">
-           <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
-         </property>
-         <property name="iconSize">
-          <size>
-           <width>32</width>
-           <height>32</height>
-          </size>
-         </property>
-         <property name="shortcut">
-          <string>Ctrl+S</string>
-         </property>
-         <property name="default">
-          <bool>false</bool>
-         </property>
-         <property name="flat">
-          <bool>true</bool>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationResetToDefaults">
-         <property name="toolTip">
-          <string>Load default CameraStabilization settings except output channels
-
-Loaded settings are not applied automatically. You have to click the
-Apply or Save button afterwards.</string>
-         </property>
-         <property name="text">
-          <string>Reset To Defaults</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveRAM">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="camerastabilizationSaveSD">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>enableCameraStabilization</tabstop>
-  <tabstop>rollChannel</tabstop>
-  <tabstop>pitchChannel</tabstop>
-  <tabstop>yawChannel</tabstop>
-  <tabstop>rollOutputRange</tabstop>
-  <tabstop>pitchOutputRange</tabstop>
-  <tabstop>yawOutputRange</tabstop>
-  <tabstop>rollInputChannel</tabstop>
-  <tabstop>pitchInputChannel</tabstop>
-  <tabstop>yawInputChannel</tabstop>
-  <tabstop>rollStabilizationMode</tabstop>
-  <tabstop>pitchStabilizationMode</tabstop>
-  <tabstop>yawStabilizationMode</tabstop>
-  <tabstop>rollInputRange</tabstop>
-  <tabstop>pitchInputRange</tabstop>
-  <tabstop>yawInputRange</tabstop>
-  <tabstop>rollInputRate</tabstop>
-  <tabstop>pitchInputRate</tabstop>
-  <tabstop>yawInputRate</tabstop>
-  <tabstop>rollResponseTime</tabstop>
-  <tabstop>pitchResponseTime</tabstop>
-  <tabstop>yawResponseTime</tabstop>
-  <tabstop>MaxAxisLockRate</tabstop>
-  <tabstop>camerastabilizationHelp</tabstop>
-  <tabstop>camerastabilizationResetToDefaults</tabstop>
-  <tabstop>camerastabilizationSaveRAM</tabstop>
-  <tabstop>camerastabilizationSaveSD</tabstop>
-  <tabstop>scrollArea</tabstop>
- </tabstops>
- <resources>
-  <include location="../coreplugin/core.qrc"/>
- </resources>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CameraStabilizationWidget</class>
+ <widget class="QWidget" name="CameraStabilizationWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>720</width>
+    <height>739</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_3">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents_2">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>696</width>
+        <height>635</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QCheckBox" name="enableCameraStabilization">
+         <property name="focusPolicy">
+          <enum>Qt::StrongFocus</enum>
+         </property>
+         <property name="text">
+          <string>Enable CameraStabilization module</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string>After enabling the module, you must power cycle before using and configuring.</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="Line" name="line">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_3">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Preferred</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>10</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_5">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>100</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Basic Settings (Stabilization)</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_9">
+          <item row="2" column="3">
+           <widget class="QSpinBox" name="yawOutputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Camera yaw angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QSpinBox" name="pitchOutputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Camera pitch angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="rollOutputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Camera roll angle for 100% output value, deg.
+
+This value should be tuned for particular gimbal and servo. You also
+have to define channel output range using Output configuration tab.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QComboBox" name="yawChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Yaw output channel for camera gimbal</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QComboBox" name="pitchChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Pitch output channel for camera gimbal</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QComboBox" name="rollChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Roll output channel for camera gimbal</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_42">
+            <property name="text">
+             <string>Output Channel</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_43">
+            <property name="text">
+             <string>Output Range</string>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="3">
+           <widget class="QLabel" name="label_44">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Yaw</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_45">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Pitch</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_46">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Roll</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>204</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Advanced Settings (Control)</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout_8">
+          <item row="0" column="3">
+           <widget class="QLabel" name="label_32">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Yaw</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="2">
+           <widget class="QLabel" name="label_33">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Pitch</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="0" column="1">
+           <widget class="QLabel" name="label_34">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Roll</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QComboBox" name="yawInputChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input channel to control camera yaw
+
+Don't forget to map this channel using Input configuration tab.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QComboBox" name="pitchInputChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input channel to control camera pitch
+
+Don't forget to map this channel using Input configuration tab.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="1">
+           <widget class="QComboBox" name="rollInputChannel">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input channel to control camera roll
+
+Don't forget to map this channel using Input configuration tab.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>None</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="1" column="0">
+           <widget class="QLabel" name="label_35">
+            <property name="text">
+             <string>Input Channel</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QComboBox" name="yawStabilizationMode">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>Attitude</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="3" column="3">
+           <widget class="QSpinBox" name="yawInputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera yaw deflection for 100% input in Attitude mode, deg.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="3">
+           <widget class="QSpinBox" name="yawInputRate">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera yaw rate for 100% input in AxisLock mode, deg/s.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>50</number>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="3">
+           <widget class="QSpinBox" name="yawResponseTime">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input low-pass filter response time for yaw axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+            <property name="value">
+             <number>150</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QComboBox" name="pitchStabilizationMode">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>Attitude</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QSpinBox" name="pitchInputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera pitch deflection for 100% input in Attitude mode, deg.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="2">
+           <widget class="QSpinBox" name="pitchInputRate">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera pitch rate for 100% input in AxisLock mode, deg/s.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>50</number>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="2">
+           <widget class="QSpinBox" name="pitchResponseTime">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input low-pass filter response time for pitch axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+            <property name="value">
+             <number>150</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QComboBox" name="rollStabilizationMode">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Axis stabilization mode
+
+Attitude: camera tracks level for the axis. Input controls the deflection.
+AxisLock: camera remembers tracking attitude. Input controls the rate of deflection.</string>
+            </property>
+            <item>
+             <property name="text">
+              <string>Attitude</string>
+             </property>
+            </item>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QSpinBox" name="rollInputRange">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera roll deflection for 100% input in Attitude mode, deg.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>20</number>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QSpinBox" name="rollInputRate">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum camera roll rate for 100% input in AxisLock mode, deg/s.</string>
+            </property>
+            <property name="maximum">
+             <number>180</number>
+            </property>
+            <property name="value">
+             <number>50</number>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QSpinBox" name="rollResponseTime">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Input low-pass filter response time for roll axis, ms.
+
+This option smoothes the stick input. Zero value disables LPF.</string>
+            </property>
+            <property name="maximum">
+             <number>1000</number>
+            </property>
+            <property name="value">
+             <number>150</number>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLabel" name="label_36">
+            <property name="text">
+             <string>MaxAxisLockRate</string>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="0">
+           <widget class="QLabel" name="label_37">
+            <property name="text">
+             <string>Response Time</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_38">
+            <property name="text">
+             <string>Input Rate</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_39">
+            <property name="text">
+             <string>Input Range</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_40">
+            <property name="text">
+             <string>Stabilization Mode</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="2" colspan="2">
+           <widget class="QLabel" name="label_41">
+            <property name="text">
+             <string>(the same value for Roll, Pitch, Yaw)</string>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Stick input deadband for all axes in AxisLock mode, deg/s.
+
+When stick input is within the MaxAxisLockRate range, camera tracks
+current attitude. Otherwise it starts moving according to input with
+rate depending on input value.
+
+If you have drift in your Tx controls, you may want to increase this
+value.</string>
+            </property>
+            <property name="decimals">
+             <number>1</number>
+            </property>
+            <property name="singleStep">
+             <double>0.100000000000000</double>
+            </property>
+            <property name="value">
+             <double>1.000000000000000</double>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>40</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="message">
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="submitButtons">
+       <item>
+        <widget class="QFrame" name="frame">
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QPushButton" name="camerastabilizationHelp">
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="maximumSize">
+          <size>
+           <width>32</width>
+           <height>32</height>
+          </size>
+         </property>
+         <property name="font">
+          <font>
+           <kerning>true</kerning>
+          </font>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+         <property name="icon">
+          <iconset resource="../coreplugin/core.qrc">
+           <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>32</width>
+           <height>32</height>
+          </size>
+         </property>
+         <property name="shortcut">
+          <string>Ctrl+S</string>
+         </property>
+         <property name="default">
+          <bool>false</bool>
+         </property>
+         <property name="flat">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="camerastabilizationResetToDefaults">
+         <property name="toolTip">
+          <string>Load default CameraStabilization settings except output channels
+
+Loaded settings are not applied automatically. You have to click the
+Apply or Save button afterwards.</string>
+         </property>
+         <property name="text">
+          <string>Reset To Defaults</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="camerastabilizationSaveRAM">
+         <property name="toolTip">
+          <string>Send settings to the board but do not save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Apply</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="camerastabilizationSaveSD">
+         <property name="toolTip">
+          <string>Send settings to the board and save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Save</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>enableCameraStabilization</tabstop>
+  <tabstop>rollChannel</tabstop>
+  <tabstop>pitchChannel</tabstop>
+  <tabstop>yawChannel</tabstop>
+  <tabstop>rollOutputRange</tabstop>
+  <tabstop>pitchOutputRange</tabstop>
+  <tabstop>yawOutputRange</tabstop>
+  <tabstop>rollInputChannel</tabstop>
+  <tabstop>pitchInputChannel</tabstop>
+  <tabstop>yawInputChannel</tabstop>
+  <tabstop>rollStabilizationMode</tabstop>
+  <tabstop>pitchStabilizationMode</tabstop>
+  <tabstop>yawStabilizationMode</tabstop>
+  <tabstop>rollInputRange</tabstop>
+  <tabstop>pitchInputRange</tabstop>
+  <tabstop>yawInputRange</tabstop>
+  <tabstop>rollInputRate</tabstop>
+  <tabstop>pitchInputRate</tabstop>
+  <tabstop>yawInputRate</tabstop>
+  <tabstop>rollResponseTime</tabstop>
+  <tabstop>pitchResponseTime</tabstop>
+  <tabstop>yawResponseTime</tabstop>
+  <tabstop>MaxAxisLockRate</tabstop>
+  <tabstop>camerastabilizationHelp</tabstop>
+  <tabstop>camerastabilizationResetToDefaults</tabstop>
+  <tabstop>camerastabilizationSaveRAM</tabstop>
+  <tabstop>camerastabilizationSaveSD</tabstop>
+  <tabstop>scrollArea</tabstop>
+ </tabstops>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>

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

@@ -43,7 +43,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
     addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
     enableControls(false);
     populateWidgets();
-    refreshWidgetsValues();
+    refreshWidgetsValues(NULL);
 }
 
 ConfigProHWWidget::~ConfigProHWWidget()

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

@@ -53,8 +53,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
     m_config->setupUi(this);
 
     ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
-    addUAVObject("ActuatorSettings");
 
     UAVSettingsImportExportFactory * importexportplugin =  pm->getObject<UAVSettingsImportExportFactory>();
     connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
@@ -73,25 +71,37 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
 
     connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
 
-    refreshWidgetsValues();
 
     firstUpdate = true;
 
-    connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool)));
-
+    // Configure the task widget
     // Connect the help button
     connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+    // Add custom handling of displaying things
+    connect(this,SIGNAL(refreshWidgetsValuesRequested()), this, SLOT(refreshOutputWidgetsValues()));
+
+    addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
+
+    // Track the ActuatorSettings object
+    addUAVObject("ActuatorSettings");
+
+    // Associate the buttons with their UAVO fields
     addWidget(m_config->cb_outputRate4);
     addWidget(m_config->cb_outputRate3);
     addWidget(m_config->cb_outputRate2);
     addWidget(m_config->cb_outputRate1);
     addWidget(m_config->spinningArmed);
 
+    disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
+
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
     UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
     if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
         this->setEnabled(false);
     connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
+
+    refreshWidgetsValues();
 }
 void ConfigOutputWidget::enableControls(bool enable)
 {
@@ -196,24 +206,6 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
         outputChannelForm->setAssignment(str);
 }
 
-/**
-  * Set the "Spin motors at neutral when armed" flag in ActuatorSettings
-  */
-void ConfigOutputWidget::setSpinningArmed(bool val)
-{
-    ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
-    Q_ASSERT(actuatorSettings);
-    ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
-
-    if(val)
-        actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
-    else
-        actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
-
-    // Apply settings
-    actuatorSettings->setData(actuatorSettingsData);
-}
-
 /**
   Sends the channel value to the UAV to move the servo.
   Returns immediately if we are not in testing mode
@@ -328,7 +320,16 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
         }
     }
 
-    setDirty(dirty);
+    // Get Channel ranges:
+    foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
+    {
+        int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
+        int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
+        outputChannelForm->minmax(minValue, maxValue);
+
+        int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
+        outputChannelForm->neutral(neutral);
+    }
 }
 
 /**
@@ -336,26 +337,36 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
   */
 void ConfigOutputWidget::updateObjectsFromWidgets()
 {
+    emit updateObjectsFromWidgetsRequested();
+
     ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
     Q_ASSERT(actuatorSettings);
-    ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
+    if(actuatorSettings) {
+        ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
 
-    // Set channel ranges
-    QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
-    foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
-    {
-        actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
-        actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
-        actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
+        // Set channel ranges
+        QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
+        foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
+        {
+            actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
+            actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
+            actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
+        }
+
+        // Set update rates
+        actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
+        actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
+        actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
+        actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
+
+        if(m_config->spinningArmed->isChecked() == true)
+            actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
+        else
+            actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
+
+        // Apply settings
+        actuatorSettings->setData(actuatorSettingsData);
     }
-
-    // Set update rates
-    actuatorSettingsData.ChannelUpdateFreq[0] = m_config->cb_outputRate1->currentText().toUInt();
-    actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
-    actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
-    actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
-    // Apply settings
-    actuatorSettings->setData(actuatorSettingsData);
 }
 
 void ConfigOutputWidget::openHelp()

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

@@ -73,7 +73,6 @@ private slots:
         void updateObjectsFromWidgets();
 	void runChannelTests(bool state);
         void sendChannelTest(int index, int value);
-        void setSpinningArmed(bool val);
         void openHelp();
 protected:
         void enableControls(bool enable);

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

@@ -89,9 +89,17 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	timeOut = new QTimer(this);
 	connect(timeOut, SIGNAL(timeout()),this,SLOT(disconnected()));
 
+    //Add scroll bar when necessary
+    QScrollArea *scroll = new QScrollArea;
+    scroll->setWidget(m_pipx->frame_3);
+    m_pipx->verticalLayout_3->addWidget(scroll);
+
 	// Request and update of the setting object.
 	settingsUpdated = false;
 	pipxSettingsObj->requestUpdate();
+
+    disableMouseWheelEvents();
+
 }
 
 ConfigPipXtremeWidget::~ConfigPipXtremeWidget()

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

@@ -40,6 +40,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
 {
     m_stabilization = new Ui_StabilizationWidget();
     m_stabilization->setupUi(this);
+
+    // To bring old style sheet back without adding it manually do this:
+    // Alternatively apply a global stylesheet to the QGroupBox
+    // setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
+
     autoLoadWidgets();
     realtimeUpdates=new QTimer(this);
     connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
@@ -54,6 +59,24 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*)));
 
     disableMouseWheelEvents();
+
+    // This is needed because new style tries to compact things as much as possible in grid
+    // and on OSX the widget sizes of PushButtons is reported incorrectly:
+    // https://bugreports.qt-project.org/browse/QTBUG-14591
+    m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
+    m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
 }
 
 

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

@@ -16,23 +16,6 @@
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <widget class="QTabWidget" name="tabWidget">
-     <property name="styleSheet">
-      <string notr="true">#groupBox_2,#groupBox{
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-border: 1px outset #999;
-border-radius: 3;
-font:bold;
-}
-
-QGroupBox::title {
-     subcontrol-origin: margin;
-     subcontrol-position: top center; /* position at the top center */
-     padding: 0 3px;
-     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
-                                       stop: 0 #FFOECE, stop: 1 #FFFFFF);
-	top: 5px;
- }</string>
-     </property>
      <property name="currentIndex">
       <number>0</number>
      </property>
@@ -246,7 +229,7 @@ QGroupBox::title {
          <x>30</x>
          <y>160</y>
          <width>451</width>
-         <height>141</height>
+         <height>161</height>
         </rect>
        </property>
        <property name="styleSheet">
@@ -442,9 +425,6 @@ margin:1px;</string>
          <height>121</height>
         </rect>
        </property>
-       <property name="styleSheet">
-        <string notr="true"/>
-       </property>
        <property name="title">
         <string>FlightMode Switch Positions</string>
        </property>

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

@@ -2,6 +2,7 @@
 #include "ui_inputchannelform.h"
 
 #include "manualcontrolsettings.h"
+#include "gcsreceiver.h"
 
 inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
     ConfigTaskWidget(parent),
@@ -115,7 +116,7 @@ void inputChannelForm::groupUpdated()
         count = 18;
         break;
     case ManualControlSettings::CHANNELGROUPS_GCS:
-        count = 5;
+        count = GCSReceiver::CHANNEL_NUMELEM;
         break;
     case ManualControlSettings::CHANNELGROUPS_NONE:
         count = 0;

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>840</width>
-    <height>724</height>
+    <height>834</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -23,6 +23,96 @@
       <enum>QFrame::Raised</enum>
      </property>
      <layout class="QGridLayout" name="gridLayout">
+      <item row="1" column="0" colspan="2">
+       <layout class="QHBoxLayout" name="horizontalLayout_12">
+        <item>
+         <widget class="QGraphicsView" name="graphicsView_Spectrum">
+          <property name="backgroundBrush">
+           <brush brushstyle="NoBrush">
+            <color alpha="255">
+             <red>0</red>
+             <green>0</green>
+             <blue>0</blue>
+            </color>
+           </brush>
+          </property>
+          <property name="foregroundBrush">
+           <brush brushstyle="NoBrush">
+            <color alpha="255">
+             <red>0</red>
+             <green>0</green>
+             <blue>0</blue>
+            </color>
+           </brush>
+          </property>
+          <property name="interactive">
+           <bool>true</bool>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item row="2" column="0" colspan="2">
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <widget class="QLabel" name="message">
+          <property name="text">
+           <string/>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="submitButtons">
+          <item>
+           <widget class="QFrame" name="frame">
+            <property name="frameShape">
+             <enum>QFrame::StyledPanel</enum>
+            </property>
+            <property name="frameShadow">
+             <enum>QFrame::Raised</enum>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <spacer name="horizontalSpacer">
+            <property name="orientation">
+             <enum>Qt::Horizontal</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>40</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+          <item>
+           <widget class="QPushButton" name="Apply">
+            <property name="toolTip">
+             <string>Send settings to the board but do not save to the non-volatile memory</string>
+            </property>
+            <property name="text">
+             <string>Apply</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QPushButton" name="Save">
+            <property name="toolTip">
+             <string>Send settings to the board and save to the non-volatile memory</string>
+            </property>
+            <property name="text">
+             <string>Save</string>
+            </property>
+            <property name="checked">
+             <bool>false</bool>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+       </layout>
+      </item>
       <item row="0" column="0">
        <widget class="QFrame" name="frame_2">
         <property name="frameShape">
@@ -165,6 +255,12 @@
          </item>
          <item>
           <widget class="QGroupBox" name="groupBox_3">
+           <property name="minimumSize">
+            <size>
+             <width>400</width>
+             <height>0</height>
+            </size>
+           </property>
            <property name="font">
             <font>
              <weight>75</weight>
@@ -374,7 +470,7 @@
             <item row="6" column="0">
              <widget class="QLabel" name="label_12">
               <property name="text">
-               <string>Frequency Step Size</string>
+               <string>Freq. Step Size</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -779,7 +875,7 @@
          <item row="0" column="0">
           <widget class="QLabel" name="TelemPortConfigLabel">
            <property name="text">
-            <string>Telemetry Port Configuration</string>
+            <string>Telemetry Port Config.</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -1105,13 +1201,13 @@
             <bool>true</bool>
            </property>
            <property name="minimum">
-            <double>0</double>
+            <number>0</number>
            </property>
            <property name="maximum">
-            <double>1000000000</double>
+            <number>1000000000</number>
            </property>
            <property name="singleStep">
-            <double>100000</double>
+            <number>100000</number>
            </property>
           </widget>
          </item>
@@ -1213,98 +1309,51 @@
      </layout>
     </widget>
    </item>
-   <item>
-    <layout class="QHBoxLayout" name="horizontalLayout_12">
-     <item>
-      <widget class="QGraphicsView" name="graphicsView_Spectrum">
-       <property name="backgroundBrush">
-        <brush brushstyle="NoBrush">
-         <color alpha="255">
-          <red>0</red>
-          <green>0</green>
-          <blue>0</blue>
-         </color>
-        </brush>
-       </property>
-       <property name="foregroundBrush">
-        <brush brushstyle="NoBrush">
-         <color alpha="255">
-          <red>0</red>
-          <green>0</green>
-          <blue>0</blue>
-         </color>
-        </brush>
-       </property>
-       <property name="interactive">
-        <bool>true</bool>
-       </property>
-      </widget>
-     </item>
-    </layout>
-   </item>
-   <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="message">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Apply">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Save">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
   </layout>
  </widget>
+ <tabstops>
+  <tabstop>PairSelect1</tabstop>
+  <tabstop>PairID1</tabstop>
+  <tabstop>PairSelect2</tabstop>
+  <tabstop>PairID2</tabstop>
+  <tabstop>PairSelect3</tabstop>
+  <tabstop>PairID3</tabstop>
+  <tabstop>PairSelect4</tabstop>
+  <tabstop>PairID4</tabstop>
+  <tabstop>FirmwareVersion</tabstop>
+  <tabstop>SerialNumber</tabstop>
+  <tabstop>DeviceID</tabstop>
+  <tabstop>MinFrequency</tabstop>
+  <tabstop>MaxFrequency</tabstop>
+  <tabstop>FrequencyStepSize</tabstop>
+  <tabstop>LinkState</tabstop>
+  <tabstop>RxAFC</tabstop>
+  <tabstop>Retries</tabstop>
+  <tabstop>Errors</tabstop>
+  <tabstop>UAVTalkErrors</tabstop>
+  <tabstop>Resets</tabstop>
+  <tabstop>TXRate</tabstop>
+  <tabstop>RXRate</tabstop>
+  <tabstop>TelemPortConfig</tabstop>
+  <tabstop>TelemPortSpeed</tabstop>
+  <tabstop>FlexiPortConfig</tabstop>
+  <tabstop>FlexiPortSpeed</tabstop>
+  <tabstop>VCPConfig</tabstop>
+  <tabstop>VCPSpeed</tabstop>
+  <tabstop>MaxRFDatarate</tabstop>
+  <tabstop>MaxRFTxPower</tabstop>
+  <tabstop>SendTimeout</tabstop>
+  <tabstop>MinPacketSize</tabstop>
+  <tabstop>FrequencyCalibration</tabstop>
+  <tabstop>Frequency</tabstop>
+  <tabstop>ScanSpectrum</tabstop>
+  <tabstop>AESKey</tabstop>
+  <tabstop>AESKeyRandom</tabstop>
+  <tabstop>AESEnable</tabstop>
+  <tabstop>graphicsView_Spectrum</tabstop>
+  <tabstop>Apply</tabstop>
+  <tabstop>Save</tabstop>
+ </tabstops>
  <resources/>
  <connections/>
 </ui>

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

@@ -495,29 +495,13 @@
             <property name="geometry">
              <rect>
               <x>0</x>
-              <y>0</y>
+              <y>-114</y>
               <width>673</width>
-              <height>880</height>
+              <height>790</height>
              </rect>
             </property>
             <layout class="QGridLayout" name="gridLayout_23">
-             <item row="0" column="3">
-              <spacer name="verticalSpacer_6">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="1" column="1">
+             <item row="0" column="0">
               <spacer name="horizontalSpacer_15">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -533,7 +517,7 @@
                </property>
               </spacer>
              </item>
-             <item row="1" column="2">
+             <item row="0" column="1">
               <widget class="QLabel" name="label_137">
                <property name="minimumSize">
                 <size>
@@ -541,19 +525,12 @@
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Rate Stabilization (Inner Loop)</string>
                </property>
               </widget>
              </item>
-             <item row="2" column="1" colspan="4">
+             <item row="1" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_15">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -573,530 +550,6 @@
                  <height>181</height>
                 </size>
                </property>
-               <property name="palette">
-                <palette>
-                 <active>
-                  <colorrole role="WindowText">
-                   <brush brushstyle="SolidPattern">
-                    <color alpha="255">
-                     <red>0</red>
-                     <green>0</green>
-                     <blue>0</blue>
-                    </color>
-                   </brush>
-                  </colorrole>
-                  <colorrole role="Button">
-                   <brush brushstyle="LinearGradientPattern">
-                    <gradient startx="0.507000000000000" starty="0.869318000000000" endx="0.507000000000000" endy="0.096590900000000" type="LinearGradient" spread="PadSpread" coordinatemode="ObjectBoundingMode">
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-                      <color alpha="255">
-                       <red>243</red>
-                       <green>243</green>
-                       <blue>243</blue>
-                      </color>
-                     </gradientstop>
-                     <gradientstop position="1.000000000000000">
-                      <color alpha="255">
-                       <red>250</red>
-                       <green>250</green>
-                       <blue>250</blue>
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-                     </gradientstop>
-                    </gradient>
-                   </brush>
-                  </colorrole>
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-                   <brush brushstyle="SolidPattern">
-                    <color alpha="255">
-                     <red>255</red>
-                     <green>255</green>
-                     <blue>255</blue>
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-                     <green>251</green>
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-                     <red>124</red>
-                     <green>124</green>
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-                </palette>
-               </property>
-               <property name="autoFillBackground">
-                <bool>false</bool>
-               </property>
-               <property name="styleSheet">
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-
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-border-radius: 3;
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@@ -3966,23 +3419,7 @@ value as the Kp.</string>
                </layout>
               </widget>
              </item>
-             <item row="3" column="2">
-              <spacer name="verticalSpacer_7">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>15</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="4" column="1">
+             <item row="2" column="0">
               <spacer name="horizontalSpacer_18">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -3998,7 +3435,7 @@ value as the Kp.</string>
                </property>
               </spacer>
              </item>
-             <item row="4" column="2">
+             <item row="2" column="1">
               <widget class="QLabel" name="label_149">
                <property name="minimumSize">
                 <size>
@@ -4006,19 +3443,12 @@ value as the Kp.</string>
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Attitude Stabilization (Outer Loop)</string>
                </property>
               </widget>
              </item>
-             <item row="5" column="1" colspan="4">
+             <item row="3" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_17">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -4555,13 +3985,6 @@ value as the Kp.</string>
                <property name="autoFillBackground">
                 <bool>false</bool>
                </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_17{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -4604,26 +4027,14 @@ border-radius: 3;
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="3">
+                <item row="0" column="4">
                  <widget class="QPushButton" name="pushButton_22">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="maximumSize">
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-                    <width>81</width>
-                    <height>28</height>
-                   </size>
-                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -4656,7 +4067,7 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
-                <item row="1" column="0" colspan="4">
+                <item row="1" column="0" colspan="5">
                  <widget class="QGroupBox" name="RateStabilizationGroup_18">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -7335,26 +6746,14 @@ border-radius: 5;</string>
                   </layout>
                  </widget>
                 </item>
-                <item row="0" column="2">
+                <item row="0" column="3">
                  <widget class="QPushButton" name="pushButton_21">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
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                   <property name="minimumSize">
                    <size>
                     <width>51</width>
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>51</width>
-                    <height>28</height>
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                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -7387,42 +6786,23 @@ border-radius: 4;
                   </property>
                  </widget>
                 </item>
+                <item row="0" column="2">
+                 <spacer name="horizontalSpacer_4">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
                </layout>
               </widget>
              </item>
-             <item row="5" column="5">
-              <spacer name="horizontalSpacer_20">
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-                <enum>Qt::Horizontal</enum>
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-                 <height>15</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="7" column="1">
+             <item row="4" column="0">
               <spacer name="horizontalSpacer_21">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -7438,7 +6818,7 @@ border-radius: 4;
                </property>
               </spacer>
              </item>
-             <item row="7" column="2">
+             <item row="4" column="1">
               <widget class="QLabel" name="label_161">
                <property name="minimumSize">
                 <size>
@@ -7446,19 +6826,12 @@ border-radius: 4;
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Stick Range and Limits</string>
                </property>
               </widget>
              </item>
-             <item row="8" column="1" colspan="4">
+             <item row="5" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_19">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -7992,16 +7365,6 @@ border-radius: 4;
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                 </palette>
                </property>
-               <property name="autoFillBackground">
-                <bool>false</bool>
-               </property>
-               <property name="styleSheet">
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-border: 1px outset #999;
-border-radius: 3;
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@@ -8019,7 +7382,7 @@ border-radius: 3;
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>10</width>
+                    <width>1000</width>
                     <height>10</height>
                    </size>
                   </property>
@@ -8027,24 +7390,12 @@ border-radius: 3;
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                 <item row="0" column="1">
                  <widget class="QPushButton" name="pushButton_23">
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                     <width>51</width>
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="maximumSize">
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-                    <height>28</height>
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                   <property name="styleSheet">
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 border: 1px outset #999;
@@ -8091,12 +7442,6 @@ border-radius: 4;
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-                    <height>28</height>
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 border: 1px outset #999;
@@ -11063,23 +10408,7 @@ Attitude</string>
                </layout>
               </widget>
              </item>
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-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="11" column="4">
+             <item row="7" column="2">
               <spacer name="verticalSpacer_10">
                <property name="orientation">
                 <enum>Qt::Vertical</enum>
@@ -11095,23 +10424,7 @@ Attitude</string>
                </property>
               </spacer>
              </item>
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-              <spacer name="horizontalSpacer_16">
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-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="10" column="1" colspan="4">
+             <item row="6" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_21">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -11648,13 +10961,6 @@ Attitude</string>
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                </property>
-               <property name="styleSheet">
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@@ -11734,29 +11040,12 @@ automatically every 300ms, which will help for fast tuning.</string>
                 </item>
                 <item row="1" column="2">
                  <widget class="QPushButton" name="stabilizationReloadBoardData_6">
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                     <height>28</height>
                    </size>
                   </property>
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-                    <height>28</height>
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-                    <pointsize>8</pointsize>
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                   <property name="toolTip">
                    <string>Reloads the saved settings into GCS.
 Useful if you have accidentally changed some settings.</string>
@@ -11795,29 +11084,12 @@ border-radius: 4;
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                 <item row="1" column="3">
                  <widget class="QPushButton" name="saveStabilizationToRAM_6">
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-                    <height>28</height>
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-                  <property name="font">
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                   <property name="toolTip">
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@@ -11854,29 +11126,12 @@ border-radius: 4;
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                 <item row="1" column="4">
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                     <height>28</height>
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-                    <height>28</height>
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                   <property name="toolTip">
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@@ -11939,27 +11194,11 @@ border-radius: 4;
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               <y>0</y>
               <width>673</width>
-              <height>1079</height>
+              <height>981</height>
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             </property>
             <layout class="QGridLayout" name="gridLayout_15">
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-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="1" column="1">
+             <item row="0" column="0">
               <spacer name="horizontalSpacer_25">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -11975,7 +11214,7 @@ border-radius: 4;
                </property>
               </spacer>
              </item>
-             <item row="1" column="2" colspan="2">
+             <item row="0" column="1" colspan="2">
               <widget class="QLabel" name="label_41">
                <property name="minimumSize">
                 <size>
@@ -11983,19 +11222,12 @@ border-radius: 4;
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-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Rate Stabization Coefficients (Inner Loop)</string>
                </property>
               </widget>
              </item>
-             <item row="2" column="1" rowspan="2" colspan="3">
+             <item row="1" column="0" rowspan="2" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_8">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -12529,16 +11761,6 @@ border-radius: 4;
                  </disabled>
                 </palette>
                </property>
-               <property name="autoFillBackground">
-                <bool>false</bool>
-               </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_8{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -15474,55 +14696,7 @@ value as the Kp.</string>
                </layout>
               </widget>
              </item>
-             <item row="2" column="4">
-              <spacer name="horizontalSpacer">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>2</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
              <item row="3" column="0">
-              <spacer name="horizontalSpacer_2">
-               <property name="orientation">
-                <enum>Qt::Horizontal</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>2</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="4" column="2">
-              <spacer name="verticalSpacer_12">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>15</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="5" column="1">
               <spacer name="horizontalSpacer_12">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -15538,7 +14712,7 @@ value as the Kp.</string>
                </property>
               </spacer>
              </item>
-             <item row="5" column="2" colspan="2">
+             <item row="3" column="1" colspan="2">
               <widget class="QLabel" name="label_35">
                <property name="minimumSize">
                 <size>
@@ -15546,19 +14720,12 @@ value as the Kp.</string>
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Attitude Stabization Coefficients (Outer Loop)</string>
                </property>
               </widget>
              </item>
-             <item row="6" column="1" colspan="3">
+             <item row="4" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_4">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -16095,13 +15262,6 @@ value as the Kp.</string>
                <property name="autoFillBackground">
                 <bool>false</bool>
                </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_4{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -16112,85 +15272,6 @@ border-radius: 3;
                 <bool>false</bool>
                </property>
                <layout class="QGridLayout" name="gridLayout_4">
-                <item row="0" column="0">
-                 <spacer name="horizontalSpacer_7">
-                  <property name="orientation">
-                   <enum>Qt::Horizontal</enum>
-                  </property>
-                  <property name="sizeType">
-                   <enum>QSizePolicy::Fixed</enum>
-                  </property>
-                  <property name="sizeHint" stdset="0">
-                   <size>
-                    <width>10</width>
-                    <height>10</height>
-                   </size>
-                  </property>
-                 </spacer>
-                </item>
-                <item row="0" column="1">
-                 <widget class="QCheckBox" name="checkBox_2">
-                  <property name="styleSheet">
-                   <string notr="true"/>
-                  </property>
-                  <property name="text">
-                   <string>Link Roll and Pitch</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="2">
-                 <widget class="QPushButton" name="pushButton_2">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="minimumSize">
-                   <size>
-                    <width>81</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>81</width>
-                    <height>28</height>
-                   </size>
-                  </property>
-                  <property name="styleSheet">
-                   <string notr="true">QPushButton {
-border: 1px outset #999;
-border-radius: 5;
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
-}
-
-QPushButton:pressed {
-
-    border-style: inset;
-	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
-
-}
-
-
-QPushButton:hover  {
-	border: 1px outset #999;	
-border-color: rgb(83, 83, 83);
-border-radius: 4;
-	}</string>
-                  </property>
-                  <property name="text">
-                   <string>Default</string>
-                  </property>
-                  <property name="objrelation" stdset="0">
-                   <stringlist>
-                    <string>objname:StabilizationSettings</string>
-                    <string>button:default</string>
-                    <string>buttongroup:5</string>
-                   </stringlist>
-                  </property>
-                 </widget>
-                </item>
                 <item row="1" column="0" colspan="3">
                  <widget class="QGroupBox" name="RateStabilizationGroup_5">
                   <property name="sizePolicy">
@@ -18839,26 +17920,89 @@ border-radius: 5;</string>
                   </layout>
                  </widget>
                 </item>
+                <item row="0" column="0">
+                 <spacer name="horizontalSpacer_7">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeType">
+                   <enum>QSizePolicy::Fixed</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>10</width>
+                    <height>10</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item row="0" column="2">
+                 <widget class="QPushButton" name="pushButton_2">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="minimumSize">
+                   <size>
+                    <width>81</width>
+                    <height>28</height>
+                   </size>
+                  </property>
+                  <property name="maximumSize">
+                   <size>
+                    <width>81</width>
+                    <height>28</height>
+                   </size>
+                  </property>
+                  <property name="styleSheet">
+                   <string notr="true">QPushButton {
+border: 1px outset #999;
+border-radius: 5;
+background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
+}
+
+QPushButton:pressed {
+
+    border-style: inset;
+	background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
+
+}
+
+
+QPushButton:hover  {
+	border: 1px outset #999;	
+border-color: rgb(83, 83, 83);
+border-radius: 4;
+	}</string>
+                  </property>
+                  <property name="text">
+                   <string>Default</string>
+                  </property>
+                  <property name="objrelation" stdset="0">
+                   <stringlist>
+                    <string>objname:StabilizationSettings</string>
+                    <string>button:default</string>
+                    <string>buttongroup:5</string>
+                   </stringlist>
+                  </property>
+                 </widget>
+                </item>
+                <item row="0" column="1">
+                 <widget class="QCheckBox" name="checkBox_2">
+                  <property name="styleSheet">
+                   <string notr="true"/>
+                  </property>
+                  <property name="text">
+                   <string>Link Roll and Pitch</string>
+                  </property>
+                 </widget>
+                </item>
                </layout>
               </widget>
              </item>
-             <item row="7" column="2">
-              <spacer name="verticalSpacer_13">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>15</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="8" column="1">
+             <item row="5" column="0">
               <spacer name="horizontalSpacer_13">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -18874,7 +18018,7 @@ border-radius: 5;</string>
                </property>
               </spacer>
              </item>
-             <item row="8" column="2" colspan="2">
+             <item row="5" column="1" colspan="2">
               <widget class="QLabel" name="label_36">
                <property name="minimumSize">
                 <size>
@@ -18882,19 +18026,12 @@ border-radius: 5;</string>
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Stick Range and Limits</string>
                </property>
               </widget>
              </item>
-             <item row="9" column="1" colspan="3">
+             <item row="6" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_6">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -19428,16 +18565,6 @@ border-radius: 5;</string>
                  </disabled>
                 </palette>
                </property>
-               <property name="autoFillBackground">
-                <bool>false</bool>
-               </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_6{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -19455,7 +18582,7 @@ border-radius: 3;
                   </property>
                   <property name="sizeHint" stdset="0">
                    <size>
-                    <width>10</width>
+                    <width>10000</width>
                     <height>10</height>
                    </size>
                   </property>
@@ -19463,24 +18590,12 @@ border-radius: 3;
                 </item>
                 <item row="0" column="1">
                  <widget class="QPushButton" name="pushButton_3">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
                   <property name="minimumSize">
                    <size>
                     <width>81</width>
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>81</width>
-                    <height>28</height>
-                   </size>
-                  </property>
                   <property name="styleSheet">
                    <string notr="true">QPushButton {
 border: 1px outset #999;
@@ -22192,23 +21307,7 @@ rate(deg/s)</string>
                </layout>
               </widget>
              </item>
-             <item row="10" column="3">
-              <spacer name="verticalSpacer_14">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="11" column="1">
+             <item row="7" column="0">
               <spacer name="horizontalSpacer_41">
                <property name="orientation">
                 <enum>Qt::Horizontal</enum>
@@ -22224,7 +21323,7 @@ rate(deg/s)</string>
                </property>
               </spacer>
              </item>
-             <item row="11" column="2" colspan="2">
+             <item row="7" column="1" colspan="2">
               <widget class="QLabel" name="label_45">
                <property name="minimumSize">
                 <size>
@@ -22232,26 +21331,13 @@ rate(deg/s)</string>
                  <height>16</height>
                 </size>
                </property>
-               <property name="font">
-                <font>
-                 <pointsize>9</pointsize>
-                 <weight>75</weight>
-                 <bold>true</bold>
-                </font>
-               </property>
                <property name="text">
                 <string>Sensor Tunning</string>
                </property>
               </widget>
              </item>
-             <item row="12" column="1" colspan="3">
+             <item row="8" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_23">
-               <property name="sizePolicy">
-                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                 <horstretch>0</horstretch>
-                 <verstretch>0</verstretch>
-                </sizepolicy>
-               </property>
                <property name="minimumSize">
                 <size>
                  <width>0</width>
@@ -22781,13 +21867,6 @@ rate(deg/s)</string>
                <property name="autoFillBackground">
                 <bool>false</bool>
                </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_23{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -25118,23 +24197,7 @@ border-radius: 5;</string>
                </layout>
               </widget>
              </item>
-             <item row="13" column="1" colspan="2">
-              <spacer name="verticalSpacer_15">
-               <property name="orientation">
-                <enum>Qt::Vertical</enum>
-               </property>
-               <property name="sizeType">
-                <enum>QSizePolicy::Fixed</enum>
-               </property>
-               <property name="sizeHint" stdset="0">
-                <size>
-                 <width>20</width>
-                 <height>10</height>
-                </size>
-               </property>
-              </spacer>
-             </item>
-             <item row="14" column="1" colspan="3">
+             <item row="9" column="0" colspan="3">
               <widget class="QGroupBox" name="RateStabilizationGroup_22">
                <property name="sizePolicy">
                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -25671,13 +24734,6 @@ border-radius: 5;</string>
                <property name="autoFillBackground">
                 <bool>false</bool>
                </property>
-               <property name="styleSheet">
-                <string notr="true">#RateStabilizationGroup_22{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-
-border: 1px outset #999;
-border-radius: 3;
-}</string>
-               </property>
                <property name="title">
                 <string/>
                </property>
@@ -25724,13 +24780,6 @@ border-radius: 3;
                     <verstretch>0</verstretch>
                    </sizepolicy>
                   </property>
-                  <property name="font">
-                   <font>
-                    <pointsize>9</pointsize>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
                   <property name="toolTip">
                    <string>If you check this, the GCS will udpate the stabilization factors 
 automatically every 300ms, which will help for fast tuning.</string>
@@ -25776,11 +24825,6 @@ automatically every 300ms, which will help for fast tuning.</string>
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="font">
-                   <font>
-                    <pointsize>8</pointsize>
-                   </font>
-                  </property>
                   <property name="toolTip">
                    <string>Send settings to the board but do not save to the non-volatile memory</string>
                   </property>
@@ -25835,11 +24879,6 @@ border-radius: 4;
                     <height>28</height>
                    </size>
                   </property>
-                  <property name="font">
-                   <font>
-                    <pointsize>8</pointsize>
-                   </font>
-                  </property>
                   <property name="toolTip">
                    <string>Send settings to the board and save to the non-volatile memory</string>
                   </property>

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

@@ -1,647 +1,620 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>TxPIDWidget</class>
- <widget class="QWidget" name="TxPIDWidget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>720</width>
-    <height>567</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout_3">
-   <item>
-    <widget class="QScrollArea" name="scrollArea">
-     <property name="frameShape">
-      <enum>QFrame::NoFrame</enum>
-     </property>
-     <property name="widgetResizable">
-      <bool>true</bool>
-     </property>
-     <widget class="QWidget" name="scrollAreaWidgetContents_2">
-      <property name="geometry">
-       <rect>
-        <x>0</x>
-        <y>0</y>
-        <width>702</width>
-        <height>489</height>
-       </rect>
-      </property>
-      <layout class="QVBoxLayout" name="verticalLayout_2">
-       <item>
-        <widget class="QCheckBox" name="TxPIDEnable">
-         <property name="focusPolicy">
-          <enum>Qt::StrongFocus</enum>
-         </property>
-         <property name="toolTip">
-          <string>This module will periodically update values of stabilization PID settings
-depending on configured input control channels. New values of stabilization
-settings are not saved to flash, but updated in RAM. It is expected that the
-module will be enabled only for tuning. When desired values are found, they
-can be read via GCS and saved permanently. Then this module should be
-disabled again.
-
-Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
-         </property>
-         <property name="text">
-          <string>Enable TxPID module</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QLabel" name="label_7">
-         <property name="text">
-          <string>After enabling the module, you must power cycle before using and configuring.</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="Line" name="line">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer_2">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeType">
-          <enum>QSizePolicy::Preferred</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>10</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QGroupBox" name="groupBox_6">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="minimumSize">
-          <size>
-           <width>0</width>
-           <height>100</height>
-          </size>
-         </property>
-         <property name="styleSheet">
-          <string notr="true">#groupBox_6{
-background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
-border: 1px outset #999;
-border-radius: 3;
-font:bold;
-}
-
-QGroupBox::title {
-     subcontrol-origin: margin;
-     subcontrol-position: top center; /* position at the top center */
-     padding: 0 3px;
-     background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
-                                       stop: 0 #FFOECE, stop: 1 #FFFFFF);
-	top: 5px;
- }</string>
-         </property>
-         <property name="title">
-          <string>Module Settings</string>
-         </property>
-         <layout class="QGridLayout" name="gridLayout">
-          <item row="1" column="1">
-           <widget class="QLabel" name="label_51">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>PID option</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="2">
-           <widget class="QLabel" name="label_50">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Control Source</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="3">
-           <widget class="QLabel" name="label_49">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Min</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="1" column="4">
-           <widget class="QLabel" name="label">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Max</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_47">
-            <property name="text">
-             <string>Instance 1</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="1">
-           <widget class="QComboBox" name="PID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="2">
-           <widget class="QComboBox" name="Input1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="2" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID1">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_48">
-            <property name="text">
-             <string>Instance 2</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="1">
-           <widget class="QComboBox" name="PID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="2">
-           <widget class="QComboBox" name="Input2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="3" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID2">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_52">
-            <property name="text">
-             <string>Instance 3</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QComboBox" name="PID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select PID option or option pair to update.
-Set to Disabled if not used.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="2">
-           <widget class="QComboBox" name="Input3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Select input used as a control source for this instance.
-It can be one of Accessory channels or Throttle channel.
-
-If Accessory channel is chosen then its range [0..1] will be mapped
-to PID range [Min..Max] defined for this instance.
-
-If Throttle channel is chosen then Throttle range [Min..Max] will
-be mapped to PID range [Min..Max] defined for this instance. If
-Throttle is out of bounds then PID Min and Max values will be used
-accordingly.
-
-Note that it is possible to set PID Min &gt; Max. In that case increasing
-control input value will decrease the PID option value. This can be
-used, for instance, to decrease PID value when increasing Throttle.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="3">
-           <widget class="QDoubleSpinBox" name="MinPID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Minimum PID value mapped to Accessory channel = 0 or
-Throttle channel lesser or equal to Throttle Min value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="4" column="4">
-           <widget class="QDoubleSpinBox" name="MaxPID3">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Maximum PID value mapped to Accessory channel = 1 or
-Throttle channel greater or equal to Throttle Max value.</string>
-            </property>
-            <property name="decimals">
-             <number>6</number>
-            </property>
-            <property name="singleStep">
-             <double>0.000100000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="0">
-           <widget class="QLabel" name="label_2">
-            <property name="text">
-             <string>Update Mode</string>
-            </property>
-           </widget>
-          </item>
-          <item row="8" column="1">
-           <widget class="QComboBox" name="UpdateMode">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>PID values update mode which can be set to:
-- Never: this disables PID updates (but module still will be run if enabled),
-- When Armed: PID updated only when system is armed,
-- Always: PID updated always regardless of arm state.
-
-Since the GCS updates GUI PID values in real time on change, could be
-tricky to change other PID values from the GUI if the module is enabled
-and constantly updates stabilization settings object. As a workaround,
-this option can be used to temporarily disable updates or enable them
-only when system is armed without disabling the module.</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="0">
-           <widget class="QLabel" name="label_3">
-            <property name="text">
-             <string>Throttle Range</string>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="1">
-           <widget class="QDoubleSpinBox" name="ThrottleMin">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Throttle channel lower bound mapped to PID Min value</string>
-            </property>
-            <property name="maximum">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="singleStep">
-             <double>0.010000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="7" column="2">
-           <widget class="QDoubleSpinBox" name="ThrottleMax">
-            <property name="focusPolicy">
-             <enum>Qt::StrongFocus</enum>
-            </property>
-            <property name="toolTip">
-             <string>Throttle channel upper bound mapped to PID Max value</string>
-            </property>
-            <property name="maximum">
-             <double>1.000000000000000</double>
-            </property>
-            <property name="singleStep">
-             <double>0.010000000000000</double>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="1">
-           <widget class="QLabel" name="label_4">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Min</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="6" column="2">
-           <widget class="QLabel" name="label_5">
-            <property name="styleSheet">
-             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-font: bold 12px;
-margin:1px;</string>
-            </property>
-            <property name="text">
-             <string>Max</string>
-            </property>
-            <property name="alignment">
-             <set>Qt::AlignCenter</set>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="2">
-           <spacer name="verticalSpacer_4">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-          <item row="5" column="1">
-           <spacer name="verticalSpacer_3">
-            <property name="orientation">
-             <enum>Qt::Vertical</enum>
-            </property>
-            <property name="sizeType">
-             <enum>QSizePolicy::Preferred</enum>
-            </property>
-            <property name="sizeHint" stdset="0">
-             <size>
-              <width>20</width>
-              <height>20</height>
-             </size>
-            </property>
-           </spacer>
-          </item>
-         </layout>
-        </widget>
-       </item>
-       <item>
-        <spacer name="verticalSpacer">
-         <property name="orientation">
-          <enum>Qt::Vertical</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>20</width>
-           <height>40</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-      </layout>
-     </widget>
-    </widget>
-   </item>
-   <item>
-    <layout class="QVBoxLayout" name="verticalLayout">
-     <item>
-      <widget class="QLabel" name="message">
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-     </item>
-     <item>
-      <layout class="QHBoxLayout" name="submitButtons">
-       <item>
-        <widget class="QFrame" name="frame">
-         <property name="frameShape">
-          <enum>QFrame::StyledPanel</enum>
-         </property>
-         <property name="frameShadow">
-          <enum>QFrame::Raised</enum>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <spacer name="horizontalSpacer">
-         <property name="orientation">
-          <enum>Qt::Horizontal</enum>
-         </property>
-         <property name="sizeHint" stdset="0">
-          <size>
-           <width>40</width>
-           <height>20</height>
-          </size>
-         </property>
-        </spacer>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Apply">
-         <property name="toolTip">
-          <string>Send settings to the board but do not save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Apply</string>
-         </property>
-        </widget>
-       </item>
-       <item>
-        <widget class="QPushButton" name="Save">
-         <property name="toolTip">
-          <string>Send settings to the board and save to the non-volatile memory</string>
-         </property>
-         <property name="text">
-          <string>Save</string>
-         </property>
-         <property name="checked">
-          <bool>false</bool>
-         </property>
-        </widget>
-       </item>
-      </layout>
-     </item>
-    </layout>
-   </item>
-  </layout>
- </widget>
- <tabstops>
-  <tabstop>TxPIDEnable</tabstop>
-  <tabstop>Apply</tabstop>
-  <tabstop>Save</tabstop>
-  <tabstop>scrollArea</tabstop>
-  <tabstop>PID1</tabstop>
-  <tabstop>Input1</tabstop>
-  <tabstop>MinPID1</tabstop>
-  <tabstop>MaxPID1</tabstop>
-  <tabstop>PID2</tabstop>
-  <tabstop>Input2</tabstop>
-  <tabstop>MinPID2</tabstop>
-  <tabstop>MaxPID2</tabstop>
-  <tabstop>PID3</tabstop>
-  <tabstop>Input3</tabstop>
-  <tabstop>MinPID3</tabstop>
-  <tabstop>MaxPID3</tabstop>
-  <tabstop>ThrottleMin</tabstop>
-  <tabstop>ThrottleMax</tabstop>
-  <tabstop>UpdateMode</tabstop>
- </tabstops>
- <resources/>
- <connections/>
-</ui>
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TxPIDWidget</class>
+ <widget class="QWidget" name="TxPIDWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>720</width>
+    <height>567</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_3">
+   <item>
+    <widget class="QScrollArea" name="scrollArea">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="widgetResizable">
+      <bool>true</bool>
+     </property>
+     <widget class="QWidget" name="scrollAreaWidgetContents_2">
+      <property name="geometry">
+       <rect>
+        <x>0</x>
+        <y>0</y>
+        <width>696</width>
+        <height>475</height>
+       </rect>
+      </property>
+      <layout class="QVBoxLayout" name="verticalLayout_2">
+       <item>
+        <widget class="QCheckBox" name="TxPIDEnable">
+         <property name="focusPolicy">
+          <enum>Qt::StrongFocus</enum>
+         </property>
+         <property name="toolTip">
+          <string>This module will periodically update values of stabilization PID settings
+depending on configured input control channels. New values of stabilization
+settings are not saved to flash, but updated in RAM. It is expected that the
+module will be enabled only for tuning. When desired values are found, they
+can be read via GCS and saved permanently. Then this module should be
+disabled again.
+
+Up to 3 separate PID options (or option pairs) can be selected and updated.</string>
+         </property>
+         <property name="text">
+          <string>Enable TxPID module</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QLabel" name="label_7">
+         <property name="text">
+          <string>After enabling the module, you must power cycle before using and configuring.</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="Line" name="line">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer_2">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeType">
+          <enum>QSizePolicy::Preferred</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>10</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QGroupBox" name="groupBox_6">
+         <property name="enabled">
+          <bool>true</bool>
+         </property>
+         <property name="sizePolicy">
+          <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+           <horstretch>0</horstretch>
+           <verstretch>0</verstretch>
+          </sizepolicy>
+         </property>
+         <property name="minimumSize">
+          <size>
+           <width>0</width>
+           <height>100</height>
+          </size>
+         </property>
+         <property name="title">
+          <string>Module Settings</string>
+         </property>
+         <layout class="QGridLayout" name="gridLayout">
+          <item row="1" column="1">
+           <widget class="QLabel" name="label_51">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>PID option</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="2">
+           <widget class="QLabel" name="label_50">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Control Source</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="3">
+           <widget class="QLabel" name="label_49">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Min</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="1" column="4">
+           <widget class="QLabel" name="label">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Max</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_47">
+            <property name="text">
+             <string>Instance 1</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="1">
+           <widget class="QComboBox" name="PID1">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="2">
+           <widget class="QComboBox" name="Input1">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID1">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID1">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_48">
+            <property name="text">
+             <string>Instance 2</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="1">
+           <widget class="QComboBox" name="PID2">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="2">
+           <widget class="QComboBox" name="Input2">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID2">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="3" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID2">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_52">
+            <property name="text">
+             <string>Instance 3</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="1">
+           <widget class="QComboBox" name="PID3">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select PID option or option pair to update.
+Set to Disabled if not used.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="2">
+           <widget class="QComboBox" name="Input3">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Select input used as a control source for this instance.
+It can be one of Accessory channels or Throttle channel.
+
+If Accessory channel is chosen then its range [0..1] will be mapped
+to PID range [Min..Max] defined for this instance.
+
+If Throttle channel is chosen then Throttle range [Min..Max] will
+be mapped to PID range [Min..Max] defined for this instance. If
+Throttle is out of bounds then PID Min and Max values will be used
+accordingly.
+
+Note that it is possible to set PID Min &gt; Max. In that case increasing
+control input value will decrease the PID option value. This can be
+used, for instance, to decrease PID value when increasing Throttle.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="3">
+           <widget class="QDoubleSpinBox" name="MinPID3">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Minimum PID value mapped to Accessory channel = 0 or
+Throttle channel lesser or equal to Throttle Min value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="4" column="4">
+           <widget class="QDoubleSpinBox" name="MaxPID3">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Maximum PID value mapped to Accessory channel = 1 or
+Throttle channel greater or equal to Throttle Max value.</string>
+            </property>
+            <property name="decimals">
+             <number>6</number>
+            </property>
+            <property name="singleStep">
+             <double>0.000100000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="text">
+             <string>Update Mode</string>
+            </property>
+           </widget>
+          </item>
+          <item row="8" column="1">
+           <widget class="QComboBox" name="UpdateMode">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>PID values update mode which can be set to:
+- Never: this disables PID updates (but module still will be run if enabled),
+- When Armed: PID updated only when system is armed,
+- Always: PID updated always regardless of arm state.
+
+Since the GCS updates GUI PID values in real time on change, could be
+tricky to change other PID values from the GUI if the module is enabled
+and constantly updates stabilization settings object. As a workaround,
+this option can be used to temporarily disable updates or enable them
+only when system is armed without disabling the module.</string>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="0">
+           <widget class="QLabel" name="label_3">
+            <property name="text">
+             <string>Throttle Range</string>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="1">
+           <widget class="QDoubleSpinBox" name="ThrottleMin">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Throttle channel lower bound mapped to PID Min value</string>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="7" column="2">
+           <widget class="QDoubleSpinBox" name="ThrottleMax">
+            <property name="focusPolicy">
+             <enum>Qt::StrongFocus</enum>
+            </property>
+            <property name="toolTip">
+             <string>Throttle channel upper bound mapped to PID Max value</string>
+            </property>
+            <property name="maximum">
+             <double>1.000000000000000</double>
+            </property>
+            <property name="singleStep">
+             <double>0.010000000000000</double>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="1">
+           <widget class="QLabel" name="label_4">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Min</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="6" column="2">
+           <widget class="QLabel" name="label_5">
+            <property name="styleSheet">
+             <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+font: bold 12px;
+margin:1px;</string>
+            </property>
+            <property name="text">
+             <string>Max</string>
+            </property>
+            <property name="alignment">
+             <set>Qt::AlignCenter</set>
+            </property>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <spacer name="verticalSpacer_3">
+            <property name="orientation">
+             <enum>Qt::Vertical</enum>
+            </property>
+            <property name="sizeType">
+             <enum>QSizePolicy::Preferred</enum>
+            </property>
+            <property name="sizeHint" stdset="0">
+             <size>
+              <width>20</width>
+              <height>20</height>
+             </size>
+            </property>
+           </spacer>
+          </item>
+         </layout>
+        </widget>
+       </item>
+       <item>
+        <spacer name="verticalSpacer">
+         <property name="orientation">
+          <enum>Qt::Vertical</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>20</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QVBoxLayout" name="verticalLayout">
+     <item>
+      <widget class="QLabel" name="message">
+       <property name="text">
+        <string/>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <layout class="QHBoxLayout" name="submitButtons">
+       <item>
+        <widget class="QFrame" name="frame">
+         <property name="frameShape">
+          <enum>QFrame::StyledPanel</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Raised</enum>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <spacer name="horizontalSpacer">
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+         <property name="sizeHint" stdset="0">
+          <size>
+           <width>40</width>
+           <height>20</height>
+          </size>
+         </property>
+        </spacer>
+       </item>
+       <item>
+        <widget class="QPushButton" name="Apply">
+         <property name="toolTip">
+          <string>Send settings to the board but do not save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Apply</string>
+         </property>
+        </widget>
+       </item>
+       <item>
+        <widget class="QPushButton" name="Save">
+         <property name="toolTip">
+          <string>Send settings to the board and save to the non-volatile memory</string>
+         </property>
+         <property name="text">
+          <string>Save</string>
+         </property>
+         <property name="checked">
+          <bool>false</bool>
+         </property>
+        </widget>
+       </item>
+      </layout>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <tabstops>
+  <tabstop>TxPIDEnable</tabstop>
+  <tabstop>Apply</tabstop>
+  <tabstop>Save</tabstop>
+  <tabstop>scrollArea</tabstop>
+  <tabstop>PID1</tabstop>
+  <tabstop>Input1</tabstop>
+  <tabstop>MinPID1</tabstop>
+  <tabstop>MaxPID1</tabstop>
+  <tabstop>PID2</tabstop>
+  <tabstop>Input2</tabstop>
+  <tabstop>MinPID2</tabstop>
+  <tabstop>MaxPID2</tabstop>
+  <tabstop>PID3</tabstop>
+  <tabstop>Input3</tabstop>
+  <tabstop>MinPID3</tabstop>
+  <tabstop>MaxPID3</tabstop>
+  <tabstop>ThrottleMin</tabstop>
+  <tabstop>ThrottleMax</tabstop>
+  <tabstop>UpdateMode</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

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

@@ -124,6 +124,17 @@ void ModeManager::activateMode(const QString &id)
         m_modeStack->setCurrentIndex(index);
 }
 
+void ModeManager::activateModeByWorkspaceName(const QString &id)
+{
+    for (int i = 0; i < m_modes.count(); ++i) {
+        if (m_modes.at(i)->name() == id)
+        {
+            m_modeStack->setCurrentIndex(i);
+            return;
+        }
+    }
+}
+
 void ModeManager::objectAdded(QObject *obj)
 {
     IMode *mode = Aggregation::query<IMode>(obj);

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

@@ -80,6 +80,7 @@ signals:
 
 public slots:
     void activateMode(const QString &id);
+    void activateModeByWorkspaceName(const QString &id);
     void setFocusToCurrentMode();
 
 private slots:

ground/openpilotgcs/src/plugins/hitlnew/fgsimulator.cpp

@@ -308,13 +308,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
             double ECEF[3];
             double RNE[9];
             Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
-            for (int t=0;t<9;t++) {
-                    homeData.RNE[t]=RNE[t];
-            }
             Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
-            homeData.ECEF[0]=ECEF[0]*100;
-            homeData.ECEF[1]=ECEF[1]*100;
-            homeData.ECEF[2]=ECEF[2]*100;
             homeData.Be[0]=0;
             homeData.Be[1]=0;
             homeData.Be[2]=0;
@@ -335,7 +329,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
 	memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
         positionActualData.North = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
 	positionActualData.East = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
-	positionActualData.Down = (altitude * 100); //Multiply by 100 because positionActual expects input in Centimeters.
+	positionActualData.Down = altitude ; //Multiply by 1 because positionActual expects input in meters.
         posActual->setData(positionActualData);
 
 	// Update AltitudeActual object
@@ -371,26 +365,39 @@ void FGSimulator::processUpdate(const QByteArray& inp)
         gpsPos->setData(gpsData);
 
         float NED[3];
-        double LLA[3] = {(double) gpsData.Latitude / 1e7, (double) gpsData.Longitude / 1e7, (double) (gpsData.GeoidSeparation + gpsData.Altitude)};
         // convert from cm back to meters
-        double ECEF[3] = {(double) (homeData.ECEF[0] / 100), (double) (homeData.ECEF[1] / 100), (double) (homeData.ECEF[2] / 100)};
-                Utils::CoordinateConversions().LLA2Base(LLA, ECEF, (float (*)[3]) homeData.RNE, NED);
 
-        positionActualData.North = NED[0]*100; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
-        positionActualData.East = NED[1]*100; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
-        positionActualData.Down = NED[2]*100; //Multiply by 100 because positionActual expects input in Centimeters.
+        double hLLA[3] = {(double) homeData.Latitude / 1e7, (double) homeData.Longitude / 1e7, (double) (homeData.Altitude)};
+            double ECEF[3];
+            double RNE[9];
+            Utils::CoordinateConversions().RneFromLLA(hLLA,(double (*)[3])RNE);
+            Utils::CoordinateConversions().LLA2ECEF(hLLA,ECEF);
+                Utils::CoordinateConversions().LLA2Base(hLLA, ECEF, (float (*)[3]) RNE, NED);
+
+        positionActualData.North = NED[0]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
+        positionActualData.East = NED[1]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
+        positionActualData.Down = NED[2]; //Multiply by 1 because positionActual expects input in meters.
         posActual->setData(positionActualData);
 
         // Update AttitudeRaw object (filtered gyros only for now)
-        AttitudeRaw::DataFields rawData;
-        memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
-        rawData = attRaw->getData();
-        rawData.gyros[0] = rollRate;
+        //AttitudeRaw::DataFields rawData;
+        //AttitudeRaw::DataFields rawData;
+        Gyros::DataFields gyroData;
+        Accels::DataFields accelData;
+        memset(&gyroData, 0, sizeof(Gyros::DataFields));
+        memset(&accelData, 0, sizeof(Accels::DataFields));
+        gyroData = gyros->getData();
+        accelData = accels->getData();
+        //rawData.gyros[0] = rollRate;
         //rawData.gyros[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate;
         //rawData.gyros[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate;
-        rawData.gyros[1] = pitchRate;
-        rawData.gyros[2] = yawRate;
-        attRaw->setData(rawData);
+        //rawData.gyros[1] = pitchRate;
+        //rawData.gyros[2] = yawRate;
+	gyroData.x = rollRate;
+	gyroData.y = pitchRate;
+	gyroData.z = yawRate;
+	// TODO: Accels are still missing!!!!
+        gyros->setData(gyroData);
         // attRaw->updated();
 }
 

ground/openpilotgcs/src/plugins/hitlnew/il2simulator.cpp

@@ -263,35 +263,45 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
         // Update positionActual objects
         PositionActual::DataFields posData;
         memset(&posData, 0, sizeof(PositionActual::DataFields));
-        posData.North =  current.Y*100;
-        posData.East = current.X*100;
-        posData.Down = current.Z*-100;
+        posData.North =  current.Y;
+        posData.East = current.X;
+        posData.Down = current.Z*-1.;
 
         // Update velocityActual objects
         VelocityActual::DataFields velData;
         memset(&velData, 0, sizeof(VelocityActual::DataFields));
-        velData.North = current.dY*100;
-        velData.East = current.dX*100;
-        velData.Down = current.dZ*-100;
+        velData.North = current.dY;
+        velData.East = current.dX;
+        velData.Down = current.dZ*-1.;
 
         // Update AttitudeRaw object (filtered gyros and accels only for now)
-        AttitudeRaw::DataFields rawData;
-        memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
-        rawData = attRaw->getData();
+        //AttitudeRaw::DataFields rawData;
+        //memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
+        //rawData = attRaw->getData();
+	Gyros::DataFields gyroData;
+	Accels::DataFields accelData;
+        memset(&gyroData, 0, sizeof(Gyros::DataFields));
+        memset(&accelData, 0, sizeof(Accels::DataFields));
+	gyroData = gyros->getData();
+	accelData = accels->getData();
+
 	// rotate turn rates and accelerations into body frame
 	// (note: rotation deltas are NOT in NED frame but in RPY - manual conversion!)
-	rawData.gyros[0] = current.dRoll;
-	rawData.gyros[1] = cos(DEG2RAD * current.roll) * current.dPitch + sin(DEG2RAD * current.roll) * current.dAzimuth;
-	rawData.gyros[2] = cos(DEG2RAD * current.roll) * current.dAzimuth - sin(DEG2RAD * current.roll) * current.dPitch;
+	gyroData.x = current.dRoll;
+	gyroData.y = cos(DEG2RAD * current.roll) * current.dPitch + sin(DEG2RAD * current.roll) * current.dAzimuth;
+	gyroData.z = cos(DEG2RAD * current.roll) * current.dAzimuth - sin(DEG2RAD * current.roll) * current.dPitch;
 	// accels are in NED and can be converted using standard ned->local rotation matrix
 	float Rbe[3][3];
 	Utils::CoordinateConversions().Quaternion2R(quat,Rbe);
-	for (int t=0;t<3;t++) {
-		rawData.accels[t]=current.ddX*Rbe[t][0]
-				+current.ddY*Rbe[t][1]
-				+(current.ddZ+GEE)*Rbe[t][2];
-	}
-	rawData.accels[2]=-rawData.accels[2];
+		accelData.x = current.ddX*Rbe[0][0]
+				+current.ddY*Rbe[0][1]
+				+(current.ddZ+GEE)*Rbe[0][2];
+		accelData.y = current.ddX*Rbe[1][0]
+				+current.ddY*Rbe[1][1]
+				+(current.ddZ+GEE)*Rbe[1][2];
+		accelData.z = - (current.ddX*Rbe[2][0]
+				+current.ddY*Rbe[2][1]
+				+(current.ddZ+GEE)*Rbe[2][2]);
 
         // Update homelocation
         HomeLocation::DataFields homeData;
@@ -307,13 +317,7 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
         double ECEF[3];
 	double RNE[9];
         Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
-	for (int t=0;t<9;t++) {
-		homeData.RNE[t]=RNE[t];
-	}
         Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
-        homeData.ECEF[0]=ECEF[0]*100;
-        homeData.ECEF[1]=ECEF[1]*100;
-        homeData.ECEF[2]=ECEF[2]*100;
         homeData.Be[0]=0;
         homeData.Be[1]=0;
         homeData.Be[2]=0;
@@ -339,7 +343,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
         // update every time (50ms)
         attActual->setData(attActualData);
         //attActual->updated();
-        attRaw->setData(rawData);
+        //attRaw->setData(rawData);
+	gyros->setData(gyroData);
+	accels->setData(accelData);
         //attRaw->updated();
 	velActual->setData(velData);
 	//velActual->updated();

ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp

@@ -49,7 +49,7 @@ Simulator::Simulator(const SimulatorSettings& params) :
 	outSocket(NULL),
 	settings(params),
         updatePeriod(50),
-        simTimeout(2000),
+        simTimeout(8000),
 	autopilotConnectionStatus(false),
 	simConnectionStatus(false),
 	txTimer(NULL),
@@ -131,7 +131,8 @@ void Simulator::onStart()
 	posActual = PositionActual::GetInstance(objManager);
         altActual = BaroAltitude::GetInstance(objManager);
 	attActual = AttitudeActual::GetInstance(objManager);
-	attRaw = AttitudeRaw::GetInstance(objManager);
+	accels = Accels::GetInstance(objManager);
+	gyros = Gyros::GetInstance(objManager);
         gpsPos = GPSPosition::GetInstance(objManager);
 	telStats = GCSTelemetryStats::GetInstance(objManager);
 
@@ -225,7 +226,8 @@ void Simulator::setupObjects()
         setupOutputObject(posActual, 250);
         setupOutputObject(velActual, 250);
         setupOutputObject(posHome, 1000);
-        setupOutputObject(attRaw, 10);
+        setupOutputObject(accels, 10);
+        setupOutputObject(gyros, 10);
         //setupOutputObject(attRaw, 100);
 
 

ground/openpilotgcs/src/plugins/hitlnew/simulator.h

@@ -44,7 +44,8 @@
 #include "attitudeactual.h"
 #include "gpsposition.h"
 #include "homelocation.h"
-#include "attituderaw.h"
+#include "accels.h"
+#include "gyros.h"
 #include "gcstelemetrystats.h"
 #include "flightstatus.h"
 
@@ -177,7 +178,8 @@ protected:
 	VelocityActual* velActual;
 	PositionActual* posActual;
 	HomeLocation* posHome;
-	AttitudeRaw* attRaw;
+	Accels* accels;
+	Gyros*  gyros;
         GPSPosition* gpsPos;
 	GCSTelemetryStats* telStats;
 

ground/openpilotgcs/src/plugins/hitlnew/xplanesimulator.cpp

@@ -306,13 +306,7 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
                     double ECEF[3];
                     double RNE[9];
                     Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
-                    for (int t=0;t<9;t++) {
-                            homeData.RNE[t]=RNE[t];
-                    }
                     Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
-                    homeData.ECEF[0]=ECEF[0]*100;
-                    homeData.ECEF[1]=ECEF[1]*100;
-                    homeData.ECEF[2]=ECEF[2]*100;
                     homeData.Be[0]=0;
                     homeData.Be[1]=0;
                     homeData.Be[2]=0;
@@ -368,33 +362,45 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
                 // Update VelocityActual.{Nort,East,Down}
                 VelocityActual::DataFields velocityActualData;
                 memset(&velocityActualData, 0, sizeof(VelocityActual::DataFields));
-                velocityActualData.North = velY*100;
-                velocityActualData.East = velX*100;
-                velocityActualData.Down = -velZ*100;
+                velocityActualData.North = velY;
+                velocityActualData.East = velX;
+                velocityActualData.Down = -velZ;
                 velActual->setData(velocityActualData);
 
                 // Update PositionActual.{Nort,East,Down}
                 PositionActual::DataFields positionActualData;
                 memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
-                positionActualData.North = (dstY-initY)*100;
-                positionActualData.East = (dstX-initX)*100;
-                positionActualData.Down = -(dstZ-initZ)*100;
+                positionActualData.North = (dstY-initY);
+                positionActualData.East = (dstX-initX);
+                positionActualData.Down = -(dstZ-initZ);
                 posActual->setData(positionActualData);
 
                 // Update AttitudeRaw object (filtered gyros only for now)
-                AttitudeRaw::DataFields rawData;
-                memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
-                rawData = attRaw->getData();
-                rawData.gyros[0] = rollRate;
+                //AttitudeRaw::DataFields rawData;
+                //memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
+                //rawData = attRaw->getData();
+                //rawData.gyros[0] = rollRate;
                 //rawData.gyros_filtered[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate;
                 //rawData.gyros_filtered[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate;
-                rawData.gyros[1] = pitchRate;
-                rawData.gyros[2] = yawRate;
-                rawData.accels[0] = accX;
-                rawData.accels[1] = accY;
-                rawData.accels[2] = -accZ;
-                attRaw->setData(rawData);
+                //rawData.gyros[1] = pitchRate;
+                //rawData.gyros[2] = yawRate;
+                //rawData.accels[0] = accX;
+                //rawData.accels[1] = accY;
+                //rawData.accels[2] = -accZ;
+                //attRaw->setData(rawData);
+		Gyros::DataFields gyroData;
+                memset(&gyroData, 0, sizeof(Gyros::DataFields));
+		gyroData.x = rollRate;
+		gyroData.y = pitchRate;
+		gyroData.z = yawRate;
+		gyros->setData(gyroData);
 
+		Accels::DataFields accelData;
+                memset(&accelData, 0, sizeof(Accels::DataFields));
+		accelData.x = accX;
+		accelData.y = accY;
+		accelData.z = -accZ;
+		accels->setData(accelData);
 
 	}
 	// issue manual update

ground/openpilotgcs/src/plugins/hitlv2/aerosimrc.cpp

@@ -0,0 +1,468 @@
+#include "aerosimrc.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
+
+AeroSimRCSimulator::AeroSimRCSimulator(const SimulatorSettings &params)
+    : Simulator(params)
+{
+    udpCounterASrecv = 0;
+}
+
+AeroSimRCSimulator::~AeroSimRCSimulator()
+{
+}
+
+bool AeroSimRCSimulator::setupProcess()
+{
+    QMutexLocker locker(&lock);
+    return true;
+}
+
+void AeroSimRCSimulator::setupUdpPorts(const QString &host, int inPort, int outPort)
+{
+    Q_UNUSED(outPort)
+    if (inSocket->bind(QHostAddress(host), inPort))
+        emit processOutput("Successfully bound to address " + host + ", port " + QString::number(inPort) + "\n");
+    else
+        emit processOutput("Cannot bind to address " + host + ", port " + QString::number(inPort) + "\n");
+}
+
+void AeroSimRCSimulator::transmitUpdate()
+{
+    // read actuator output
+    ActuatorCommand::DataFields actCmdData;
+    actCmdData = actCommand->getData();
+    float channels[10];
+    for (int i = 0; i < 10; ++i) {
+        qint16 ch = actCmdData.Channel[i];
+        float out = -1.0;
+        if (ch >= 1000 && ch <= 2000) {
+            ch -= 1000;
+            out = ((float)ch / 500.0) - 1.0;
+        }
+        channels[i] = out;
+    }
+
+    // read flight status
+    FlightStatus::DataFields flightData;
+    flightData = flightStatus->getData();
+    quint8 armed;
+    quint8 mode;
+    armed = flightData.Armed;
+    mode = flightData.FlightMode;
+
+    QByteArray data;
+    // 50 - current size of values, 4(quint32) + 10*4(float) + 2(quint8) + 4(quint32)
+    data.resize(50);
+    QDataStream stream(&data, QIODevice::WriteOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+    stream << quint32(0x52434D44);      // magic header, "RCMD"
+    for (int i = 0; i < 10; ++i)
+        stream << channels[i];          // channels
+    stream << armed << mode;            // flight status
+    stream << udpCounterASrecv;         // packet counter
+
+    if (outSocket->writeDatagram(data, QHostAddress(settings.remoteAddress), settings.outPort) == -1) {
+        qDebug() << "write failed: " << outSocket->errorString();
+    }
+
+#ifdef DBG_TIMERS
+    static int cntTX = 0;
+    if (cntTX >= 100) {
+        qDebug() << "TX=" << 1000.0 * 100 / timeTX.restart();
+        cntTX = 0;
+    } else {
+        ++cntTX;
+    }
+#endif
+}
+
+void AeroSimRCSimulator::processUpdate(const QByteArray &data)
+{
+    // check size
+    if (data.size() > 188) {
+        qDebug() << "!!! big datagram: " << data.size();
+        return;
+    }
+
+    QByteArray buf = data;
+    QDataStream stream(&buf, QIODevice::ReadOnly);
+    stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
+
+    // check magic header
+    quint32 magic;
+    stream >> magic;
+    if (magic != 0x4153494D) {   // "AERO"
+        qDebug() << "wrong magic: " << magic << ", correct: " << quint32(0x4153494D);
+        return;
+    }
+
+    float   timeStep,
+            homeX, homeY, homeZ,
+            WpHX, WpHY, WpLat, WpLon,
+            posX, posY, posZ,   // world
+            velX, velY, velZ,   // world
+            angX, angY, angZ,   // model
+            accX, accY, accZ,   // model
+            lat, lon, agl,      // world
+            yaw, pitch, roll,   // model
+            volt, curr,
+            rx, ry, rz, fx, fy, fz, ux, uy, uz, // matrix
+            ch[8];
+
+    stream >> timeStep;
+    stream >> homeX >> homeY >> homeZ;
+    stream >> WpHX >> WpHY >> WpLat >> WpLon;
+    stream >> posX >> posY >> posZ;
+    stream >> velX >> velY >> velZ;
+    stream >> angX >> angY >> angZ;
+    stream >> accX >> accY >> accZ;
+    stream >> lat >> lon >> agl;
+    stream >> yaw >> pitch >> roll;
+    stream >> volt >> curr;
+    stream >> rx >> ry >> rz >> fx >> fy >> fz >> ux >> uy >> uz;
+    stream >> ch[0] >> ch[1] >> ch[2] >> ch[3] >> ch[4] >> ch[5] >> ch[6] >> ch[7];
+    stream >> udpCounterASrecv;
+
+    /**********************************************************************************************/
+    QTime currentTime = QTime::currentTime();
+    /**********************************************************************************************/
+    static bool firstRun = true;
+    if (settings.homeLocation) {
+        if (firstRun) {
+            HomeLocation::DataFields homeData;
+            homeData = posHome->getData();
+
+            homeData.Latitude = WpLat * 10e6;
+            homeData.Longitude = WpLon * 10e6;
+            homeData.Altitude = homeZ;
+            homeData.Set = HomeLocation::SET_TRUE;
+
+            posHome->setData(homeData);
+
+            firstRun = false;
+        }
+        if (settings.homeLocRate > 0) {
+            static QTime homeLocTime = currentTime;
+            if (homeLocTime.secsTo(currentTime) >= settings.homeLocRate) {
+                firstRun = true;
+                homeLocTime = currentTime;
+            }
+        }
+    }
+    /**********************************************************************************************/
+    if (settings.attRaw || settings.attActual) {
+        QMatrix4x4 mat;
+        mat = QMatrix4x4( fy,  fx, -fz,  0.0,           // model matrix
+                          ry,  rx, -rz,  0.0,           // (X,Y,Z) -> (+Y,+X,-Z)
+                         -uy, -ux,  uz,  0.0,
+                         0.0, 0.0, 0.0,  1.0);
+        mat.optimize();
+
+        QQuaternion quat;                               // model quat
+        asMatrix2Quat(mat, quat);
+
+        // rotate gravity
+        QVector3D acc = QVector3D(accY, accX, -accZ);   // accel (X,Y,Z) -> (+Y,+X,-Z)
+        QVector3D gee = QVector3D(0.0, 0.0, -GEE);
+        QQuaternion qWorld = quat.conjugate();
+        gee = qWorld.rotatedVector(gee);
+        acc += gee;
+
+        /*************************************************************************************/
+        if (settings.attRaw) {
+            Accels::DataFields accelsData;
+            accelsData = accels->getData();
+            Gyros::DataFields gyrosData;
+            gyrosData = gyros->getData();
+
+            gyrosData.x = angY * RAD2DEG;       // gyros (X,Y,Z) -> (+Y,+X,-Z)
+            gyrosData.y = angX * RAD2DEG;
+            gyrosData.z = angZ * -RAD2DEG;
+            accelsData.x = acc.x();
+            accelsData.y = acc.y();
+            accelsData.z = acc.z();
+
+            accels->setData(accelsData);
+            gyros->setData(gyrosData);
+        }
+        /*************************************************************************************/
+        if (settings.attActHW) {
+            // do nothing
+            /*****************************************/
+        } else if (settings.attActSim) {
+            // take all data from simulator
+            AttitudeActual::DataFields attActData;
+            attActData = attActual->getData();
+
+            QVector3D rpy;          // model roll, pitch, yaw
+            asMatrix2RPY(mat, rpy);
+
+            attActData.Roll  = rpy.x();
+            attActData.Pitch = rpy.y();
+            attActData.Yaw   = rpy.z();
+            attActData.q1 = quat.scalar();
+            attActData.q2 = quat.x();
+            attActData.q3 = quat.y();
+            attActData.q4 = quat.z();
+
+            attActual->setData(attActData);
+            /*****************************************/
+        } else if (settings.attActCalc) {
+            // calculate RPY with code from Attitude module
+            AttitudeActual::DataFields attActData;
+            attActData = attActual->getData();
+
+            static float q[4] = {1, 0, 0, 0};
+            static float gyro_correct_int2 = 0;
+
+            float dT = timeStep;
+
+            AttitudeSettings::DataFields attSettData = attSettings->getData();
+            float accelKp = attSettData.AccelKp * 0.1666666666666667;
+            float accelKi = attSettData.AccelKp * 0.1666666666666667;
+            float yawBiasRate = attSettData.YawBiasRate;
+
+            // calibrate sensors on arming
+            if (flightStatus->getData().Armed == FlightStatus::ARMED_ARMING) {
+                accelKp = 2.0;
+                accelKi = 0.9;
+            }
+
+            float gyro[3] = {angY * RAD2DEG, angX * RAD2DEG, angZ * -RAD2DEG};
+            float attRawAcc[3] = {acc.x(), acc.y(), acc.z()};
+
+            // code from Attitude module begin ///////////////////////////////
+            float *accels = attRawAcc;
+            float grot[3];
+            float accel_err[3];
+
+            // Rotate gravity to body frame and cross with accels
+            grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
+            grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
+            grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
+
+            // CrossProduct
+            {
+                accel_err[0] = accels[1]*grot[2] - grot[1]*accels[2];
+                accel_err[1] = grot[0]*accels[2] - accels[0]*grot[2];
+                accel_err[2] = accels[0]*grot[1] - grot[0]*accels[1];
+            }
+
+            // Account for accel magnitude
+            float accel_mag = sqrt(accels[0] * accels[0] + accels[1] * accels[1] + accels[2] * accels[2]);
+            accel_err[0] /= accel_mag;
+            accel_err[1] /= accel_mag;
+            accel_err[2] /= accel_mag;
+
+            // Accumulate integral of error.  Scale here so that units are (deg/s) but Ki has units of s
+            gyro_correct_int2 += -gyro[2] * yawBiasRate;
+
+            // Correct rates based on error, integral component dealt with in updateSensors
+            gyro[0] += accel_err[0] * accelKp / dT;
+            gyro[1] += accel_err[1] * accelKp / dT;
+            gyro[2] += accel_err[2] * accelKp / dT + gyro_correct_int2;
+
+            // Work out time derivative from INSAlgo writeup
+            // Also accounts for the fact that gyros are in deg/s
+            float qdot[4];
+            qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
+            qdot[1] = (+q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
+            qdot[2] = (+q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
+            qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
+
+            // Take a time step
+            q[0] += qdot[0];
+            q[1] += qdot[1];
+            q[2] += qdot[2];
+            q[3] += qdot[3];
+
+            if(q[0] < 0) {
+                q[0] = -q[0];
+                q[1] = -q[1];
+                q[2] = -q[2];
+                q[3] = -q[3];
+            }
+
+            // Renomalize
+            float qmag = sqrt((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
+            q[0] /= qmag;
+            q[1] /= qmag;
+            q[2] /= qmag;
+            q[3] /= qmag;
+
+            // If quaternion has become inappropriately short or is nan reinit.
+            // THIS SHOULD NEVER ACTUALLY HAPPEN
+            if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
+                q[0] = 1;
+                q[1] = 0;
+                q[2] = 0;
+                q[3] = 0;
+            }
+
+            float rpy2[3];
+            // Quaternion2RPY
+            {
+                float q0s, q1s, q2s, q3s;
+                q0s = q[0] * q[0];
+                q1s = q[1] * q[1];
+                q2s = q[2] * q[2];
+                q3s = q[3] * q[3];
+
+                float R13, R11, R12, R23, R33;
+                R13 = 2 * (q[1] * q[3] - q[0] * q[2]);
+                R11 = q0s + q1s - q2s - q3s;
+                R12 = 2 * (q[1] * q[2] + q[0] * q[3]);
+                R23 = 2 * (q[2] * q[3] + q[0] * q[1]);
+                R33 = q0s - q1s - q2s + q3s;
+
+                rpy2[1] = RAD2DEG * asinf(-R13);    // pitch always between -pi/2 to pi/2
+                rpy2[2] = RAD2DEG * atan2f(R12, R11);
+                rpy2[0] = RAD2DEG * atan2f(R23, R33);
+            }
+
+            attActData.Roll  = rpy2[0];
+            attActData.Pitch = rpy2[1];
+            attActData.Yaw   = rpy2[2];
+            attActData.q1 = q[0];
+            attActData.q2 = q[1];
+            attActData.q3 = q[2];
+            attActData.q4 = q[3];
+            attActual->setData(attActData);
+            /*****************************************/
+        }
+    }
+    /**********************************************************************************************/
+    if (settings.gcsReciever) {
+        static QTime gcsRcvrTime = currentTime;
+        if (!settings.manualOutput || gcsRcvrTime.msecsTo(currentTime) >= settings.outputRate) {
+            GCSReceiver::DataFields gcsRcvrData;
+            gcsRcvrData = gcsReceiver->getData();
+
+            for (int i = 0; i < 8; ++i)
+                gcsRcvrData.Channel[i] = 1500 + (ch[i] * 500);
+
+            gcsReceiver->setData(gcsRcvrData);
+            if (settings.manualOutput)
+                gcsRcvrTime = currentTime;
+        }
+    } else if (settings.manualControl) {
+        // not implemented yet
+    }
+    /**********************************************************************************************/
+    if (settings.gpsPosition) {
+        static QTime gpsPosTime = currentTime;
+        if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
+            GPSPosition::DataFields gpsPosData;
+            gpsPosData = gpsPosition->getData();
+
+            gpsPosData.Altitude = posZ;
+            gpsPosData.Heading = yaw * RAD2DEG;
+            gpsPosData.Latitude = lat * 10e6;
+            gpsPosData.Longitude = lon * 10e6;
+            gpsPosData.Groundspeed = qSqrt(velX * velX + velY * velY);
+            gpsPosData.GeoidSeparation = 0.0;
+            gpsPosData.Satellites = 8;
+            gpsPosData.PDOP = 3.0;
+            gpsPosData.Status = GPSPosition::STATUS_FIX3D;
+
+            gpsPosition->setData(gpsPosData);
+            gpsPosTime = currentTime;
+        }
+    }
+    /**********************************************************************************************/
+    if (settings.sonarAltitude) {
+        static QTime sonarAltTime = currentTime;
+        if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
+            SonarAltitude::DataFields sonarAltData;
+            sonarAltData = sonarAlt->getData();
+
+            float sAlt = settings.sonarMaxAlt;
+            // 0.35 rad ~= 20 degree
+            if ((agl < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
+                float x = agl * qTan(roll);
+                float y = agl * qTan(pitch);
+                float h = qSqrt(x*x + y*y + agl*agl);
+                sAlt = qMin(h, sAlt);
+            }
+
+            sonarAltData.Altitude = sAlt;
+            sonarAlt->setData(sonarAltData);
+            sonarAltTime = currentTime;
+        }
+    }
+    /**********************************************************************************************/
+/*
+    BaroAltitude::DataFields altActData;
+    altActData = altActual->getData();
+    altActData.Altitude = posZ;
+    altActual->setData(altActData);
+
+    PositionActual::DataFields posActData;
+    posActData = posActual->getData();
+    posActData.North = posY * 100;
+    posActData.East = posX * 100;
+    posActData.Down = posZ * -100;
+    posActual->setData(posActData);
+
+    VelocityActual::DataFields velActData;
+    velActData = velActual->getData();
+    velActData.North = velY * 100;
+    velActData.East = velX * 100;
+    velActData.Down = velZ * 100;
+    velActual->setData(velActData);
+*/
+
+#ifdef DBG_TIMERS
+    static int cntRX = 0;
+    if (cntRX >= 100) {
+        qDebug() << "RX=" << 1000.0 * 100 / timeRX.restart();
+        cntRX = 0;
+    } else {
+        ++cntRX;
+    }
+#endif
+}
+
+// transfomations
+
+void AeroSimRCSimulator::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
+{
+    qreal w, x, y, z;
+
+    // w always >= 0
+    w = qSqrt(qMax(0.0, 1.0 + m(0, 0) + m(1, 1) + m(2, 2))) / 2.0;
+    x = qSqrt(qMax(0.0, 1.0 + m(0, 0) - m(1, 1) - m(2, 2))) / 2.0;
+    y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
+    z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
+
+    x = copysign(x, (m(1, 2) - m(2, 1)));
+    y = copysign(y, (m(2, 0) - m(0, 2)));
+    z = copysign(z, (m(0, 1) - m(1, 0)));
+
+    q.setScalar(w);
+    q.setX(x);
+    q.setY(y);
+    q.setZ(z);
+}
+
+void AeroSimRCSimulator::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
+{
+    qreal roll, pitch, yaw;
+
+    if (qFabs(m(0, 2)) > 0.998) {
+        // ~86.3°, gimbal lock
+        roll  = 0.0;
+        pitch = copysign(M_PI_2, -m(0, 2));
+        yaw   = qAtan2(-m(1, 0), m(1, 1));
+    } else {
+        roll  = qAtan2(m(1, 2), m(2, 2));
+        pitch = qAsin(-m(0, 2));
+        yaw   = qAtan2(m(0, 1), m(0, 0));
+    }
+
+    rpy.setX(roll  * RAD2DEG);
+    rpy.setY(pitch * RAD2DEG);
+    rpy.setZ(yaw   * RAD2DEG);
+}

ground/openpilotgcs/src/plugins/hitlv2/aerosimrc.h

@@ -0,0 +1,46 @@
+#ifndef AEROSIMRC_H
+#define AEROSIMRC_H
+
+#include <QObject>
+#include <QVector3D>
+#include <QQuaternion>
+#include <QMatrix4x4>
+#include "simulatorv2.h"
+
+class AeroSimRCSimulator: public Simulator
+{
+    Q_OBJECT
+
+public:
+    AeroSimRCSimulator(const SimulatorSettings &params);
+    ~AeroSimRCSimulator();
+
+    bool setupProcess();
+    void setupUdpPorts(const QString& host, int inPort, int outPort);
+
+private slots:
+    void transmitUpdate();
+
+private:
+    quint32 udpCounterASrecv;   //keeps track of udp packets received by ASim
+
+    void processUpdate(const QByteArray &data);
+
+    void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
+    void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
+};
+
+class AeroSimRCSimulatorCreator : public SimulatorCreator
+{
+public:
+    AeroSimRCSimulatorCreator(const QString &classId, const QString &description)
+        : SimulatorCreator (classId, description)
+    {}
+
+    Simulator* createSimulator(const SimulatorSettings &params)
+    {
+        return new AeroSimRCSimulator(params);
+    }
+};
+
+#endif // AEROSIMRC_H

ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pluginspec

@@ -0,0 +1,12 @@
+<plugin name="HITLv2" version="1.0.0" compatVersion="1.0.0">
+    <vendor>The OpenPilot Project</vendor>
+    <copyright>(C) 2011 OpenPilot Project</copyright>
+    <license>The GNU Public License (GPL) Version 3</license>
+    <description>Hardware In The Loop Simulation (v2)</description>
+    <url>http://www.openpilot.org</url>
+    <dependencyList>
+        <dependency name="Core" version="1.0.0"/>
+        <dependency name="UAVObjects" version="1.0.0"/>
+        <dependency name="UAVTalk" version="1.0.0"/>
+    </dependencyList>
+</plugin>    

ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro

@@ -0,0 +1,27 @@
+TEMPLATE = lib
+TARGET = HITLV2
+QT += network
+include(../../openpilotgcsplugin.pri)
+include(hitlv2_dependencies.pri)
+HEADERS += \
+    aerosimrc.h \
+    hitlv2configuration.h \
+    hitlv2factory.h \
+    hitlv2gadget.h \
+    hitlv2optionspage.h \
+    hitlv2plugin.h \
+    hitlv2widget.h \
+    simulatorv2.h
+SOURCES += \
+    aerosimrc.cpp \
+    hitlv2configuration.cpp \
+    hitlv2factory.cpp \
+    hitlv2gadget.cpp \
+    hitlv2optionspage.cpp \
+    hitlv2plugin.cpp \
+    hitlv2widget.cpp \
+    simulatorv2.cpp
+OTHER_FILES += hitlv2.pluginspec
+FORMS += \
+    hitlv2optionspage.ui \
+    hitlv2widget.ui

ground/openpilotgcs/src/plugins/hitlv2/hitlv2_dependencies.pri

@@ -0,0 +1,4 @@
+include(../../plugins/uavobjects/uavobjects.pri)
+include(../../plugins/uavtalk/uavtalk.pri)
+#include(../../plugins/coreplugin/coreplugin.pri)
+#include(../../libs/utils/utils.pri)

ground/openpilotgcs/src/plugins/hitlv2/hitlv2configuration.cpp

@@ -0,0 +1,178 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlconfiguration.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "hitlv2configuration.h"
+
+HITLConfiguration::HITLConfiguration(QString classId,
+                                     QSettings* qSettings,
+                                     QObject *parent)
+    : IUAVGadgetConfiguration(classId, parent)
+{
+//    qDebug() << "HITLV2Configuration";
+    // default values
+    QString simulatorId     = "";
+    QString hostAddress     = "127.0.0.1";
+    int inPort              = 40100;
+    QString remoteAddress   = "127.0.0.1";
+    int outPort             = 40200;
+    QString binPath         = "";
+    QString dataPath        = "";
+
+    bool homeLocation       = true;
+    quint16 homeLocRate     = 0;
+
+    bool attRaw             = true;
+    quint8 attRawRate       = 20;
+
+    bool attActual          = true;
+    bool attActHW           = false;
+    bool attActSim          = true;
+    bool attActCalc         = false;
+
+    bool sonarAltitude      = false;
+    float sonarMaxAlt       = 5.0;
+    quint16 sonarAltRate    = 50;
+
+    bool gpsPosition        = true;
+    quint16 gpsPosRate      = 200;
+
+    bool inputCommand       = true;
+    bool gcsReciever        = true;
+    bool manualControl      = false;
+
+    bool manualOutput       = false;
+    quint8 outputRate       = 20;
+
+    // if a saved configuration exists load it
+    if (qSettings != 0) {
+        settings.simulatorId        = qSettings->value("simulatorId", simulatorId).toString();
+        settings.hostAddress        = qSettings->value("hostAddress", hostAddress).toString();
+        settings.inPort             = qSettings->value("inPort", inPort).toInt();
+        settings.remoteAddress      = qSettings->value("remoteAddress", remoteAddress).toString();
+        settings.outPort            = qSettings->value("outPort", outPort).toInt();
+        settings.binPath            = qSettings->value("binPath", binPath).toString();
+        settings.dataPath           = qSettings->value("dataPath", dataPath).toString();
+
+        settings.homeLocation       = qSettings->value("homeLocation", homeLocation).toBool();
+        settings.homeLocRate        = qSettings->value("homeLocRate", homeLocRate).toInt();
+
+        settings.attRaw             = qSettings->value("attRaw", attRaw).toBool();
+        settings.attRawRate         = qSettings->value("attRawRate", attRawRate).toInt();
+
+        settings.attActual          = qSettings->value("attActual", attActual).toBool();
+        settings.attActHW           = qSettings->value("attActHW", attActHW).toBool();
+        settings.attActSim          = qSettings->value("attActSim", attActSim).toBool();
+        settings.attActCalc         = qSettings->value("attActCalc", attActCalc).toBool();
+
+        settings.sonarAltitude      = qSettings->value("sonarAltitude", sonarAltitude).toBool();
+        settings.sonarMaxAlt        = qSettings->value("sonarMaxAlt", sonarMaxAlt).toFloat();
+        settings.sonarAltRate       = qSettings->value("sonarAltRate", sonarAltRate).toInt();
+
+        settings.gpsPosition        = qSettings->value("gpsPosition", gpsPosition).toBool();
+        settings.gpsPosRate         = qSettings->value("gpsPosRate", gpsPosRate).toInt();
+
+        settings.inputCommand       = qSettings->value("inputCommand", inputCommand).toBool();
+        settings.gcsReciever        = qSettings->value("gcsReciever", gcsReciever).toBool();
+        settings.manualControl      = qSettings->value("manualControl", manualControl).toBool();
+        settings.manualOutput       = qSettings->value("manualOutput", manualOutput).toBool();
+        settings.outputRate         = qSettings->value("outputRate", outputRate).toInt();
+    } else {
+        settings.simulatorId        = simulatorId;
+        settings.hostAddress        = hostAddress;
+        settings.inPort             = inPort;
+        settings.remoteAddress      = remoteAddress;
+        settings.outPort            = outPort;
+        settings.binPath            = binPath;
+        settings.dataPath           = dataPath;
+
+        settings.homeLocation       = homeLocation;
+        settings.homeLocRate        = homeLocRate;
+
+        settings.attRaw             = attRaw;
+        settings.attRawRate         = attRawRate;
+
+        settings.attActual          = attActual;
+        settings.attActHW           = attActHW;
+        settings.attActSim          = attActSim;
+        settings.attActCalc         = attActCalc;
+
+        settings.sonarAltitude      = sonarAltitude;
+        settings.sonarMaxAlt        = sonarMaxAlt;
+        settings.sonarAltRate       = sonarAltRate;
+
+        settings.gpsPosition        = gpsPosition;
+        settings.gpsPosRate         = gpsPosRate;
+
+        settings.inputCommand       = inputCommand;
+        settings.gcsReciever        = gcsReciever;
+        settings.manualControl      = manualControl;
+        settings.manualOutput       = manualOutput;
+        settings.outputRate         = outputRate;
+    }
+}
+
+IUAVGadgetConfiguration *HITLConfiguration::clone()
+{
+    HITLConfiguration *m = new HITLConfiguration(this->classId());
+    m->settings = settings;
+    return m;
+}
+
+void HITLConfiguration::saveConfig(QSettings* qSettings) const
+{
+    qSettings->setValue("simulatorId", settings.simulatorId);
+    qSettings->setValue("hostAddress", settings.hostAddress);
+    qSettings->setValue("inPort", settings.inPort);
+    qSettings->setValue("remoteAddress", settings.remoteAddress);
+    qSettings->setValue("outPort", settings.outPort);
+    qSettings->setValue("binPath", settings.binPath);
+    qSettings->setValue("dataPath", settings.dataPath);
+
+    qSettings->setValue("homeLocation", settings.homeLocation);
+    qSettings->setValue("homeLocRate", settings.homeLocRate);
+
+    qSettings->setValue("attRaw", settings.attRaw);
+    qSettings->setValue("attRawRate", settings.attRawRate);
+
+    qSettings->setValue("attActual", settings.attActual);
+    qSettings->setValue("attActHW", settings.attActHW);
+    qSettings->setValue("attActSim", settings.attActSim);
+    qSettings->setValue("attActCalc", settings.attActCalc);
+
+    qSettings->setValue("sonarAltitude", settings.sonarAltitude);
+    qSettings->setValue("sonarMaxAlt", settings.sonarMaxAlt);
+    qSettings->setValue("sonarAltRate", settings.sonarAltRate);
+
+    qSettings->setValue("gpsPosition", settings.gpsPosition);
+    qSettings->setValue("gpsPosRate", settings.gpsPosRate);
+
+    qSettings->setValue("inputCommand", settings.inputCommand);
+    qSettings->setValue("gcsReciever", settings.gcsReciever);
+    qSettings->setValue("manualControl", settings.manualControl);
+    qSettings->setValue("manualOutput", settings.manualOutput);
+    qSettings->setValue("outputRate", settings.outputRate);
+}

ground/openpilotgcs/src/plugins/hitlv2/hitlv2configuration.h

@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlconfiguration.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2CONFIGURATION_H
+#define HITLV2CONFIGURATION_H
+
+#include <coreplugin/iuavgadgetconfiguration.h>
+#include <QtGui/QColor>
+#include <QString>
+#include <simulatorv2.h>
+
+using namespace Core;
+
+class HITLConfiguration : public IUAVGadgetConfiguration
+{
+
+    Q_OBJECT
+
+    Q_PROPERTY(SimulatorSettings settings READ Settings WRITE setSimulatorSettings)
+
+public:
+    explicit HITLConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
+
+    void saveConfig(QSettings* settings) const;
+    IUAVGadgetConfiguration *clone();
+
+    SimulatorSettings Settings() const { return settings; }
+
+public slots:
+    void setSimulatorSettings (const SimulatorSettings& params ) { settings = params; }
+
+
+private:
+    SimulatorSettings settings;
+};
+
+#endif // HITLV2CONFIGURATION_H

ground/openpilotgcs/src/plugins/hitlv2/hitlv2factory.cpp

@@ -0,0 +1,58 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlfactory.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlv2factory.h"
+#include "hitlv2widget.h"
+#include "hitlv2gadget.h"
+#include "hitlv2configuration.h"
+#include "hitlv2optionspage.h"
+#include <coreplugin/iuavgadget.h>
+
+HITLFactory::HITLFactory(QObject *parent)
+    : IUAVGadgetFactory(QString("HITLv2"), tr("HITL Simulation (v2)"), parent)
+{
+}
+
+HITLFactory::~HITLFactory()
+{
+}
+
+Core::IUAVGadget* HITLFactory::createGadget(QWidget *parent)
+{
+    HITLWidget* gadgetWidget = new HITLWidget(parent);
+    return new HITLGadget(QString("HITLv2"), gadgetWidget, parent);
+}
+
+IUAVGadgetConfiguration *HITLFactory::createConfiguration(QSettings* qSettings)
+{
+    return new HITLConfiguration(QString("HITLv2"), qSettings);
+}
+
+IOptionsPage *HITLFactory::createOptionsPage(IUAVGadgetConfiguration *config)
+{
+    return new HITLOptionsPage(qobject_cast<HITLConfiguration*>(config));
+}
+

ground/openpilotgcs/src/plugins/hitlv2/hitlv2factory.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlfactory.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2FACTORY_H
+#define HITLV2FACTORY_H
+
+#include <coreplugin/iuavgadgetfactory.h>
+
+namespace Core {
+class IUAVGadget;
+class IUAVGadgetFactory;
+}
+
+using namespace Core;
+
+class HITLFactory : public Core::IUAVGadgetFactory
+{
+    Q_OBJECT
+public:
+    HITLFactory(QObject *parent = 0);
+    ~HITLFactory();
+
+    IUAVGadget *createGadget(QWidget *parent);
+    IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
+    IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
+};
+
+#endif // HITLV2FACTORY_H

ground/openpilotgcs/src/plugins/hitlv2/hitlv2gadget.cpp

@@ -0,0 +1,49 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitl.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlv2gadget.h"
+#include "hitlv2widget.h"
+#include "hitlv2configuration.h"
+#include "simulatorv2.h"
+
+HITLGadget::HITLGadget(QString classId, HITLWidget *widget, QWidget *parent) :
+    IUAVGadget(classId, parent),
+    m_widget(widget)
+{
+    connect(this, SIGNAL(changeConfiguration(void)), m_widget, SLOT(stopButtonClicked(void)));
+}
+
+HITLGadget::~HITLGadget()
+{
+    delete m_widget;
+}
+
+void HITLGadget::loadConfiguration(IUAVGadgetConfiguration* config)
+{
+    HITLConfiguration *m = qobject_cast<HITLConfiguration*>(config);
+    emit changeConfiguration();
+    m_widget->setSettingParameters(m->Settings());
+}

ground/openpilotgcs/src/plugins/hitlv2/hitlv2gadget.h

@@ -0,0 +1,60 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitl.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2_H
+#define HITLV2_H
+
+#include <coreplugin/iuavgadget.h>
+#include "hitlv2widget.h"
+
+class IUAVGadget;
+class QWidget;
+class QString;
+class Simulator;
+
+using namespace Core;
+
+class HITLGadget : public Core::IUAVGadget
+{
+    Q_OBJECT
+public:
+    HITLGadget(QString classId, HITLWidget *widget, QWidget *parent = 0);
+    ~HITLGadget();
+
+    QWidget *widget() { return m_widget; }
+    void loadConfiguration(IUAVGadgetConfiguration* config);
+
+signals:
+    void changeConfiguration();
+
+private:
+    HITLWidget* m_widget;
+    Simulator* simulator;
+};
+
+
+#endif // HITLV2_H

ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.cpp

@@ -0,0 +1,146 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitloptionspage.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "hitlv2optionspage.h"
+#include "hitlv2configuration.h"
+#include "ui_hitlv2optionspage.h"
+#include "hitlv2plugin.h"
+
+#include <QFileDialog>
+#include <QtAlgorithms>
+#include <QStringList>
+#include "simulatorv2.h"
+
+HITLOptionsPage::HITLOptionsPage(HITLConfiguration *conf, QObject *parent) :
+    IOptionsPage(parent),
+    config(conf)
+{
+}
+
+QWidget *HITLOptionsPage::createPage(QWidget *parent)
+{
+//    qDebug() << "HITLOptionsPage::createPage";
+    // Create page
+    m_optionsPage = new Ui::HITLOptionsPage();
+    QWidget* optionsPageWidget = new QWidget;
+    m_optionsPage->setupUi(optionsPageWidget);
+    int index = 0;
+    foreach (SimulatorCreator* creator, HITLPlugin::typeSimulators)
+        m_optionsPage->chooseFlightSimulator->insertItem(index++, creator->Description(), creator->ClassId());
+
+    m_optionsPage->executablePath->setExpectedKind(Utils::PathChooser::File);
+    m_optionsPage->executablePath->setPromptDialogTitle(tr("Choose flight simulator executable"));
+    m_optionsPage->dataPath->setExpectedKind(Utils::PathChooser::Directory);
+    m_optionsPage->dataPath->setPromptDialogTitle(tr("Choose flight simulator data directory"));
+
+    // Restore the contents from the settings:
+    foreach (SimulatorCreator* creator, HITLPlugin::typeSimulators) {
+        QString id = config->Settings().simulatorId;
+        if (creator->ClassId() == id)
+            m_optionsPage->chooseFlightSimulator->setCurrentIndex(HITLPlugin::typeSimulators.indexOf(creator));
+    }
+
+    m_optionsPage->hostAddress->setText(config->Settings().hostAddress);
+    m_optionsPage->inputPort->setText(QString::number(config->Settings().inPort));
+    m_optionsPage->remoteAddress->setText(config->Settings().remoteAddress);
+    m_optionsPage->outputPort->setText(QString::number(config->Settings().outPort));
+    m_optionsPage->executablePath->setPath(config->Settings().binPath);
+    m_optionsPage->dataPath->setPath(config->Settings().dataPath);
+
+    m_optionsPage->homeLocation->setChecked(config->Settings().homeLocation);
+    m_optionsPage->homeLocRate->setValue(config->Settings().homeLocRate);
+
+    m_optionsPage->attRaw->setChecked(config->Settings().attRaw);
+    m_optionsPage->attRawRate->setValue(config->Settings().attRawRate);
+
+    m_optionsPage->attActual->setChecked(config->Settings().attActual);
+    m_optionsPage->attActHW->setChecked(config->Settings().attActHW);
+    m_optionsPage->attActSim->setChecked(config->Settings().attActSim);
+    m_optionsPage->attActCalc->setChecked(config->Settings().attActCalc);
+
+    m_optionsPage->sonarAltitude->setChecked(config->Settings().sonarAltitude);
+    m_optionsPage->sonarMaxAlt->setValue(config->Settings().sonarMaxAlt);
+    m_optionsPage->sonarAltRate->setValue(config->Settings().sonarAltRate);
+
+    m_optionsPage->gpsPosition->setChecked(config->Settings().gpsPosition);
+    m_optionsPage->gpsPosRate->setValue(config->Settings().gpsPosRate);
+
+    m_optionsPage->inputCommand->setChecked(config->Settings().inputCommand);
+    m_optionsPage->gcsReciever->setChecked(config->Settings().gcsReciever);
+    m_optionsPage->manualControl->setChecked(config->Settings().manualControl);
+
+    m_optionsPage->manualOutput->setChecked(config->Settings().manualOutput);
+    m_optionsPage->outputRate->setValue(config->Settings().outputRate);
+
+    return optionsPageWidget;
+}
+
+void HITLOptionsPage::apply()
+{
+    SimulatorSettings settings;
+    int i = m_optionsPage->chooseFlightSimulator->currentIndex();
+
+    settings.simulatorId    = m_optionsPage->chooseFlightSimulator->itemData(i).toString();
+    settings.hostAddress    = m_optionsPage->hostAddress->text();
+    settings.inPort         = m_optionsPage->inputPort->text().toInt();
+    settings.remoteAddress  = m_optionsPage->remoteAddress->text();
+    settings.outPort        = m_optionsPage->outputPort->text().toInt();
+    settings.binPath        = m_optionsPage->executablePath->path();
+    settings.dataPath       = m_optionsPage->dataPath->path();
+
+    settings.homeLocation   = m_optionsPage->homeLocation->isChecked();
+    settings.homeLocRate    = m_optionsPage->homeLocRate->value();
+
+    settings.attRaw         = m_optionsPage->attRaw->isChecked();
+    settings.attRawRate     = m_optionsPage->attRawRate->value();
+
+    settings.attActual      = m_optionsPage->attActual->isChecked();
+    settings.attActHW       = m_optionsPage->attActHW->isChecked();
+    settings.attActSim      = m_optionsPage->attActSim->isChecked();
+    settings.attActCalc     = m_optionsPage->attActCalc->isChecked();
+
+    settings.sonarAltitude  = m_optionsPage->sonarAltitude->isChecked();
+    settings.sonarMaxAlt    = m_optionsPage->sonarMaxAlt->value();
+    settings.sonarAltRate   = m_optionsPage->sonarAltRate->value();
+
+    settings.gpsPosition    = m_optionsPage->gpsPosition->isChecked();
+    settings.gpsPosRate     = m_optionsPage->gpsPosRate->value();
+
+    settings.inputCommand   = m_optionsPage->inputCommand->isChecked();
+    settings.gcsReciever    = m_optionsPage->gcsReciever->isChecked();
+    settings.manualControl  = m_optionsPage->manualControl->isChecked();
+
+    settings.manualOutput   = m_optionsPage->manualOutput->isChecked();
+    settings.outputRate     = m_optionsPage->outputRate->value();
+
+    config->setSimulatorSettings(settings);
+}
+
+void HITLOptionsPage::finish()
+{
+    delete m_optionsPage;
+}

ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.h

@@ -0,0 +1,61 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitloptionspage.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2OPTIONSPAGE_H
+#define HITLV2OPTIONSPAGE_H
+
+#include <coreplugin/dialogs/ioptionspage.h>
+
+namespace Core {
+class IUAVGadgetConfiguration;
+}
+
+class HITLConfiguration;
+
+using namespace Core;
+
+namespace Ui {
+class HITLOptionsPage;
+}
+
+class HITLOptionsPage : public IOptionsPage
+{
+    Q_OBJECT
+public:
+    explicit HITLOptionsPage(HITLConfiguration *conf, QObject *parent = 0);
+
+    QWidget *createPage(QWidget *parent);
+    void apply();
+    void finish();
+    bool isDecorated() const { return true; }
+
+private:
+    HITLConfiguration* config;
+    Ui::HITLOptionsPage* m_optionsPage;
+};
+
+#endif // HITLV2OPTIONSPAGE_H

ground/openpilotgcs/src/plugins/hitlv2/hitlv2optionspage.ui

@@ -0,0 +1,639 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HITLOptionsPage</class>
+ <widget class="QWidget" name="HITLOptionsPage">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>403</width>
+    <height>400</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="spacing">
+    <number>3</number>
+   </property>
+   <property name="leftMargin">
+    <number>0</number>
+   </property>
+   <property name="topMargin">
+    <number>0</number>
+   </property>
+   <property name="rightMargin">
+    <number>0</number>
+   </property>
+   <property name="bottomMargin">
+    <number>3</number>
+   </property>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QLabel" name="label_3">
+       <property name="text">
+        <string>Choose flight simulator:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QComboBox" name="chooseFlightSimulator"/>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QGridLayout" name="gridLayout">
+     <item row="0" column="0">
+      <widget class="QLabel" name="label_6">
+       <property name="text">
+        <string>Local interface (IP):</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="QLineEdit" name="hostAddress">
+       <property name="toolTip">
+        <string>For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_9">
+       <property name="text">
+        <string>Remote interface (IP):</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLineEdit" name="remoteAddress">
+       <property name="toolTip">
+        <string>Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="2">
+      <widget class="QLabel" name="label_5">
+       <property name="text">
+        <string>Input Port:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QLineEdit" name="inputPort">
+       <property name="toolTip">
+        <string>For receiving data from sim</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="2">
+      <widget class="QLabel" name="label_4">
+       <property name="text">
+        <string>Output Port:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="outputPort">
+       <property name="toolTip">
+        <string>For sending data to sim</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QFormLayout" name="formLayout">
+     <property name="fieldGrowthPolicy">
+      <enum>QFormLayout::AllNonFixedFieldsGrow</enum>
+     </property>
+     <item row="0" column="0">
+      <widget class="QLabel" name="label">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Path executable:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="1">
+      <widget class="Utils::PathChooser" name="executablePath" native="true"/>
+     </item>
+     <item row="1" column="0">
+      <widget class="QLabel" name="label_2">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="text">
+        <string>Data directory:</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="1">
+      <widget class="Utils::PathChooser" name="dataPath" native="true"/>
+     </item>
+    </layout>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_3">
+     <item>
+      <widget class="QGroupBox" name="groupBox">
+       <property name="title">
+        <string>Attitude data</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_2">
+        <property name="spacing">
+         <number>3</number>
+        </property>
+        <property name="leftMargin">
+         <number>3</number>
+        </property>
+        <property name="topMargin">
+         <number>3</number>
+        </property>
+        <property name="rightMargin">
+         <number>3</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <item>
+         <widget class="QGroupBox" name="attRaw">
+          <property name="title">
+           <string>AttitudeRaw (gyro, accels)</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_4">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="label_8">
+             <property name="text">
+              <string>Refresh rate</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QSpinBox" name="attRawRate">
+             <property name="suffix">
+              <string>ms</string>
+             </property>
+             <property name="minimum">
+              <number>10</number>
+             </property>
+             <property name="maximum">
+              <number>100</number>
+             </property>
+             <property name="value">
+              <number>20</number>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="attActual">
+          <property name="title">
+           <string>AttitudeActual</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_4">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QRadioButton" name="attActHW">
+             <property name="text">
+              <string>send raw data to board</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QRadioButton" name="attActSim">
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="toolTip">
+              <string/>
+             </property>
+             <property name="text">
+              <string>use values from simulator</string>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QRadioButton" name="attActCalc">
+             <property name="toolTip">
+              <string/>
+             </property>
+             <property name="text">
+              <string>calculate from AttitudeRaw</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </item>
+       </layout>
+      </widget>
+     </item>
+     <item>
+      <widget class="QGroupBox" name="groupBox_2">
+       <property name="title">
+        <string>Other data</string>
+       </property>
+       <layout class="QVBoxLayout" name="verticalLayout_3">
+        <property name="spacing">
+         <number>3</number>
+        </property>
+        <property name="leftMargin">
+         <number>3</number>
+        </property>
+        <property name="topMargin">
+         <number>3</number>
+        </property>
+        <property name="rightMargin">
+         <number>3</number>
+        </property>
+        <property name="bottomMargin">
+         <number>0</number>
+        </property>
+        <item>
+         <widget class="QGroupBox" name="homeLocation">
+          <property name="title">
+           <string>HomeLocation</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_2">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="label_7">
+             <property name="text">
+              <string>Refresh rate</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QSpinBox" name="homeLocRate">
+             <property name="toolTip">
+              <string>0 - update once, or every N seconds</string>
+             </property>
+             <property name="suffix">
+              <string>sec</string>
+             </property>
+             <property name="maximum">
+              <number>10</number>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="gpsPosition">
+          <property name="title">
+           <string>GPSPosition</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QHBoxLayout" name="horizontalLayout_5">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QLabel" name="label_10">
+             <property name="text">
+              <string>Refresh rate</string>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QSpinBox" name="gpsPosRate">
+             <property name="suffix">
+              <string>ms</string>
+             </property>
+             <property name="minimum">
+              <number>100</number>
+             </property>
+             <property name="maximum">
+              <number>2000</number>
+             </property>
+             <property name="value">
+              <number>500</number>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="sonarAltitude">
+          <property name="title">
+           <string>SonarAltitude</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_6">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="leftMargin">
+            <number>6</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <layout class="QGridLayout" name="gridLayout_2">
+             <item row="0" column="0">
+              <widget class="QLabel" name="label_11">
+               <property name="text">
+                <string>Range detectioon</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QSpinBox" name="sonarMaxAlt">
+               <property name="suffix">
+                <string>m</string>
+               </property>
+               <property name="minimum">
+                <number>1</number>
+               </property>
+               <property name="maximum">
+                <number>10</number>
+               </property>
+               <property name="value">
+                <number>5</number>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="0">
+              <widget class="QLabel" name="label_12">
+               <property name="text">
+                <string>Refresh rate</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="1">
+              <widget class="QSpinBox" name="sonarAltRate">
+               <property name="suffix">
+                <string>ms</string>
+               </property>
+               <property name="minimum">
+                <number>20</number>
+               </property>
+               <property name="maximum">
+                <number>2000</number>
+               </property>
+               <property name="singleStep">
+                <number>10</number>
+               </property>
+               <property name="value">
+                <number>50</number>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <widget class="QGroupBox" name="inputCommand">
+          <property name="title">
+           <string>Map command from simulator</string>
+          </property>
+          <property name="flat">
+           <bool>true</bool>
+          </property>
+          <property name="checkable">
+           <bool>true</bool>
+          </property>
+          <property name="checked">
+           <bool>false</bool>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout_5">
+           <property name="spacing">
+            <number>3</number>
+           </property>
+           <property name="topMargin">
+            <number>3</number>
+           </property>
+           <property name="rightMargin">
+            <number>0</number>
+           </property>
+           <property name="bottomMargin">
+            <number>0</number>
+           </property>
+           <item>
+            <widget class="QRadioButton" name="gcsReciever">
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>to GCSReciver</string>
+             </property>
+             <property name="checked">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item>
+            <widget class="QRadioButton" name="manualControl">
+             <property name="enabled">
+              <bool>false</bool>
+             </property>
+             <property name="text">
+              <string>to ManualCtrll (not implemented)</string>
+             </property>
+            </widget>
+           </item>
+          </layout>
+         </widget>
+        </item>
+        <item>
+         <layout class="QHBoxLayout" name="horizontalLayout_6">
+          <property name="spacing">
+           <number>6</number>
+          </property>
+          <item>
+           <widget class="QCheckBox" name="manualOutput">
+            <property name="text">
+             <string>Maximum output rate</string>
+            </property>
+           </widget>
+          </item>
+          <item>
+           <widget class="QSpinBox" name="outputRate">
+            <property name="suffix">
+             <string>ms</string>
+            </property>
+            <property name="minimum">
+             <number>10</number>
+            </property>
+            <property name="maximum">
+             <number>100</number>
+            </property>
+            <property name="singleStep">
+             <number>5</number>
+            </property>
+            <property name="value">
+             <number>15</number>
+            </property>
+           </widget>
+          </item>
+         </layout>
+        </item>
+        <item>
+         <spacer name="verticalSpacer">
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
+          </property>
+          <property name="sizeHint" stdset="0">
+           <size>
+            <width>20</width>
+            <height>40</height>
+           </size>
+          </property>
+         </spacer>
+        </item>
+       </layout>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>Utils::PathChooser</class>
+   <extends>QWidget</extends>
+   <header>utils/pathchooser.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <tabstops>
+  <tabstop>chooseFlightSimulator</tabstop>
+  <tabstop>hostAddress</tabstop>
+  <tabstop>inputPort</tabstop>
+  <tabstop>remoteAddress</tabstop>
+  <tabstop>outputPort</tabstop>
+ </tabstops>
+ <resources/>
+ <connections/>
+</ui>

ground/openpilotgcs/src/plugins/hitlv2/hitlv2plugin.cpp

@@ -0,0 +1,70 @@
+/**
+ ******************************************************************************
+ *
+ * @file       mapplugin.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlv2plugin.h"
+#include "hitlv2factory.h"
+#include <QtPlugin>
+#include <QStringList>
+#include <extensionsystem/pluginmanager.h>
+
+#include "aerosimrc.h"
+
+QList<SimulatorCreator* > HITLPlugin::typeSimulators;
+
+HITLPlugin::HITLPlugin()
+{
+    // Do nothing
+}
+
+HITLPlugin::~HITLPlugin()
+{
+    // Do nothing
+}
+
+bool HITLPlugin::initialize(const QStringList& args, QString *errMsg)
+{
+    Q_UNUSED(args);
+    Q_UNUSED(errMsg);
+    mf = new HITLFactory(this);
+
+    addAutoReleasedObject(mf);
+
+    addSimulator(new AeroSimRCSimulatorCreator("ASimRC", "AeroSimRC"));
+
+    return true;
+}
+
+void HITLPlugin::extensionsInitialized()
+{
+    // Do nothing
+}
+
+void HITLPlugin::shutdown()
+{
+    // Do nothing
+}
+Q_EXPORT_PLUGIN(HITLPlugin)
+

ground/openpilotgcs/src/plugins/hitlv2/hitlv2plugin.h

@@ -0,0 +1,67 @@
+/**
+ ******************************************************************************
+ *
+ * @file       browserplugin.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2PLUGIN_H
+#define HITLV2PLUGIN_H
+
+#include <extensionsystem/iplugin.h>
+#include <QStringList>
+
+#include <simulatorv2.h>
+
+class HITLFactory;
+
+class HITLPlugin : public ExtensionSystem::IPlugin
+{
+public:
+    HITLPlugin();
+    ~HITLPlugin();
+
+    void extensionsInitialized();
+    bool initialize(const QStringList & arguments, QString * errorString);
+    void shutdown();
+
+    static void addSimulator(SimulatorCreator* creator)
+    {
+        HITLPlugin::typeSimulators.append(creator);
+    }
+
+    static SimulatorCreator* getSimulatorCreator(const QString classId)
+    {
+        foreach(SimulatorCreator* creator, HITLPlugin::typeSimulators) {
+            if(classId == creator->ClassId())
+                return creator;
+        }
+        return 0;
+    }
+
+    static QList<SimulatorCreator* > typeSimulators;
+
+private:
+    HITLFactory *mf;
+};
+#endif /* HITLV2PLUGIN_H */

ground/openpilotgcs/src/plugins/hitlv2/hitlv2widget.cpp

@@ -0,0 +1,187 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "hitlv2widget.h"
+#include "ui_hitlv2widget.h"
+#include <QDebug>
+#include <QFile>
+#include <QDir>
+#include <QDateTime>
+#include <QThread>
+
+#include "hitlv2plugin.h"
+#include "simulatorv2.h"
+#include "uavobjectmanager.h"
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
+
+QStringList Simulator::instances;
+
+HITLWidget::HITLWidget(QWidget *parent)
+    : QWidget(parent),
+      simulator(0)
+{
+    widget = new Ui_HITLWidget();
+    widget->setupUi(this);
+    widget->startButton->setEnabled(true);
+    widget->stopButton->setEnabled(false);
+
+    strAutopilotDisconnected = " AP OFF ";
+    strSimulatorDisconnected = " Sim OFF ";
+    strAutopilotConnected = " AP ON ";
+//    strSimulatorConnected = " Sim ON ";
+    strStyleEnable = "QFrame{background-color: green; color: white}";
+    strStyleDisable = "QFrame{background-color: red; color: grey}";
+
+    widget->apLabel->setText(strAutopilotDisconnected);
+    widget->simLabel->setText(strSimulatorDisconnected);
+
+    connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
+    connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
+    connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked()));
+}
+
+HITLWidget::~HITLWidget()
+{
+    delete widget;
+}
+
+void HITLWidget::startButtonClicked()
+{
+    // allow only one instance per simulator
+    if (Simulator::Instances().indexOf(settings.simulatorId) != -1) {
+        widget->textBrowser->append(settings.simulatorId + " alreary started!");
+        return;
+    }
+
+    if (!HITLPlugin::typeSimulators.size()) {
+        widget->textBrowser->append("There is no registered simulators, add through HITLPlugin::addSimulator");
+        return;
+    }
+
+    // Stop running process if one is active
+    if (simulator) {
+        QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection);
+        simulator = NULL;
+    }
+
+    if (settings.hostAddress == "" || settings.inPort == 0) {
+        widget->textBrowser->append("Before start, set UDP parameters in options page!");
+        return;
+    }
+
+    SimulatorCreator* creator = HITLPlugin::getSimulatorCreator(settings.simulatorId);
+    simulator = creator->createSimulator(settings);
+    simulator->setName(creator->Description());
+    simulator->setSimulatorId(creator->ClassId());
+
+    connect(simulator, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString)));
+
+    // Setup process
+    onProcessOutput(QString("[%1] Starting %2... ")
+                    .arg(QTime::currentTime().toString("hh:mm:ss"))
+                    .arg(creator->Description()));
+
+    // Start bridge
+    bool ret = QMetaObject::invokeMethod(simulator, "setupProcess", Qt::QueuedConnection);
+    if (ret) {
+        Simulator::setInstance(settings.simulatorId);
+
+        connect(this, SIGNAL(deleteSimulator()), simulator, SLOT(onDeleteSimulator()), Qt::QueuedConnection);
+
+        widget->startButton->setEnabled(false);
+        widget->stopButton->setEnabled(true);
+
+        connect(simulator, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()), Qt::QueuedConnection);
+        connect(simulator, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()), Qt::QueuedConnection);
+        connect(simulator, SIGNAL(simulatorConnected()), this, SLOT(onSimulatorConnect()), Qt::QueuedConnection);
+        connect(simulator, SIGNAL(simulatorDisconnected()), this, SLOT(onSimulatorDisconnect()), Qt::QueuedConnection);
+
+        // Initialize connection status
+        if (simulator->isAutopilotConnected())
+            onAutopilotConnect();
+        else
+            onAutopilotDisconnect();
+
+        if (simulator->isSimulatorConnected())
+            onSimulatorConnect();
+        else
+            onSimulatorDisconnect();
+    }
+}
+
+void HITLWidget::stopButtonClicked()
+{
+    if (simulator)
+        widget->textBrowser->append(QString("[%1] Terminate %2 ")
+                                    .arg(QTime::currentTime().toString("hh:mm:ss"))
+                                    .arg(simulator->Name()));
+
+    widget->startButton->setEnabled(true);
+    widget->stopButton->setEnabled(false);
+    widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
+    widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
+    widget->apLabel->setText(strAutopilotDisconnected);
+    widget->simLabel->setText(strSimulatorDisconnected);
+    if (simulator) {
+        QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection);
+        simulator = NULL;
+    }
+}
+
+void HITLWidget::buttonClearLogClicked()
+{
+    widget->textBrowser->clear();
+}
+
+void HITLWidget::onProcessOutput(QString text)
+{
+    widget->textBrowser->append(text);
+}
+
+void HITLWidget::onAutopilotConnect()
+{
+    widget->apLabel->setStyleSheet(strStyleEnable);
+    widget->apLabel->setText(strAutopilotConnected);
+}
+
+void HITLWidget::onAutopilotDisconnect()
+{
+    widget->apLabel->setStyleSheet(strStyleDisable);
+    widget->apLabel->setText(strAutopilotDisconnected);
+}
+
+void HITLWidget::onSimulatorConnect()
+{
+    widget->simLabel->setStyleSheet(strStyleEnable);
+    widget->simLabel->setText(" " + simulator->Name() + " ON ");
+}
+
+void HITLWidget::onSimulatorDisconnect()
+{
+    widget->simLabel->setStyleSheet(strStyleDisable);
+    widget->simLabel->setText(" " + simulator->Name() + " OFF ");
+}

ground/openpilotgcs/src/plugins/hitlv2/hitlv2widget.h

@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ *
+ * @file       hitlwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef HITLV2WIDGET_H
+#define HITLV2WIDGET_H
+
+#include <QtGui/QWidget>
+#include <QProcess>
+#include "simulatorv2.h"
+
+class Ui_HITLWidget;
+
+class HITLWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    HITLWidget(QWidget *parent = 0);
+    ~HITLWidget();
+
+    void setSettingParameters(const SimulatorSettings& params) { settings = params; }
+
+signals:
+    void deleteSimulator();
+
+private slots:
+    void startButtonClicked();
+    void stopButtonClicked();
+    void buttonClearLogClicked();
+    void onProcessOutput(QString text);
+    void onAutopilotConnect();
+    void onAutopilotDisconnect();
+    void onSimulatorConnect();
+    void onSimulatorDisconnect();
+
+private:
+    Ui_HITLWidget* widget;
+    Simulator* simulator;
+    SimulatorSettings settings;
+
+    QString strAutopilotDisconnected;
+    QString strSimulatorDisconnected;
+    QString strAutopilotConnected;
+//    QString strSimulatorConnected;
+    QString strStyleEnable;
+    QString strStyleDisable;
+};
+#endif /* HITLV2WIDGET_H */

ground/openpilotgcs/src/plugins/hitlv2/hitlv2widget.ui

@@ -0,0 +1,314 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HITLWidget</class>
+ <widget class="QWidget" name="HITLWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>477</width>
+    <height>300</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <property name="styleSheet">
+   <string notr="true">
+
+QScrollBar:vertical {
+      border: 1px solid grey;
+      background: grey;
+      margin: 22px 0 22px 0;
+  }
+
+QScrollBar:vertical:disabled {
+      border: 1px solid grey;
+      
+	background-color: grey;
+      margin: 22px 0 22px 0;
+  }
+
+  QScrollBar::handle:vertical {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(120, 120, 255, 255), stop:1 rgba(80, 80, 160, 255));
+      min-height: 20px;
+  }
+
+QScrollBar::handle:vertical:disabled{
+background-color: grey;
+      min-height: 20px;
+  }
+
+
+  QScrollBar::handle:vertical:pressed {
+
+     background-color: rgb(85, 85, 255);
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(170, 170, 255, 255), stop:1 rgba(80, 80, 160, 255));
+
+      min-height: 20px;
+  }
+
+  QScrollBar::add-line:vertical {
+      border: 1px solid black;
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
+      height: 20px;
+      subcontrol-position: bottom;
+      subcontrol-origin: margin;
+  }
+
+ QScrollBar::add-line:vertical:disabled {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(100, 100, 100, 255));
+      border: 1px solid grey;
+
+  }
+
+ QScrollBar::sub-line:vertical:disabled {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(100, 100, 100, 255));
+ border: 1px solid grey;
+
+  }
+
+ QScrollBar::add-line:vertical:pressed {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
+  }
+
+ QScrollBar::sub-line:vertical:pressed {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
+  }
+
+  QScrollBar::sub-line:vertical {
+      border: 1px solid black;      
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
+      height: 20px;
+      subcontrol-position: top;
+      subcontrol-origin: margin;
+  }
+ QScrollBar::down-arrow:vertical {
+	
+	image: url(:/hitlnew/images/arrow-down2.png);
+  }
+
+  QScrollBar::up-arrow:vertical {
+	image: url(:/hitlnew/images/arrow-up2.png);
+  }
+
+  QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
+      background: none;
+  }
+
+
+QPushButton {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(110, 110, 110, 255), stop:1 rgba(71, 71, 71, 255));
+
+	color: rgb(255, 255, 255);
+border: 1px solid black; 
+width: 66px;
+height: 20px;
+}
+
+QPushButton:disabled {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(120, 120, 120, 255));
+	color: rgb(194, 194, 194);
+border: 1px solid gray; 
+width: 66px;
+height: 20px;
+}
+
+QPushButton:hover {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
+color: rgb(255, 255, 255);
+border: 0px; 
+}
+QPushButton:pressed {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
+color: rgb(255, 255, 255);
+border: 0px; 
+}
+
+QPushButton:checked {
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
+color: rgb(255, 255, 255);
+border: 0px; 
+}</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <property name="margin">
+    <number>0</number>
+   </property>
+   <item>
+    <widget class="QFrame" name="frame">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>0</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>16777215</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">
+
+QFrame{
+background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(110, 110, 110, 255), stop:1 rgba(71, 71, 71, 255));
+color: rgba(0, 0, 0, 128);
+}
+</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QVBoxLayout" name="verticalLayout_2">
+      <property name="sizeConstraint">
+       <enum>QLayout::SetMaximumSize</enum>
+      </property>
+      <item>
+       <layout class="QHBoxLayout" name="horizontalLayout">
+        <property name="sizeConstraint">
+         <enum>QLayout::SetDefaultConstraint</enum>
+        </property>
+        <item>
+         <widget class="QPushButton" name="startButton">
+          <property name="toolTip">
+           <string>Request update</string>
+          </property>
+          <property name="styleSheet">
+           <string notr="true"/>
+          </property>
+          <property name="text">
+           <string>Start</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="stopButton">
+          <property name="enabled">
+           <bool>false</bool>
+          </property>
+          <property name="toolTip">
+           <string>Send update</string>
+          </property>
+          <property name="text">
+           <string>Stop</string>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="apLabel">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>22</height>
+           </size>
+          </property>
+          <property name="font">
+           <font>
+            <weight>50</weight>
+            <bold>false</bold>
+           </font>
+          </property>
+          <property name="layoutDirection">
+           <enum>Qt::LeftToRight</enum>
+          </property>
+          <property name="autoFillBackground">
+           <bool>false</bool>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">color: rgb(255, 255, 255);</string>
+          </property>
+          <property name="text">
+           <string>AP OFF</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QLabel" name="simLabel">
+          <property name="minimumSize">
+           <size>
+            <width>0</width>
+            <height>22</height>
+           </size>
+          </property>
+          <property name="styleSheet">
+           <string notr="true">color: rgb(255, 255, 255);</string>
+          </property>
+          <property name="text">
+           <string>Sim OFF</string>
+          </property>
+          <property name="alignment">
+           <set>Qt::AlignCenter</set>
+          </property>
+         </widget>
+        </item>
+        <item>
+         <widget class="QPushButton" name="buttonClearLog">
+          <property name="text">
+           <string>Clear Log</string>
+          </property>
+         </widget>
+        </item>
+       </layout>
+      </item>
+      <item>
+       <widget class="QTextEdit" name="textBrowser">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="autoFillBackground">
+         <bool>false</bool>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">QTextEdit {
+	background-color: white;
+	color: rgb(0, 0, 0);
+}</string>
+        </property>
+        <property name="frameShape">
+         <enum>QFrame::NoFrame</enum>
+        </property>
+        <property name="frameShadow">
+         <enum>QFrame::Plain</enum>
+        </property>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOn</enum>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

ground/openpilotgcs/src/plugins/hitlv2/simulatorv2.cpp

@@ -0,0 +1,341 @@
+/**
+ ******************************************************************************
+ *
+ * @file       simulator.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "simulatorv2.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/icore.h>
+#include <coreplugin/threadmanager.h>
+
+volatile bool Simulator::isStarted = false;
+
+const float Simulator::GEE = 9.81;
+const float Simulator::FT2M = 0.3048;
+const float Simulator::KT2MPS = 0.514444444;
+const float Simulator::INHG2KPA = 3.386;
+const float Simulator::FPS2CMPS = 30.48;
+const float Simulator::DEG2RAD = (M_PI/180.0);
+const float Simulator::RAD2DEG = (180.0/M_PI);
+
+
+Simulator::Simulator(const SimulatorSettings& params) :
+    inSocket(NULL),
+    outSocket(NULL),
+    settings(params),
+    updatePeriod(50),
+    simTimeout(2000),
+    autopilotConnectionStatus(false),
+    simConnectionStatus(false),
+    txTimer(NULL),
+    simTimer(NULL),
+    name("")
+{
+    // move to thread
+    moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
+    connect(this, SIGNAL(myStart()), this, SLOT(onStart()), Qt::QueuedConnection);
+    emit myStart();
+}
+
+Simulator::~Simulator()
+{
+//    qDebug() << "Simulator::~Simulator";
+    if (inSocket) {
+        delete inSocket;
+        inSocket = NULL;
+    }
+    if (outSocket) {
+        delete outSocket;
+        outSocket = NULL;
+    }
+    if (txTimer) {
+        delete txTimer;
+        txTimer = NULL;
+    }
+    if (simTimer) {
+        delete simTimer;
+        simTimer = NULL;
+    }
+}
+
+void Simulator::onDeleteSimulator(void)
+{
+//    qDebug() << "Simulator::onDeleteSimulator";
+    resetAllObjects();
+
+    Simulator::setStarted(false);
+    Simulator::Instances().removeOne(simulatorId);
+
+    disconnect(this);
+    delete this;
+}
+
+void Simulator::onStart()
+{
+//    qDebug() << "Simulator::onStart";
+    QMutexLocker locker(&lock);
+
+    // Get required UAVObjects
+    ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
+    UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
+
+//    actDesired = ActuatorDesired::GetInstance(objManager);
+//    manCtrlCommand = ManualControlCommand::GetInstance(objManager);
+//    velActual = VelocityActual::GetInstance(objManager);
+//    posActual = PositionActual::GetInstance(objManager);
+//    altActual = BaroAltitude::GetInstance(objManager);
+//    camDesired = CameraDesired::GetInstance(objManager);
+//    acsDesired = AccessoryDesired::GetInstance(objManager);
+    posHome = HomeLocation::GetInstance(objManager);
+    accels = Accels::GetInstance(objManager);
+    gyros = Gyros::GetInstance(objManager);
+    attActual = AttitudeActual::GetInstance(objManager);
+    gpsPosition = GPSPosition::GetInstance(objManager);
+    flightStatus = FlightStatus::GetInstance(objManager);
+    gcsReceiver = GCSReceiver::GetInstance(objManager);
+    actCommand = ActuatorCommand::GetInstance(objManager);
+    attSettings = AttitudeSettings::GetInstance(objManager);
+    sonarAlt = SonarAltitude::GetInstance(objManager);
+
+    telStats = GCSTelemetryStats::GetInstance(objManager);
+
+    // Listen to autopilot connection events
+    TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
+    connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
+
+    // If already connect setup autopilot
+    GCSTelemetryStats::DataFields stats = telStats->getData();
+    if (stats.Status == GCSTelemetryStats::STATUS_CONNECTED)
+        onAutopilotConnect();
+
+    emit processOutput("Local interface: " + settings.hostAddress + ":" + \
+                       QString::number(settings.inPort) + "\n" + \
+                       "Remote interface: " + settings.remoteAddress + ":" + \
+                       QString::number(settings.outPort) + "\n");
+
+    inSocket = new QUdpSocket();
+    outSocket = new QUdpSocket();
+    setupUdpPorts(settings.hostAddress, settings.inPort, settings.outPort);
+
+    connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate())/*, Qt::DirectConnection*/);
+
+    // Setup transmit timer
+    if (settings.manualOutput) {
+        txTimer = new QTimer();
+        connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate())/*, Qt::DirectConnection*/);
+        txTimer->setInterval(settings.outputRate);
+        txTimer->start();
+    }
+
+    // Setup simulator connection timer
+    simTimer = new QTimer();
+    connect(simTimer, SIGNAL(timeout()), this, SLOT(onSimulatorConnectionTimeout())/*, Qt::DirectConnection*/);
+    simTimer->setInterval(simTimeout);
+    simTimer->start();
+
+#ifdef DBG_TIMERS
+    timeRX = QTime();
+    timeRX.start();
+    timeTX = QTime();
+    timeTX.start();
+#endif
+
+    setupObjects();
+}
+
+void Simulator::receiveUpdate()
+{
+    // Update connection timer and status
+    simTimer->start();
+    if (!simConnectionStatus) {
+        simConnectionStatus = true;
+        emit simulatorConnected();
+    }
+
+    // Process data
+    while (inSocket->hasPendingDatagrams()) {
+        // Receive datagram
+        QByteArray datagram;
+        datagram.resize(inSocket->pendingDatagramSize());
+        QHostAddress sender;
+        quint16 senderPort;
+        inSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
+        // Process incomming data
+        processUpdate(datagram);
+    }
+    if (!settings.manualOutput)
+        transmitUpdate();
+}
+
+void Simulator::setupObjects()
+{
+    if (settings.gcsReciever) {
+        setupInputObject(actCommand, settings.outputRate);
+        setupOutputObject(gcsReceiver);
+    } else if (settings.manualControl) {
+//        setupInputObject(actDesired);
+//        setupInputObject(camDesired);
+//        setupInputObject(acsDesired);
+//        setupOutputObject(manCtrlCommand);
+        qDebug() << "ManualControlCommand not implemented yet";
+    }
+
+    if (settings.homeLocation)
+        setupOutputObject(posHome);
+
+    if (settings.sonarAltitude)
+        setupOutputObject(sonarAlt);
+
+    if (settings.gpsPosition)
+        setupOutputObject(gpsPosition);
+
+    if (settings.attRaw || settings.attActual) {
+        setupOutputObject(accels);
+        setupOutputObject(gyros);
+    }
+
+    if (settings.attActual && !settings.attActHW)
+        setupOutputObject(attActual);
+    else
+        setupWatchedObject(attActual);
+}
+
+void Simulator::resetAllObjects()
+{
+    setupDefaultObject(posHome);
+    setupDefaultObject(accels);
+    setupDefaultObject(gyros);
+    setupDefaultObject(attActual);
+    setupDefaultObject(gpsPosition);
+    setupDefaultObject(gcsReceiver);
+    setupDefaultObject(actCommand);
+    setupDefaultObject(sonarAlt);
+//    setupDefaultObject(manCtrlCommand);
+//    setupDefaultObject(actDesired);
+//    setupDefaultObject(camDesired);
+//    setupDefaultObject(acsDesired);
+//    setupDefaultObject(altActual);
+//    setupDefaultObject(posActual);
+//    setupDefaultObject(velActual);
+}
+
+void Simulator::setupInputObject(UAVObject* obj, quint32 updateRate)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+
+    UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
+    UAVObject::SetGcsTelemetryAcked(mdata, false);
+    UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
+    mdata.gcsTelemetryUpdatePeriod = 0;
+
+    UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
+    UAVObject::SetFlightTelemetryAcked(mdata, false);
+
+    if (settings.manualOutput) {
+        UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
+        mdata.flightTelemetryUpdatePeriod = updateRate;
+    } else {
+        UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
+        mdata.flightTelemetryUpdatePeriod = 0;
+    }
+
+    obj->setMetadata(mdata);
+}
+
+void Simulator::setupWatchedObject(UAVObject *obj)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+
+    UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
+    UAVObject::SetGcsTelemetryAcked(mdata, false);
+    UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
+    mdata.gcsTelemetryUpdatePeriod = 0;
+
+    UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
+    UAVObject::SetFlightTelemetryAcked(mdata, false);
+    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
+    mdata.flightTelemetryUpdatePeriod = 100;
+
+    obj->setMetadata(mdata);
+}
+
+void Simulator::setupOutputObject(UAVObject* obj)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+
+    UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
+    UAVObject::SetGcsTelemetryAcked(mdata, false);
+    UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
+    mdata.gcsTelemetryUpdatePeriod = 0;
+
+    UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
+    UAVObject::SetFlightTelemetryAcked(mdata, false);
+    UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
+    mdata.flightTelemetryUpdatePeriod = 0;
+
+    obj->setMetadata(mdata);
+}
+
+void Simulator::setupDefaultObject(UAVObject *obj)
+{
+    UAVObject::Metadata mdata;
+    mdata = obj->getDefaultMetadata();
+
+    obj->setMetadata(mdata);
+}
+
+void Simulator::onAutopilotConnect()
+{
+    autopilotConnectionStatus = true;
+    emit autopilotConnected();
+}
+
+void Simulator::onAutopilotDisconnect()
+{
+    autopilotConnectionStatus = false;
+    emit autopilotDisconnected();
+}
+
+void Simulator::onSimulatorConnectionTimeout()
+{
+    if (simConnectionStatus) {
+        simConnectionStatus = false;
+        emit simulatorDisconnected();
+    }
+}
+
+void Simulator::telStatsUpdated(UAVObject* obj)
+{
+    GCSTelemetryStats::DataFields stats = telStats->getData();
+    if (!autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED)
+        onAutopilotConnect();
+    else if (autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED)
+        onAutopilotDisconnect();
+}
+

ground/openpilotgcs/src/plugins/hitlv2/simulatorv2.h

@@ -0,0 +1,222 @@
+/**
+ ******************************************************************************
+ *
+ * @file       simulator.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup HITLPlugin HITL Plugin
+ * @{
+ * @brief The Hardware In The Loop plugin
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef ISIMULATORV2_H
+#define ISIMULATORV2_H
+
+#include <QObject>
+#include <QUdpSocket>
+#include <QTimer>
+#include <QProcess>
+#include <QScopedPointer>
+#include <qmath.h>
+#include "uavtalk/telemetrymanager.h"
+#include "uavobjectmanager.h"
+#include "homelocation.h"
+#include "accels.h"
+#include "gyros.h"
+#include "attitudeactual.h"
+#include "gpsposition.h"
+#include "flightstatus.h"
+#include "gcsreceiver.h"
+#include "actuatorcommand.h"
+#include "gcstelemetrystats.h"
+#include "attitudesettings.h"
+#include "sonaraltitude.h"
+
+//#define DBG_TIMERS
+#undef DBG_TIMERS
+
+/**
+ * just imagine this was a class without methods and all public properties
+ */
+
+typedef struct _CONNECTION
+{
+    QString simulatorId;
+    QString hostAddress;
+    int inPort;
+    QString remoteAddress;
+    int outPort;
+    QString binPath;
+    QString dataPath;
+
+    bool homeLocation;
+    quint16 homeLocRate;
+
+    bool attRaw;
+    quint8 attRawRate;
+
+    bool attActual;
+    bool attActHW;
+    bool attActSim;
+    bool attActCalc;
+
+    bool sonarAltitude;
+    float sonarMaxAlt;
+    quint16 sonarAltRate;
+
+    bool gpsPosition;
+    quint16 gpsPosRate;
+
+    bool inputCommand;
+    bool gcsReciever;
+    bool manualControl;
+    bool manualOutput;
+    quint8 outputRate;
+
+} SimulatorSettings;
+
+class Simulator : public QObject
+{
+    Q_OBJECT
+
+public:
+    Simulator(const SimulatorSettings& params);
+    virtual ~Simulator();
+
+    bool isAutopilotConnected() const { return autopilotConnectionStatus; }
+    bool isSimulatorConnected() const { return simConnectionStatus; }
+
+    QString Name() const { return name; }
+    void setName(QString str) { name = str; }
+
+    QString SimulatorId() const { return simulatorId; }
+    void setSimulatorId(QString str) { simulatorId = str; }
+
+    static bool IsStarted() { return isStarted; }
+    static void setStarted(bool val) { isStarted = val; }
+
+    static QStringList& Instances() { return Simulator::instances; }
+    static void setInstance(const QString& str) { Simulator::instances.append(str); }
+
+    virtual void stopProcess() {}
+    virtual void setupUdpPorts(const QString& host, int inPort, int outPort) { Q_UNUSED(host) Q_UNUSED(inPort) Q_UNUSED(outPort)}
+
+signals:
+    void processOutput(QString str);
+    void autopilotConnected();
+    void autopilotDisconnected();
+    void simulatorConnected();
+    void simulatorDisconnected();
+    void myStart();
+
+public slots:
+    Q_INVOKABLE virtual bool setupProcess() { return true; }
+
+private slots:
+    void onStart();
+    void receiveUpdate();
+    void onAutopilotConnect();
+    void onAutopilotDisconnect();
+    void onSimulatorConnectionTimeout();
+    void telStatsUpdated(UAVObject* obj);
+    Q_INVOKABLE void onDeleteSimulator(void);
+
+    virtual void transmitUpdate() = 0;
+    virtual void processUpdate(const QByteArray& data) = 0;
+
+protected:
+    static const float GEE;
+    static const float FT2M;
+    static const float KT2MPS;
+    static const float INHG2KPA;
+    static const float FPS2CMPS;
+    static const float DEG2RAD;
+    static const float RAD2DEG;
+
+#ifdef DBG_TIMERS
+    QTime timeRX;
+    QTime timeTX;
+#endif
+
+    QUdpSocket* inSocket;
+    QUdpSocket* outSocket;
+
+//    ActuatorDesired* actDesired;
+//    ManualControlCommand* manCtrlCommand;
+//    VelocityActual* velActual;
+//    PositionActual* posActual;
+//    BaroAltitude* altActual;
+//    CameraDesired *camDesired;
+//    AccessoryDesired *acsDesired;
+    Accels *accels;
+    Gyros *gyros;
+    AttitudeActual *attActual;
+    HomeLocation *posHome;
+    FlightStatus *flightStatus;
+    GPSPosition *gpsPosition;
+    GCSReceiver *gcsReceiver;
+    ActuatorCommand *actCommand;
+    AttitudeSettings *attSettings;
+    SonarAltitude *sonarAlt;
+
+    GCSTelemetryStats* telStats;
+    SimulatorSettings settings;
+
+    QMutex lock;
+
+private:
+    int updatePeriod;
+    int simTimeout;
+    volatile bool autopilotConnectionStatus;
+    volatile bool simConnectionStatus;
+    QTimer* txTimer;
+    QTimer* simTimer;
+    QString name;
+    QString simulatorId;
+    volatile static bool isStarted;
+    static QStringList instances;
+
+    void setupObjects();
+    void resetAllObjects();
+    void setupInputObject(UAVObject* obj, quint32 updateRate);
+    void setupOutputObject(UAVObject* obj);
+    void setupWatchedObject(UAVObject *obj);
+    void setupDefaultObject(UAVObject *obj);
+};
+
+class SimulatorCreator
+{
+public:
+    SimulatorCreator(QString id, QString descr) :
+        classId(id),
+        description(descr)
+    {}
+    virtual ~SimulatorCreator() {}
+
+    QString ClassId() const { return classId; }
+    QString Description() const { return description; }
+
+    virtual Simulator* createSimulator(const SimulatorSettings& params) = 0;
+
+private:
+    QString classId;
+    QString description;
+};
+
+#endif // ISIMULATORV2_H

ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp

@@ -256,7 +256,10 @@ void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField)
         _dynamicFieldCondition->removeItem(smaller);
         _dynamicFieldCondition->removeItem(bigger);
     }
-    _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(_selectedNotification->getCondition())));
+    int cond=_selectedNotification->getCondition();
+    if(cond<0)
+        return;
+    _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(cond)));
 
             connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)),
                     this, SLOT(on_changedIndex_rangeValue(QString)));
@@ -434,8 +437,10 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification)
         _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default"));
         _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3()));
     }
-
-    _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(notification->getCondition())));
+    int cond=notification->getCondition();
+    if(cond<0)
+        return;
+    _dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(cond)));
 
     _sayOrder->setCurrentIndex(notification->getSayOrder());
 

ground/openpilotgcs/src/plugins/plugins.pro

@@ -140,13 +140,19 @@ plugin_ipconnection.subdir = ipconnection
 plugin_ipconnection.depends = plugin_coreplugin
 SUBDIRS += plugin_ipconnection
 
-# Disable until updated to the new sensor objects
 #HITLNEW Simulation gadget
-#plugin_hitlnew.subdir = hitlnew
-#plugin_hitlnew.depends = plugin_coreplugin
-#plugin_hitlnew.depends += plugin_uavobjects
-#plugin_hitlnew.depends += plugin_uavtalk
-#SUBDIRS += plugin_hitlnew
+plugin_hitlnew.subdir = hitlnew
+plugin_hitlnew.depends = plugin_coreplugin
+plugin_hitlnew.depends += plugin_uavobjects
+plugin_hitlnew.depends += plugin_uavtalk
+SUBDIRS += plugin_hitlnew
+
+#HITLNEW Simulation gadget v2
+plugin_hitl_v2.subdir = hitlv2
+plugin_hitl_v2.depends = plugin_coreplugin
+plugin_hitl_v2.depends += plugin_uavobjects
+plugin_hitl_v2.depends += plugin_uavtalk
+SUBDIRS += plugin_hitl_v2
 
 # Export and Import GCS Configuration
 plugin_importexport.subdir = importexport

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

@@ -12,18 +12,23 @@ public:
        int boardRevision;
        static QString idToBoardName(int id)
        {
-           switch (id | 0x0011) {
-           case 0x0111://MB
+           switch (id) {
+           case 0x0101://MB
                return QString("OpenPilot MainBoard");
                break;
-           case 0x0311://PipX
+           case 0x0201://INS
+               return QString("OpenPilot INS");
+               break;
+           case 0x0301://PipX
                return QString("PipXtreame");
                break;
-           case 0x0411://Coptercontrol
+           case 0x0401://Coptercontrol
                return QString("CopterControl");
                break;
-           case 0x0211://INS
-               return QString("OpenPilot INS");
+           case 0x0402://Coptercontrol
+               // It would be nice to say CC3D here but since currently we use string comparisons
+               // for firmware compatibility and the filename path that would break
+               return QString("CopterControl");
                break;
            default:
                return QString("");

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

@@ -35,6 +35,7 @@
 #include <QEventLoop>
 #include <QTimer>
 #include <objectpersistence.h>
+#include <firmwareiapobj.h>
 
 // ******************************
 // constructor/destructor
@@ -199,25 +200,63 @@ void UAVObjectUtilManager::objectPersistenceOperationFailed()
   */
 void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj)
 {
-    qDebug() << "objectPersistenceUpdated: " << obj->getField("Operation")->getValue().toString();
-    Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
-    if(saveState == AWAITING_COMPLETED) {
-        failureTimer.stop();
-        // Check flight is saying it completed.  This is the only thing flight should do to trigger an update.
-        Q_ASSERT( obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0 );
+    Q_ASSERT(obj);
+    Q_ASSERT(obj->getObjID() == ObjectPersistence::OBJID);
+    ObjectPersistence::DataFields objectPersistence = ((ObjectPersistence *)obj)->getData();
 
+    if(saveState == AWAITING_COMPLETED && objectPersistence.Operation == ObjectPersistence::OPERATION_ERROR) {
+        failureTimer.stop();
+        objectPersistenceOperationFailed();
+    } else if (saveState == AWAITING_COMPLETED &&
+               objectPersistence.Operation == ObjectPersistence::OPERATION_COMPLETED) {
+        failureTimer.stop();
         // Check right object saved
         UAVObject* savingObj = queue.head();
-        Q_ASSERT( obj->getField("ObjectID")->getValue() == savingObj->getObjID() );
+        if(objectPersistence.ObjectID != savingObj->getObjID() ) {
+            objectPersistenceOperationFailed();
+            return;
+        }
 
         obj->disconnect(this);
         queue.dequeue(); // We can now remove the object, it's done.
         saveState = IDLE;
-        emit saveCompleted(obj->getField("ObjectID")->getValue().toInt(), true);
+
+        emit saveCompleted(objectPersistence.ObjectID, true);
         saveNextObject();
     }
 }
 
+/**
+  * Helper function that makes sure FirmwareIAP is updated and then returns the data
+  */
+FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
+{
+    FirmwareIAPObj::DataFields dummy;
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Q_ASSERT(pm);
+    if (!pm)
+        return dummy;
+    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
+    Q_ASSERT(om);
+    if (!om)
+        return dummy;
+
+    FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
+    Q_ASSERT(firmwareIap);
+    if (!firmwareIap)
+        return dummy;
+
+    // The code below will ask for the object update and wait for the updated to be received,
+    // or the timeout of the timer, set to 1 second.
+    QEventLoop loop;
+    connect(firmwareIap, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
+    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
+    firmwareIap->requestUpdate();
+    loop.exec();
+
+    return firmwareIap->getData();
+}
 
 /**
   * Get the UAV Board model, for anyone interested. Return format is:
@@ -225,25 +264,8 @@ void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj)
   */
 int UAVObjectUtilManager::getBoardModel()
 {
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    if (!pm)
-        return 0;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    if (!om)
-        return 0;
-
-    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    obj->requestUpdate();
-    loop.exec();
-
-    int boardType = (obj->getField("BoardType")->getValue().toInt()) << 8;
-    boardType += obj->getField("BoardRevision")->getValue().toInt();
-    return boardType;
+    FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
+    return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
 }
 
 /**
@@ -252,54 +274,18 @@ int UAVObjectUtilManager::getBoardModel()
 QByteArray UAVObjectUtilManager::getBoardCPUSerial()
 {
     QByteArray cpuSerial;
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    if (!pm)
-        return 0;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    if (!om)
-        return 0;
+    FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    obj->requestUpdate();
-    loop.exec();
+    for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
+        cpuSerial.append(firmwareIapData.CPUSerial[i]);
 
-    UAVObjectField* cpuField = obj->getField("CPUSerial");
-    for (uint i = 0; i < cpuField->getNumElements(); ++i) {
-        cpuSerial.append(cpuField->getValue(i).toUInt());
-    }
     return cpuSerial;
 }
 
 quint32 UAVObjectUtilManager::getFirmwareCRC()
 {
-    quint32 fwCRC;
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    if (!pm)
-        return 0;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    if (!om)
-        return 0;
-
-    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
-    obj->getField("crc")->setValue(0);
-    obj->updated();
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    obj->requestUpdate();
-    loop.exec();
-
-    UAVObjectField* fwCRCField = obj->getField("crc");
-
-    fwCRC=(quint32)fwCRCField->getValue().toLongLong();
-    return fwCRC;
+    FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
+    return firmwareIapData.crc;
 }
 
 /**
@@ -308,27 +294,11 @@ quint32 UAVObjectUtilManager::getFirmwareCRC()
 QByteArray UAVObjectUtilManager::getBoardDescription()
 {
     QByteArray ret;
-    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
-    if (!pm)
-        return 0;
-    UAVObjectManager *om = pm->getObject<UAVObjectManager>();
-    if (!om)
-        return 0;
+    FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
 
-    UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
-    // The code below will ask for the object update and wait for the updated to be received,
-    // or the timeout of the timer, set to 1 second.
-    QEventLoop loop;
-    connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
-    QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
-    obj->requestUpdate();
-    loop.exec();
+    for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
+        ret.append(firmwareIapData.Description[i]);
 
-    UAVObjectField* descriptionField = obj->getField("Description");
-    // Description starts with an offset of
-    for (uint i = 0; i < descriptionField->getNumElements(); ++i) {
-        ret.append(descriptionField->getValue(i).toInt());
-    }
     return ret;
 }
 

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

@@ -43,6 +43,8 @@
 #include <QQueue>
 #include <QComboBox>
 #include <QDateTime>
+#include <firmwareiapobj.h>
+
 class UAVOBJECTUTIL_EXPORT UAVObjectUtilManager: public QObject
 {
     Q_OBJECT
@@ -69,6 +71,8 @@ public:
         static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
         UAVObjectManager* getObjectManager();
         void saveObjectToSD(UAVObject *obj);
+protected:
+        FirmwareIAPObj::DataFields getFirmwareIap();
 
 signals:
         void saveCompleted(int objectID, bool status);

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -32,7 +32,7 @@
 /**
  * Constructor
  */
-ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL)
+ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
 {
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
@@ -127,7 +127,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
         Q_ASSERT(obj);
         objectUpdates.insert(obj,true);
         connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
-        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
+        connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
     }
     if(!field.isEmpty() && obj)
         _field = obj->getField(QString(field));
@@ -258,6 +258,9 @@ void ConfigTaskWidget::populateWidgets()
  */
 void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
 {
+    if (!allowWidgetUpdates)
+        return;
+
     bool dirtyBack=dirty;
     emit refreshWidgetsValuesRequested();
     foreach(objectToWidget * ow,objOfInterest)
@@ -452,10 +455,10 @@ bool ConfigTaskWidget::isDirty()
  */
 void ConfigTaskWidget::disableObjUpdates()
 {
+    allowWidgetUpdates = false;
     foreach(objectToWidget * obj,objOfInterest)
     {
-        if(obj->object)
-            disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
+        if(obj->object)disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
     }
 }
 /**
@@ -463,10 +466,11 @@ void ConfigTaskWidget::disableObjUpdates()
  */
 void ConfigTaskWidget::enableObjUpdates()
 {
+    allowWidgetUpdates = true;
     foreach(objectToWidget * obj,objOfInterest)
     {
         if(obj->object)
-            connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
+            connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
     }
 }
 /**

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -145,6 +145,7 @@ private slots:
     void reloadButtonClicked();
 private:
     bool isConnected;
+    bool allowWidgetUpdates;
     QStringList objectsList;
     QList <objectToWidget*> objOfInterest;
     ExtensionSystem::PluginManager *pm;

ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp

@@ -78,27 +78,6 @@ void deviceWidget::setDfu(DFUObject *dfu)
     m_dfu = dfu;
 }
 
-QString deviceWidget::idToBoardName(int id)
-{
-    switch (id | 0x0011) {
-    case 0x0111://MB
-        return QString("OpenPilot MainBoard");
-        break;
-    case 0x0311://PipX
-        return QString("PipXtreme");
-        break;
-    case 0x0411://Coptercontrol
-        return QString("CopterControl");
-        break;
-    case 0x0211://INS
-        return QString("OpenPilot INS");
-        break;
-    default:
-        return QString("");
-        break;
-    }
-}
-
 /**
   Fills the various fields for the device
   */
@@ -125,6 +104,9 @@ void deviceWidget::populate()
     case 0x0401:
         devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
         break;
+    case 0x0402:
+        devicePic->renderer()->load(QString(":/uploader/images/deviceID-0402.svg"));
+        break;
     case 0x0201:
         devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
         break;
@@ -200,7 +182,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
             myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
         }
 
-        myDevice->lblBrdName->setText(idToBoardName(onBoardDescription.boardType<<8));
+        myDevice->lblBrdName->setText(deviceDescriptorStruct::idToBoardName(onBoardDescription.boardType << 8 | onBoardDescription.boardRevision));
 
         return true;
     }
@@ -230,7 +212,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
             myDevice->lblCertifiedL->setPixmap(pix);
             myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build"));
         }
-        myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType<<8));
+        myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType << 8 | LoadedDescription.boardRevision));
 
         return true;
     }

ground/openpilotgcs/src/plugins/uploader/devicewidget.h

@@ -59,7 +59,6 @@ private:
     deviceDescriptorStruct onBoardDescription;
     deviceDescriptorStruct LoadedDescription;
     QByteArray loadedFW;
-    QString idToBoardName(int id);
     Ui_deviceWidget *myDevice;
     int deviceID;
     DFUObject *m_dfu;

ground/openpilotgcs/src/plugins/uploader/images/deviceID-0402.svg

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+   xmlns:svg="http://www.w3.org/2000/svg"
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+     id="metadata3584"><rdf:RDF><cc:Work
+         rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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+       clipPathUnits="userSpaceOnUse"
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+     borderopacity="1"
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+     inkscape:label="Rendering#1"
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+         xml:space="preserve"
+         style="font-size:18px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;font-family:Arial;-inkscape-font-specification:Sans Bold"
+         x="123.07243"
+         y="109.6582"
+         id="text3548"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan3550"
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+           style="font-size:20px;fill:#ffffff">CC3D</tspan></text>
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ground/openpilotgcs/src/plugins/uploader/uploader.qrc

@@ -12,5 +12,6 @@
         <file>images/application-certificate.svg</file>
         <file>images/warning.svg</file>
         <file>images/error.svg</file>
+        <file>images/deviceID-0402.svg</file>
     </qresource>
 </RCC>

ground/openpilotgcs/src/plugins/welcome/qml/main.qml

@@ -51,37 +51,37 @@ Rectangle {
                 WelcomePageButton {
                     baseIconName: "flightdata"
                     label: "Flight Data"
-                    onClicked: welcomePlugin.openPage("Mode1")
+                    onClicked: welcomePlugin.openPage("Flight data")
                 }
 
                 WelcomePageButton {
                     baseIconName: "config"
                     label: "Configuration"
-                    onClicked: welcomePlugin.openPage("Mode2")
+                    onClicked: welcomePlugin.openPage("Configuration")
                 }
 
                 WelcomePageButton {
                     baseIconName: "planner"
                     label: "Flight Planner"
-                    onClicked: welcomePlugin.openPage("Mode3")
+                    onClicked: welcomePlugin.openPage("Flight Planner")
                 }
 
                 WelcomePageButton {
                     baseIconName: "scopes"
                     label: "Scopes"
-                    onClicked: welcomePlugin.openPage("Mode4")
+                    onClicked: welcomePlugin.openPage("Scopes")
                 }
 
                 WelcomePageButton {
                     baseIconName: "hitl"
-                    label: "HIL"
-                    onClicked: welcomePlugin.openPage("Mode5")
+                    label: "HITL"
+                    onClicked: welcomePlugin.openPage("HITL")
                 }
 
                 WelcomePageButton {
                     baseIconName: "firmware"
                     label: "Firmware"
-                    onClicked: welcomePlugin.openPage("Mode6")
+                    onClicked: welcomePlugin.openPage("Firmware")
                 }
             } //icons grid
         } // images row

ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp

@@ -124,7 +124,7 @@ void WelcomeMode::openUrl(const QString &url)
 
 void WelcomeMode::openPage(const QString &page)
 {
-    Core::ModeManager::instance()->activateMode(page);
+    Core::ModeManager::instance()->activateModeByWorkspaceName(page);
 }
 
 } // namespace Welcome

overo

@@ -1 +1 @@
-Subproject commit 8381aa124feafbb268c4d87d569a8185765f4297
+Subproject commit 335a3486dd41e48345209d0a65d49a8cc8b442a1

shared/uavobjectdefinition/gcsreceiver.xml

@@ -1,8 +1,8 @@
 <xml>
     <object name="GCSReceiver" singleinstance="true" settings="false">
         <description>A receiver channel group carried over the telemetry link.</description>
-	<field name="Channel" units="us" type="uint16" elements="6"/>
-        <access gcs="readwrite" flight="readwrite"/>
+        <field name="Channel" units="us" type="uint16" elements="8"/>
+        <access gcs="readwrite" flight="readonly"/>
         <telemetrygcs acked="false" updatemode="onchange" period="0"/>
         <telemetryflight acked="false" updatemode="onchange" period="0"/>
         <logging updatemode="manual" period="0"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -18,9 +18,9 @@
         <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" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
-        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
+        <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>

shared/uavobjectdefinition/objectpersistence.xml

@@ -1,7 +1,7 @@
 <xml>
     <object name="ObjectPersistence" singleinstance="true" settings="false">
         <description>Someone who knows please enter this</description>
-        <field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed"/>
+        <field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed,Error"/>
         <field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
         <field name="ObjectID" units="" type="uint32" elements="1"/>
         <field name="InstanceID" units="" type="uint32" elements="1"/>

shared/uavobjectdefinition/stabilizationdesired.xml

@@ -6,7 +6,7 @@
         <field name="Yaw" units="degrees" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
 	<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
-        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
+        <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -13,6 +13,15 @@
 	<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
 	<field name="PitchPI" 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"/>
+	<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
+	<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
+	<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
+	<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
+	<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+	<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
 
 	<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
 

shared/uavobjectdefinition/txpidsettings.xml

@@ -16,7 +16,8 @@
 			Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
 			Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
 			Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
-			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit"
+			Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
+			GyroTau"
 		defaultvalue="Disabled"/>
         <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
         <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>