Merge branch 'master' into OP-439_CorvusCorax_Bootloader-Makefile-and-OpenOCD-config-for-Linux

flight/AHRS/Makefile

@@ -121,6 +121,7 @@ SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_hmc5843.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 
 ## CMSIS for STM32
 SRC += $(CMSISDIR)/core_cm3.c

flight/AHRS/ahrs.c

@@ -99,8 +99,6 @@ void affine_rotate(float scale[3][4], float rotation[3]);
 void calibration(float result[3], float scale[3][4], float arg[3]);
 
 /* Bootloader related functions and var*/
-static uint32_t	iap_calc_crc(void);
-static void read_description(uint8_t *);
 void firmwareiapobj_callback(AhrsObjHandle obj);
 volatile uint8_t reset_count=0;
 
@@ -1249,36 +1247,15 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 			}
 		}
 	}
-	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=iap_calc_crc())
+	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
 	{
-		read_description(firmwareIAPObj.Description);
+		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
-		firmwareIAPObj.crc=iap_calc_crc();
+		firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
 		firmwareIAPObj.BoardRevision=BOARD_REVISION;
 		FirmwareIAPObjSet(&firmwareIAPObj);
 	}
 }
 
-static uint32_t iap_calc_crc(void)
-{
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
-	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
-	return CRC_GetCRC();
-}
-static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
-{
-	return (uint8_t *) (SectorAddress);
-}
-static void read_description(uint8_t * array)
-{
-	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
-		array[x] = *FLASH_If_Read(i);
-		++x;
-	}
-}
-
-
 /**
  * @}
  */

flight/AHRS/inc/pios_config.h

@@ -40,5 +40,6 @@
 #define PIOS_INCLUDE_HMC5843
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_BL_HELPER
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/AHRS/inc/pios_config.h

@@ -35,6 +35,7 @@
 #define PIOS_INCLUDE_SPI
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define PIOS_INCLUDE_GPIO
 
 #endif /* PIOS_CONFIG_H */

flight/Bootloaders/AHRS/main.c

@@ -96,7 +96,7 @@ int main() {
 	}
 	PIOS_Board_Init();
 	boot_status = idle;
-	Fw_crc = crc_memory_calc();
+	Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 	PIOS_LED_On(LED1);
 	while (1) {
 		process_spi_request();
@@ -146,7 +146,7 @@ void process_spi_request(void) {
 
 	case OPAHRS_MSG_V0_REQ_FWUP_VERIFY:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
-		Fw_crc = crc_memory_calc();
+		Fw_crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		boot_status = idle;
 		PIOS_LED_Off(LED1);
@@ -216,7 +216,7 @@ void process_spi_request(void) {
 			uint32_t adr=user_rx_v0.payload.user.v.req.fwdn_data.adress;
 			for(uint8_t x=0;x<4;++x)
 			{
-				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*FLASH_If_Read(adr+x);
+				user_tx_v0.payload.user.v.rsp.fw_dn.data[x]=*PIOS_BL_HELPER_FLASH_If_Read(adr+x);
 			}
 			lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
@@ -226,7 +226,7 @@ void process_spi_request(void) {
 		user_tx_v0.payload.user.v.rsp.fwup_status.status = boot_status;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		PIOS_LED_On(LED1);
-		if (FLASH_Start() == TRUE) {
+		if (PIOS_BL_HELPER_FLASH_Start() == TRUE) {
 			boot_status = started;
 			PIOS_LED_Off(LED1);
 		} else {

flight/Bootloaders/CopterControl/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -61,4 +62,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/CopterControl/op_dfu.c

@@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
 				}
 				break;
 			case Self_flash:
-				SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+				SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
-				SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+				SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
-				SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+				SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
-				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+				SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
 				break;
 			}
 */
@@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							result = FALSE;
@@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
 uint32_t CalcFirmCRC() {
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		return 0;
@@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/Bootloaders/OpenPilot/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -64,4 +65,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -158,7 +158,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -195,7 +195,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							PIOS_OPAHRS_bl_FwupStart(&rsp);
@@ -525,7 +525,7 @@ uint32_t CalcFirmCRC() {
 	struct opahrs_msg_v0 rsp;
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		PIOS_OPAHRS_bl_FwupVerify(&rsp);
@@ -574,7 +574,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/Bootloaders/PipXtreme/inc/pios_config.h

@@ -31,6 +31,7 @@
 #ifndef PIOS_CONFIG_H
 #define PIOS_CONFIG_H
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 #define USB_HID
 /* Enable/Disable PiOS Modules */
 #define PIOS_INCLUDE_DELAY
@@ -61,4 +62,4 @@
 /**
  * @}
  * @}
- */
+ */

flight/Bootloaders/PipXtreme/op_dfu.c

@@ -116,10 +116,10 @@ void DataDownload(DownloadAction action) {
 				}
 				break;
 			case Self_flash:
-				SendBuffer[6 + (x * 4)] = *FLASH_If_Read(offset);
+				SendBuffer[6 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset);
-				SendBuffer[7 + (x * 4)] = *FLASH_If_Read(offset + 1);
+				SendBuffer[7 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 1);
-				SendBuffer[8 + (x * 4)] = *FLASH_If_Read(offset + 2);
+				SendBuffer[8 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 2);
-				SendBuffer[9 + (x * 4)] = *FLASH_If_Read(offset + 3);
+				SendBuffer[9 + (x * 4)] = *PIOS_BL_HELPER_FLASH_If_Read(offset + 3);
 				break;
 			}
 */
@@ -178,7 +178,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 			uint8_t result = 0;
 			switch (currentProgrammingDestination) {
 			case Self_flash:
-				result = FLASH_Ini();
+				result = PIOS_BL_HELPER_FLASH_Ini();
 				break;
 			case Remote_flash_via_spi:
 				result = TRUE;
@@ -214,7 +214,7 @@ void processComand(uint8_t *xReceive_Buffer) {
 					if (TransferType == FW) {
 						switch (currentProgrammingDestination) {
 						case Self_flash:
-							result = FLASH_Start();
+							result = PIOS_BL_HELPER_FLASH_Start();
 							break;
 						case Remote_flash_via_spi:
 							result = FALSE;
@@ -459,7 +459,7 @@ uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size) {
 uint32_t CalcFirmCRC() {
 	switch (currentProgrammingDestination) {
 	case Self_flash:
-		return crc_memory_calc();
+		return PIOS_BL_HELPER_CRC_Memory_Calc();
 		break;
 	case Remote_flash_via_spi:
 		return 0;
@@ -484,7 +484,7 @@ bool flash_read(uint8_t * buffer, uint32_t adr, DFUProgType type) {
 		break;
 	case Self_flash:
 		for (uint8_t x = 0; x < 4; ++x) {
-			buffer[x] = *FLASH_If_Read(adr + x);
+			buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
 		}
 		return TRUE;
 		break;

flight/CopterControl/Makefile

@@ -216,6 +216,7 @@ SRC += $(PIOSCOMMON)/pios_adxl345.c
 SRC += $(PIOSCOMMON)/pios_com.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 ## Libraries for flight calculations
 SRC += $(FLIGHTLIB)/fifo_buffer.c

flight/CopterControl/System/alarms.c

@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock

flight/CopterControl/System/inc/pios_config.h

@@ -65,6 +65,7 @@
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
 #define PIOS_INCLUDE_WDG
+#define PIOS_INCLUDE_BL_HELPER
 
 #define PIOS_INCLUDE_ADXL345
 #define PIOS_INCLUDE_FLASH

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -47,7 +47,6 @@
 
 #define RESET_DELAY         500 /* delay between sending reset ot INS */
 
-
 #define TICKS2MS(t)	((t)/portTICK_RATE_MS)
 #define MS2TICKS(m)	((m)*portTICK_RATE_MS)
 
@@ -59,18 +58,12 @@ const uint32_t    iap_time_3_high_end = 5000;
 // Private types
 
 // Private variables
-const static uint8_t 	version[] = { 0, 0, 1 };
-const static uint16_t	SVN = 12345;
 static uint8_t reset_count = 0;
 static portTickType lastResetSysTime;
 
 // Private functions
 static void FirmwareIAPCallback(UAVObjEvent* ev);
 
-static uint32_t	iap_calc_crc(void);
-
-static void read_description(uint8_t *);
-
 FirmwareIAPObjData 	data;
 
 static uint32_t	get_time(void);
@@ -97,7 +90,8 @@ static void resetTask(UAVObjEvent *);
 int32_t FirmwareIAPInitialize()
 {
 	data.BoardType= BOARD_TYPE;
-	read_description(data.Description);
+	PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
+	PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 	data.BoardRevision= BOARD_REVISION;
 	data.ArmReset=0;
 	data.crc = 0;
@@ -130,11 +124,12 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
 		this_time = get_time();
 		delta = this_time - last_time;
 		last_time = this_time;
-		if((data.BoardType==BOARD_TYPE)&&(data.crc != iap_calc_crc()))
+		if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
 		{
-			read_description(data.Description);
+			PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
+			PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
 			data.BoardRevision=BOARD_REVISION;
-			data.crc = iap_calc_crc();
+			data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 			FirmwareIAPObjSet( &data );
 		}
 		if((data.ArmReset==1)&&(iap_state!=IAP_STATE_RESETTING))
@@ -213,41 +208,6 @@ static uint32_t get_time(void)
 	return TICKS2MS(ticks);
 }
 
-
-
-/*!
- * \brief   Calculate the CRC value of the code in flash.
- * \param   None
- * \return  calculated CRC value using STM32's builtin CRC hardware
- *
- * \note
- *	I copied this function as the function crc calc function in pios_bl_helper.c
- *	is only included when the PIOS_BL_HELPER is defined, but this also includes
- *	the flash unlock and erase functions.  It is safer to only have the flash
- *	functions in the bootloader.
- *
- */
-
-static uint32_t iap_calc_crc(void)
-{
-	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
-	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
-	return CRC_GetCRC();
-}
-static uint8_t *FLASH_If_Read(uint32_t SectorAddress)
-{
-	return (uint8_t *) (SectorAddress);
-}
-static void read_description(uint8_t * array)
-{
-	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
-		array[x] = *FLASH_If_Read(i);
-		++x;
-	}
-}
-
 /**
  * Executed by event dispatcher callback to reset INS before resetting OP 
  */

flight/Modules/GPS/GPS.c

@@ -53,8 +53,11 @@
 // Private functions
 
 static void gpsTask(void *parameters);
+
+#ifdef PIOS_GPS_SETS_HOMELOCATION
 static void setHomeLocation(GPSPositionData * gpsData);
 static float GravityAccel(float latitude, float longitude, float altitude);
+#endif
 
 // ****************
 // Private constants
@@ -65,11 +68,19 @@ static float GravityAccel(float latitude, float longitude, float altitude);
 #define GPS_TIMEOUT_MS                  500
 #define GPS_COMMAND_RESEND_TIMEOUT_MS   2000
 
+#ifdef PIOS_GPS_SETS_HOMELOCATION
 // Unfortunately need a good size stack for the WMM calculation
-#ifdef ENABLE_GPS_BINARY_GTOP
+	#ifdef ENABLE_GPS_BINARY_GTOP
-	#define STACK_SIZE_BYTES            800
+		#define STACK_SIZE_BYTES            800
+	#else
+		#define STACK_SIZE_BYTES            800
+	#endif
 #else
-	#define STACK_SIZE_BYTES            800
+	#ifdef ENABLE_GPS_BINARY_GTOP
+		#define STACK_SIZE_BYTES            440
+	#else
+		#define STACK_SIZE_BYTES            440
+	#endif
 #endif
 
 #define TASK_PRIORITY                   (tskIDLE_PRIORITY + 1)
@@ -311,12 +322,15 @@ static void gpsTask(void *parameters)
 		else
 		{	// we appear to be receiving GPS sentences OK, we've had an update
 
+			GPSPositionGet(&GpsData);
+
+#ifdef PIOS_GPS_SETS_HOMELOCATION
 			HomeLocationData home;
 			HomeLocationGet(&home);
 
-			GPSPositionGet(&GpsData);
 			if ((GpsData.Status == GPSPOSITION_STATUS_FIX3D) && (home.Set == HOMELOCATION_SET_FALSE))
 				setHomeLocation(&GpsData);
+#endif
 
 			//criteria for GPS-OK taken from this post...
 			//http://forums.openpilot.org/topic/1523-professors-insgps-in-svn/page__view__findpost__p__5220
@@ -334,6 +348,7 @@ static void gpsTask(void *parameters)
 	}
 }
 
+#ifdef PIOS_GPS_SETS_HOMELOCATION
 /*
  * Estimate the acceleration due to gravity for a particular location in LLA
  */
@@ -389,6 +404,7 @@ static void setHomeLocation(GPSPositionData * gpsData)
 		}
 	}
 }
+#endif
 
 // ****************
 

flight/OpenPilot/Makefile

@@ -208,6 +208,7 @@ SRC += $(PIOSCOMMON)/pios_bmp085.c
 SRC += $(PIOSCOMMON)/pios_hcsr04.c
 SRC += $(PIOSCOMMON)/pios_i2c_esc.c
 SRC += $(PIOSCOMMON)/pios_iap.c
+SRC += $(PIOSCOMMON)/pios_bl_helper.c
 SRC += $(PIOSCOMMON)/printf-stdarg.c
 SRC += $(FLIGHTLIB)/ahrs_spi_comm.c
 SRC += $(FLIGHTLIB)/ahrs_comm_objects.c

flight/OpenPilot/System/alarms.c

@@ -77,7 +77,6 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
     {
     	alarms.Alarm[alarm] = severity;
     	SystemAlarmsSet(&alarms);
-    	SystemAlarmsUpdated(); // force telemetry update since the alarm was changed
     }
 
     // Release lock

flight/OpenPilot/System/inc/pios_config.h

@@ -66,6 +66,7 @@
 #define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_I2C_ESC
+#define PIOS_INCLUDE_BL_HELPER
 
 /* Defaults for Logging */
 #define LOG_FILENAME 			"PIOS.LOG"
@@ -89,6 +90,9 @@
 /* Stabilization options */
 #define PIOS_QUATERNION_STABILIZATION
 
+/* GPS options */
+#define PIOS_GPS_SETS_HOMELOCATION
+
 
 #endif /* PIOS_CONFIG_H */
 /**

flight/PiOS/Common/pios_bl_helper.c

@@ -33,18 +33,19 @@
 #if defined(PIOS_INCLUDE_BL_HELPER)
 #include "stm32f10x_flash.h"
 
-uint8_t *FLASH_If_Read(uint32_t SectorAddress)
+uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
 	return (uint8_t *) (SectorAddress);
 }
 
-uint8_t FLASH_Ini()
+#if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
 	FLASH_Unlock();
 	return 1;
 }
 
-uint8_t FLASH_Start()
+uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
 	uint32_t pageAdress;
 	pageAdress = START_OF_USER_CODE;
@@ -70,24 +71,27 @@ uint8_t FLASH_Start()
 
 	return (fail == TRUE) ? 0 : 1;
 }
+#endif
 
-uint32_t crc_memory_calc()
+uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
 {
+	PIOS_BL_HELPER_CRC_Ini();
 	CRC_ResetDR();
 	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
 	return CRC_GetCRC();
 }
 
-void read_description(uint8_t * array)
+void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
 {
 	uint8_t x = 0;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION; ++i) {
+	if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
-		array[x] = *FLASH_If_Read(i);
+	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
+		array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
 		++x;
 	}
 }
 
-void CRC_Ini()
+void PIOS_BL_HELPER_CRC_Ini()
 {
 	RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE);
 }

flight/PiOS/STM32F10x/pios_sys.c

@@ -134,6 +134,27 @@ uint32_t PIOS_SYS_getCPUFlashSize(void)
 	return ((uint32_t) MEM16(0x1FFFF7E0) * 1000);
 }
 
+/**
+* Returns the serial number as a string
+* param[out] str pointer to a string which can store at least 32 digits + zero terminator!
+* (24 digits returned for STM32)
+* return < 0 if feature not supported
+*/
+int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array)
+{
+	int i;
+
+	/* Stored in the so called "electronic signature" */
+	for (i = 0; i < 12; ++i) {
+		uint8_t b = MEM8(0x1ffff7e8 + i);
+
+		array[i] = b;
+	}
+
+	/* No error */
+	return 0;
+}
+
 /**
 * Returns the serial number as a string
 * param[out] str pointer to a string which can store at least 32 digits + zero terminator!

flight/PiOS/inc/pios_bl_helper.h

@@ -31,16 +31,16 @@
 #ifndef PIOS_BL_HELPER_H_
 #define PIOS_BL_HELPER_H_
 
-extern uint8_t *FLASH_If_Read(uint32_t SectorAddress);
+extern uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress);
 
-extern uint8_t FLASH_Ini();
+extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
 
-extern uint32_t crc_memory_calc();
+extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
 
-extern void read_description(uint8_t * array);
+extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
 
-extern uint8_t FLASH_Start();
+extern uint8_t PIOS_BL_HELPER_FLASH_Start();
 
-extern void CRC_Ini();
+extern void PIOS_BL_HELPER_CRC_Ini();
 
 #endif /* PIOS_BL_HELPER_H_ */

flight/PiOS/inc/pios_sys.h

@@ -36,6 +36,7 @@
 extern void PIOS_SYS_Init(void);
 extern int32_t PIOS_SYS_Reset(void);
 extern uint32_t PIOS_SYS_getCPUFlashSize(void);
+extern int32_t PIOS_SYS_SerialNumberGetBinary(uint8_t *array);
 extern int32_t PIOS_SYS_SerialNumberGet(char *str);
 
 #endif /* PIOS_SYS_H */

flight/UAVObjects/inc/uavobjectmanager.h

@@ -63,10 +63,10 @@ typedef struct {
 	uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
 	uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
-	int32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
+	uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
 	uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
 	uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
-	int32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
+	uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
 	uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
 	uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
 } __attribute__((packed)) UAVObjMetadata;

ground/ground.pro

@@ -2,21 +2,20 @@
 # Top level Qt-Creator project file
 #
 
-# This meta-project allows qt-creator users to open
+# This meta-project allows qt-creator users to open and configure a
-# and configure a single project and to build all
+# single project and to build all required software to produce a GCS.
-# required software to produce a GCS.  This includes
+# This includes regenerating all uavobject output.
-# regenerating all uavobject output.
 #
-# NOTE: To use this meta-project, you MUST perform these
+# NOTE: to use this meta-project, you MUST perform these steps once
-# steps once for each SVN checkout:
+# for each source tree checkout:
 # - Open <top>/ground/ground.pro in qt-creator
 # - Select the "Projects" tab
 # - Under Build Settings/General heading, click "Show Details"
 # - Activate "Shadow Build"
 # - Set your Build Directory to <top>/build/ground
 #
-# <top> = The full path to the base of your svn tree which should
+# <top> = the full path to the base of your git source tree which
-# contain "flight", "ground", etc.
+# should contain "flight", "ground", etc.
 
 # There is a small problem with dependencies. qmake needs synthetic
 # files when it generates GCS Makefiles. But we do not have

ground/openpilotgcs/packaging/winx86/make_header.cmd

@@ -0,0 +1,86 @@
+@echo off
+rem
+rem make_header - a workaround to build NSIS version info header from
+rem Makefile using different environments (Windows cmd or Unix-like sh)
+rem still being more or less portable.
+rem
+rem This script tries to find any git command line utility on the system.
+rem First, it looks at the predefined location of git.exe installed by
+rem msysgit package available at http://code.google.com/p/msysgit/
+rem If not found, it searches for git executables in the system PATH.
+rem If also not found, then it gives up and no commit info will be available.
+rem
+rem Expected parameters:
+rem   %1: repository source path
+rem   %2: header file full path and name
+rem
+
+rem FIXME: we should have product version info somewhere else
+set OUT_FILE=OpenPilotGCS-%%%%ad-%%%%h-install.exe
+set PRODUCT_VERSION=0.0.0.0
+set FILE_VERSION=%%%%ad %%BRANCH%%:%%%%h
+set BUILD_DESCRIPTION=Built using %%ORIGIN%% as origin, branch %%BRANCH%%, commit %%%%H, committed %%%%ci
+
+set REPO=%1
+set HEADER=%2
+if "%REPO%"   == "" goto NoRepo
+if "%HEADER%" == "" goto NoHeader
+goto OK
+
+:NoRepo
+:NoHeader
+echo This script should be called from Makefile only
+goto :eof
+
+:Ok
+rem Looking for git command line utility at the predefined msysgit location
+rem first, and in the PATH last. Also note that we use call command which is
+rem required if we execute a .cmd or .bat file instead of .exe
+
+set GIT=%ProgramFiles%\Git\bin\git.exe
+if exist "%GIT%" goto Found
+
+for %%G in (git.exe) do set GIT=%%~$PATH:G
+if exist "%GIT%" goto Found
+
+for %%G in (git.cmd) do set GIT=%%~$PATH:G
+if exist "%GIT%" goto Found
+
+for %%G in (git.bat) do set GIT=%%~$PATH:G
+if exist "%GIT%" goto Found
+
+:NotFound
+echo git not found, no version info available
+goto :eof
+
+:Found
+echo Using "%GIT%" to extract version info from "%REPO%"...
+
+rem Getting remote origin name
+for /F "usebackq tokens=1-3" %%G in (`call "%GIT%" remote -v`) do (
+    if "%%G" == "origin" if "%%I" == "(fetch)" set ORIGIN=%%H
+)
+
+rem Getting branch name
+for /F "usebackq tokens=1,2" %%G in (`call "%GIT%" branch --no-color`) do (
+    if "%%G" == "*" set BRANCH=%%H
+)
+
+rem Getting commit info
+set OPTS=-1 --no-color --date=short
+set OPTS=%OPTS% "--format=format:
+set OPTS=%OPTS%;%%%%n
+set OPTS=%OPTS%; AUTOGENERATED HEADER FILE%%%%n
+set OPTS=%OPTS%;%%%%n
+set OPTS=%OPTS%%%%%n
+set OPTS=%OPTS%; Installer file name%%%%n
+set OPTS=%OPTS%!define OUT_FILE \"%OUT_FILE%\"%%%%n
+set OPTS=%OPTS%%%%%n
+set OPTS=%OPTS%; Installer version info%%%%n
+set OPTS=%OPTS%!define PRODUCT_VERSION \"%PRODUCT_VERSION%\"%%%%n
+set OPTS=%OPTS%!define FILE_VERSION \"%FILE_VERSION%\"%%%%n
+set OPTS=%OPTS%!define BUILD_DESCRIPTION \"%BUILD_DESCRIPTION%\"%%%%n"
+
+pushd "%REPO%"
+call "%GIT%" log %OPTS% >%HEADER%
+popd

ground/openpilotgcs/packaging/winx86/make_installer.cmd

@@ -1,16 +1,11 @@
 @echo off
 rem
-rem Project: OpenPilot
 rem NSIS installer script file for OpenPilot GCS
 rem The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2010-2011.
 rem
 rem This script requires Unicode NSIS 2.46 or higher:
 rem http://www.scratchpaper.com/
 rem
-rem Optional SVN utility to get currently used SVN revision is SubWCRev.exe,
-rem it is a part of TortoiseSVN package or is available separately:
-rem http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
-rem
 
 rem Set path to NSIS compiler
 set NSIS=%ProgramFiles%/NSIS/Unicode

ground/openpilotgcs/packaging/winx86/openpilotgcs.nsh

@@ -1,11 +1,11 @@
 #
-# SubWCRev not found, default values used instead.
+# git not found, default values used instead.
 #
 
 ; Installer file name
-!define OUT_FILE "OpenPilotGCS-XXXX-install.exe"
+!define OUT_FILE "OpenPilotGCS-unreleased-install.exe"
 
 ; Installer version info
 !define PRODUCT_VERSION "0.0.0.0"
 !define FILE_VERSION "0.0.0.0"
-!define BUILD_DESCRIPTION "Unknown revision."
+!define BUILD_DESCRIPTION "Unreleased version."

ground/openpilotgcs/packaging/winx86/openpilotgcs.nsi

@@ -20,16 +20,9 @@
 
 # This script requires Unicode NSIS 2.46 or higher:
 # http://www.scratchpaper.com/
-#
-# Optionally used SubWCRev utility to extract SVN info from working copy.
-# SubWCRev is a part of TortoiseSVN client distribution:
-# http://tortoisesvn.net/
-# SubWCRev is also available separately:
-# http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
 
 # Features:
 #  - Installs to the user local appdata path, no admin rights required.
-#  - Multilingual, needs translations for custom installer strings.
 #
 # TODO:
 #  - optionally install for all users (to Program Files with admin rights on Vista/7).
@@ -69,7 +62,7 @@
 
   VIProductVersion ${PRODUCT_VERSION}
   VIAddVersionKey "ProductName" "${INSTALLER_NAME}"
-  VIAddVersionKey "FileVersion" ${FILE_VERSION}
+  VIAddVersionKey "FileVersion" "${FILE_VERSION}"
   VIAddVersionKey "Comments" "${INSTALLER_NAME}. ${BUILD_DESCRIPTION}"
   VIAddVersionKey "CompanyName" "The OpenPilot Team, http://www.openpilot.org"
   VIAddVersionKey "LegalTrademarks" "${PRODUCT_NAME} is a trademark of The OpenPilot Team"

ground/openpilotgcs/packaging/winx86/openpilotgcs.tpl

@@ -1,12 +0,0 @@
-#
-# SubWCRev autogenerated file, do not modify.
-# Generated using nsis.tpl template.
-#
-  
-; Installer file name  
-!define OUT_FILE "OpenPilotGCS-$WCREV$-install.exe"  
-  
-; Installer version info  
-!define PRODUCT_VERSION "0.0.0.$WCREV$"  
-!define FILE_VERSION "0.0.0.$WCREV$"  
-!define BUILD_DESCRIPTION "Last committed revision $WCREV$ ($WCDATE$) using$WCMIXED? mixed:$ SVN revision range $WCRANGE$$WCMODS? (locally modified):$. Built from $WCURL$ ($WCNOW$)." 

ground/openpilotgcs/packaging/winx86/svninfo.mk

@@ -1,37 +0,0 @@
-#
-# SubWCRev not found, default values used instead.
-# Generated using svninfo.tpl template.
-#
-
-# Highest committed revision number
-WCREV = NA
-
-# Date of highest committed revision
-WCDATE = NA
-
-# Mixed update revision state and revision range
-WCMIXED = 0
-WCMIXED_TXT = NA
-WCRANGE = NA
-
-# Repository URL of the working copy
-WCURL = NA
-
-# Current system date & time
-WCNOW = NA
-
-# Lock status, date, owner, and comment for this item
-WCISLOCKED = 0
-WCLOCKDATE = NA
-WCLOCKOWNER = NA
-WCLOCKCOMMENT = NA
-
-# True if local modifications found
-WCMODS = 0
-WCMODS_TXT = NA
-
-# True if the item is versioned
-WCINSVN = 0
-
-# True if the svn:needs-lock property is set
-WCNEEDSLOCK = 0

ground/openpilotgcs/packaging/winx86/svninfo.tpl

@@ -1,37 +0,0 @@
-#
-# SubWCRev autogenerated file, do not modify.
-# Generated using svninfo.tpl template.
-#
-
-# Highest committed revision number
-WCREV = $WCREV$
-
-# Date of highest committed revision
-WCDATE = $WCDATE=%Y/%m/%d %H:%M:%S$
-
-# Mixed update revision state and revision range
-WCMIXED = $WCMIXED?1:0$
-WCMIXED_TXT = $WCMIXED?(mixed):$
-WCRANGE = $WCRANGE$
-
-# Repository URL of the working copy
-WCURL = $WCURL$
-
-# Current system date & time
-WCNOW = $WCNOW=%Y/%m/%d %H:%M:%S$
-
-# Lock status, date, owner, and comment for this item
-WCISLOCKED = $WCISLOCKED?1:0$
-WCLOCKDATE = $WCLOCKDATE=%Y/%m/%d %H:%M:%S$
-WCLOCKOWNER = $WCLOCKOWNER$
-WCLOCKCOMMENT = $WCLOCKCOMMENT$
-
-# True if local modifications found
-WCMODS = $WCMODS?1:0$
-WCMODS_TXT = $WCMODS?(modified):$
-
-# True if the item is versioned
-WCINSVN = $WCINSVN?1:0$
-
-# True if the svn:needs-lock property is set
-WCNEEDSLOCK = $WCNEEDSLOCK?1:0$

ground/openpilotgcs/packaging/winx86/winx86.pro

@@ -5,67 +5,46 @@ TEMPLATE = subdirs
 # Some Windows packaging magic (for release build only)
 equals(copydata, 1):win32:CONFIG(release, debug|release) {
 
-    WINX86_PATH = packaging/winx86
+    # We need this Windows macro since building under Unix-like shell the top level
-    SVN_INFO_TEMPLATE = svninfo.tpl
+    # targetPath macro will use forward slashes which don't work for such Windows
-    SVN_INFO_MAKEFILE = svninfo.mk
+    # commands like pushd, etc. But note that we still use targetPath for $(COPY_FILE)
-    NSIS_TEMPLATE = openpilotgcs.tpl
+    # parameters because this command is different under native Windows and Unix-like
-    NSIS_HEADER = openpilotgcs.nsh
+    # build environments.
-
+    defineReplace(winTargetPath) {
-    # Check for SubWCRev.exe executable required to get some useful SVN repository info.
+        return($$replace(1, /, \\))
-    # For example, currently checked out SVN revision (highest for the working copy).
-    # SubWCRev is a part of TortoiseSVN client distribution:
-    # http://tortoisesvn.net/
-    # SubWCRev is also available separately:
-    # http://sourceforge.net/projects/tortoisesvn/files/Tools/1.6.7/SubWCRev-1.6.7.18415.msi/download
-
-    # Default location is TortoiseSVN bin folder.
-    # FIXME: it should try to find in the PATH first, and use hardcoded reference last
-    SUBWCREV_EXE = $$targetPath(\"$$(ProgramFiles)/TortoiseSVN/bin/SubWCRev.exe\")
-
-    exists($$SUBWCREV_EXE) {
-        message("SubWCRev found: $${SUBWCREV_EXE}")
-        svninfo.commands += @echo Copying stubs... $$addNewline()
-        svninfo.commands += $(COPY_FILE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
-        svninfo.commands +=   $$addNewline()
-        svninfo.commands += $(COPY_FILE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
-        svninfo.commands +=   $$addNewline()
-        svninfo.commands += @echo Executing $${SUBWCREV_EXE} $$SVN_INFO_TEMPLATE $$SVN_INFO_MAKEFILE $$addNewline()
-        svninfo.commands += -@$$SUBWCREV_EXE $$targetPath($$GCS_SOURCE_TREE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_TEMPLATE)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
-        svninfo.commands +=   $$addNewline()
-        svninfo.commands += @echo Executing $${SUBWCREV_EXE} $$NSIS_TEMPLATE $$NSIS_HEADER $$addNewline()
-        svninfo.commands += -@$$SUBWCREV_EXE $$targetPath($$GCS_SOURCE_TREE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_TEMPLATE)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
-        svninfo.commands +=   $$addNewline()
-    } else {
-        message("SubWCRev not found, SVN info is not available")
-        svninfo.commands += $(COPY_FILE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$SVN_INFO_MAKEFILE)
-        svninfo.commands +=   $$addNewline()
-        svninfo.commands += $(COPY_FILE)
-        svninfo.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
-        svninfo.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
-        svninfo.commands +=   $$addNewline()
     }
-    svninfo.target = svninfo.dummy
+
-    QMAKE_EXTRA_TARGETS += svninfo
+    # Some file locations
-    force.depends += svninfo
+    WINX86_PATH     = packaging/winx86
+    NSIS_HEADER     = openpilotgcs.nsh
+    HEADER_MAKER    = make_header.cmd
+    INSTALLER_MAKER = make_installer.cmd
+
+    # copy defaults first (will be used if no git available)
+    git.commands += @echo Copying default version info... $$addNewline()
+    git.commands += $(COPY_FILE)
+    git.commands +=   $$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$NSIS_HEADER)
+    git.commands +=   $$targetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
+    git.commands +=   $$addNewline()
+
+    # extract repository info if command line git is available
+    git.commands += $$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$HEADER_MAKER)
+    git.commands +=   $$winTargetPath($$GCS_SOURCE_TREE)
+    git.commands +=   $$winTargetPath($$GCS_BUILD_TREE/$$WINX86_PATH/$$NSIS_HEADER)
+    git.commands +=   $$addNewline()
+
+    git.target = git.dummy
+    QMAKE_EXTRA_TARGETS += git
+    force.depends += git
 
     # Redefine FORCE target to collect data every time
     force.target = FORCE
     QMAKE_EXTRA_TARGETS += force
 
     # Create installer build target - this WILL NOT run during build, run it by hand
-    message("Run \"make installer\" in $$GCS_BUILD_TREE/$$WINX86_PATH to build Windows installer (Unicode NSIS 2.46+ required)")
+    message("Run \"make gcs_installer\" in $$GCS_BUILD_TREE/$$WINX86_PATH to build Windows installer (Unicode NSIS 2.46+ required)")
-    nsis.target = installer
+    nsis.target = gcs_installer
-    nsis.depends = svninfo
+    nsis.depends = git
-    nsis.commands += @$$targetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/Makefile.cmd)
+    nsis.commands += @$$winTargetPath($$GCS_SOURCE_TREE/$$WINX86_PATH/$$INSTALLER_MAKER)
     QMAKE_EXTRA_TARGETS += nsis
 }

ground/openpilotgcs/share/share.pro

@@ -8,14 +8,8 @@ DATACOLLECTIONS = dials models pfd sounds diagrams mapicons
 equals(copydata, 1) {
     for(dir, DATACOLLECTIONS) {
         exists($$GCS_SOURCE_TREE/share/openpilotgcs/$$dir) {
-            # remove r/o and hidden attributes from .svn/* files from old build: they prevent copy over with cp -rp
-            win32:data_copy.commands += -@attrib -R -S -H $$targetPath(\"$$GCS_DATA_PATH/$$dir/*\") /S /D >nul 2>&1 $$addNewline()
-
             macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/\") $$addNewline()
             !macx:data_copy.commands += $(COPY_DIR) $$targetPath(\"$$GCS_SOURCE_TREE/share/openpilotgcs/$$dir\") $$targetPath(\"$$GCS_DATA_PATH/$$dir\") $$addNewline()
-
-            # remove r/o and hidden attributes from .svn/* files: they prevent cleaning with rm -rf
-            win32:data_copy.commands += attrib -R -S -H $$targetPath(\"$$GCS_DATA_PATH/$$dir/*\") /S /D $$addNewline()
         }
     }
 

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp

@@ -408,7 +408,7 @@ bool UAVTalk::receiveObject(quint8 type, quint32 objId, quint16 instId, quint8*
 
     UAVObject* obj = NULL;
     bool error = false;
-    bool allInstances = (instId == ALL_INSTANCES? true : false);
+    bool allInstances =  (instId == ALL_INSTANCES);
 
     // Process message type
     switch (type) {

shared/uavobjectdefinition/firmwareiapobj.xml

@@ -1,8 +1,9 @@
 <xml> 
     <object name="FirmwareIAPObj" singleinstance="true" settings="false"> 
-        <description>Firmware IAP</description> 
+        <description>Queries board for SN, model, revision, and sends reset command</description> 
         <field name="Command" units="" type="uint16" elements="1"/> 
-        <field name="Description" units="" type="uint8" elements="100"/> 
+        <field name="Description" units="" type="uint8" elements="40"/> 
+        <field name="CPUSerial" units="" type="uint8" elements="12" /> 
         <field name="BoardRevision" units="" type="uint16" elements="1"/> 
         <field name="BoardType" units="" type="uint8" elements="1"/> 
         <field name="ArmReset" units="" type="uint8" elements="1"/> 

shared/uavobjectdefinition/systemalarms.xml

@@ -5,7 +5,7 @@
         elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS" defaultvalue="Uninitialised"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
-        <telemetryflight acked="true" updatemode="periodic" period="4000"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
         <logging updatemode="periodic" period="1000"/>
     </object>
 </xml>