Merge remote-tracking branch 'origin/rel-14.01' into laurent/OP-1187_allow_french_translations_in_future_releases

.commit-template

@@ -0,0 +1,23 @@
+
+
+# *************** OpenPilot commits guidelines ***************
+# Each commit needs to have a message like the following sample:
+#  OP-1150 UI for thermal calibration: Connect State machine to UI
+#
+# It needs to begin with a reference to one or more Jira tickets followed by a short description.
+# If needed add a longer description in the following lines, after an empty line.
+#
+# Before  committing, ensure your code is properly formatted using:
+#  	make uncrustify_all 
+# You can format flight or ground code only using respectively 
+# uncrustify_flight or uncrustify_ground
+#
+# To automatically create a review, append the following smart commit messages:
+#   +review OPReview
+#
+# To append the commit to an existing review, use the following smart commit message:
+#   +review OPReview-NNN
+# For example "+review OPReview-609"  
+#
+# *NOTE* leave an empty line between the commit message and "smart commit command"
+# Smart commits commands need to starts immediately at first column

CREDITS.txt

@@ -5,7 +5,9 @@ Pedro Assuncao
 Fredrik Arvidsson
 Werner Backes
 Jose Barros
+Mikael Blomqvist
 Pete  Boehl
+Glenn Campigli
 David Carlson
 James Cotton
 Steve Doll
@@ -13,7 +15,9 @@ Piotr Esden-Tempski
 Richard Flay
 Peter Farnworth
 Ed Faulkner
+Andrew Finegan
 Darren Furniss
+Cliff Geerdes
 Frederic Goddeeris
 Daniel Godin
 Anthony Gomez
@@ -24,6 +28,7 @@ Peter Gunnarsson
 Dean Hall
 Joe Hlebasko
 Andy Honecker
+Patrick Huebner
 Ryan Hunt
 Mark James
 Ricky King
@@ -34,6 +39,7 @@ Alan Krum
 Edouard Lafargue
 Mike Labranche
 Fredrik Larsson
+Richard von Lehe
 Pablo Lema
 David Llama
 Matt Lipski
@@ -65,6 +71,7 @@ Troy Schultz
 Dr. Erhard Siegl
 Dusty Anne Smith
 Mike Smith
+Bertrand Songis
 Alex Sowa
 Pete Stapley
 Vova Starikh

Makefile

@@ -859,6 +859,8 @@ help:
 	@$(ECHO)
 	@$(ECHO) "   Here is a summary of the available targets:"
 	@$(ECHO)
+	@$(ECHO) "   [Source tree preparation]"
+	@$(ECHO) "     prepare              - Install GIT commit message template"
 	@$(ECHO) "   [Tool Installers]"
 	@$(ECHO) "     arm_sdk_install      - Install the GNU ARM gcc toolchain"
 	@$(ECHO) "     qt_sdk_install       - Install the QT development tools"

WHATSNEW.txt

@@ -1,3 +1,20 @@
+--- RELEASE-14.01-RC1 --- Cruising Ratt ---
+This is the RC1 for the first 2014 software release. 
+This version still supports the  CopterControl and CC3D.
+It includes some major "under the hood" changes like migration
+to Qt5.1 and QtQuick2 widgets, an overhaul of UAVTalk to improve
+Telemetry and OPLink reliability.
+Some additions in this release:
+- "Rattitude" flight mode;
+- Altitude Hold Reimplementation;
+- Multiple PID banks;
+- "Cruise Control" 
+
+the full list of features, improvements and bufixes shipping
+in this release is accessible here:
+
+http://progress.openpilot.org/browse/OP/fixforversion/10220
+
 --- RELEASE-13.06.04 ---
 This maintenance release includes the following fixes missing in (previously not released to public) RELEASE-13.06.03.
 - Fixed issues with Google Maps;
@@ -6,7 +23,8 @@ This maintenance release includes the following fixes missing in (previously not
 JIRA issues addressed in this maintenance release:
 OP-1044, OP-1070, OP-1072
 Use the following link for a comprehensive list of issues addressed by this release
-http://progress.openpilot.org/browse/OP-1070
+
+http://progress.openpilot.org/issues/?filter=11060
 
 --- RELEASE-13.06.03 ---
 
@@ -296,6 +314,7 @@ GCS code changes:
 - added OPLinkMini configuration page;
 - hardware options are now dynamically enabled/disabled to allow supported configurations only;
 - new artwork for all boards everywhere;
+
 - optimised some 3D models;
 - new About dialog showing version info and contributors list;
 - fixed badly broken HiTL options dialog;

flight/modules/ManualControl/manualcontrol.c

@@ -331,6 +331,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
                 if (settings.FailsafeBehavior != MANUALCONTROLSETTINGS_FAILSAFEBEHAVIOR_NONE) {
                     FlightStatusGet(&flightStatus);
 
+                    cmd.FlightModeSwitchPosition = (uint8_t)settings.FailsafeBehavior - 1;
                     flightStatus.FlightMode = settings.FlightModePosition[settings.FailsafeBehavior - 1];
                     FlightStatusSet(&flightStatus);
                 }
@@ -358,7 +359,6 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
                         AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
                     }
                 }
-                cmd.FlightModeSwitchPosition = (uint8_t)255;
             } else if (valid_input_detected) {
                 AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
 

flight/modules/Stabilization/stabilization.c

@@ -70,7 +70,7 @@
 #if defined(PIOS_STABILIZATION_STACK_SIZE)
 #define STACK_SIZE_BYTES    PIOS_STABILIZATION_STACK_SIZE
 #else
-#define STACK_SIZE_BYTES    790
+#define STACK_SIZE_BYTES    840
 #endif
 
 #define TASK_PRIORITY       (tskIDLE_PRIORITY + 4)

flight/modules/System/systemmod.c

@@ -524,9 +524,11 @@ static void updateStats()
     stats.FlightTime = xTaskGetTickCount() * portTICK_RATE_MS;
 #if defined(ARCH_POSIX) || defined(ARCH_WIN32)
     // POSIX port of FreeRTOS doesn't have xPortGetFreeHeapSize()
+    stats.SystemModStackRemaining = 128;
     stats.HeapRemaining = 10240;
 #else
     stats.HeapRemaining = xPortGetFreeHeapSize();
+    stats.SystemModStackRemaining = uxTaskGetStackHighWaterMark(NULL) * 4;
 #endif
 
     // Get Irq stack status

flight/pios/common/pios_sbus.c

@@ -250,7 +250,7 @@ static void PIOS_SBus_UpdateState(struct pios_sbus_state *state, uint8_t b)
         state->received_data[state->byte_count - 1] = b;
         state->byte_count++;
     } else {
-        if (b == SBUS_EOF_BYTE) {
+        if (b == SBUS_EOF_BYTE || (b % SBUS_R7008SB_EOF_COUNTER_MASK) == SBUS_R7008SB_EOF_BYTE) {
             /* full frame received */
             uint8_t flags = state->received_data[SBUS_FRAME_LENGTH - 3];
             if (flags & SBUS_FLAG_FL) {

flight/pios/inc/pios_sbus_priv.h

@@ -50,7 +50,14 @@
  *                   0x08 - failsafe flag,
  *                   0xf0 - reserved
  *  1 byte  - 0x00 (end of frame byte)
+ *
+ * The R7008SB receiver has four different end of frame bytes, which rotates in order:
+ *    00000100
+ *    00010100
+ *    00100100
+ *    00110100
  */
+
 #define SBUS_FRAME_LENGTH             (1 + 22 + 1 + 1)
 #define SBUS_SOF_BYTE                 0x0f
 #define SBUS_EOF_BYTE                 0x00
@@ -59,6 +66,9 @@
 #define SBUS_FLAG_FL                  0x04
 #define SBUS_FLAG_FS                  0x08
 
+#define SBUS_R7008SB_EOF_COUNTER_MASK 0xCF
+#define SBUS_R7008SB_EOF_BYTE         0x04
+
 /*
  * S.Bus protocol provides 16 proportional and 2 discrete channels.
  * Do not change unless driver code is updated accordingly.

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -154,11 +154,15 @@
 
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE        1020
-#define PIOS_MANUAL_STACK_SIZE          800
+#define PIOS_MANUAL_STACK_SIZE          850
+#ifdef DIAG_TASKS
+#define PIOS_SYSTEM_STACK_SIZE          720
+#else
 #define PIOS_SYSTEM_STACK_SIZE          660
+#endif
 #define PIOS_STABILIZATION_STACK_SIZE   790
-#define PIOS_TELEM_STACK_SIZE           800
+#define PIOS_TELEM_STACK_SIZE           540
-#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
+#define PIOS_EVENTDISPATCHER_STACK_SIZE 150
 
 /* This can't be too high to stop eventdispatcher thread overflowing */
 #define PIOS_EVENTDISAPTCHER_QUEUE      10

ground/openpilotgcs/copydata.pro

@@ -5,6 +5,124 @@ TEMPLATE = subdirs
 # Copy Qt runtime libraries into the build directory (to run or package)
 equals(copydata, 1) {
 
+GCS_LIBRARY_PATH
+
+    linux-* {
+
+        QT_LIBS = libQt5Core.so.5 \
+                  libQt5Gui.so.5 \
+                  libQt5Widgets.so.5 \
+                  libQt5Network.so.5 \
+                  libQt5OpenGL.so.5 \
+                  libQt5Sql.so.5 \
+                  libQt5Svg.so.5 \
+                  libQt5Test.so.5 \
+                  libQt5Xml.so.5 \
+                  libQt5Declarative.so.5 \
+                  libQt5XmlPatterns.so.5 \
+                  libQt5Script.so.5 \
+                  libQt5Concurrent.so.5 \
+                  libQt5PrintSupport.so.5 \
+                  libQt5SerialPort.so.5 \
+                  libQt5Multimedia.so.5 \
+                  libQt5MultimediaWidgets.so.5 \
+                  libQt5Quick.so.5 \
+                  libQt5Qml.so.5 \
+                  libQt5V8.so.5 \
+                  libQt5DBus.so.5 \
+                  libQt5QuickParticles.so.5 \
+                  libicui18n.so.51 \
+                  libicuuc.so.51 \
+                  libicudata.so.51
+
+        data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_LIBRARY_PATH\") $$addNewline()
+        for(lib, QT_LIBS) {
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_LIBS]/$$lib\") $$targetPath(\"$$GCS_QT_LIBRARY_PATH/$$lib\") $$addNewline()
+        }
+
+        # create Qt plugin directories
+        QT_PLUGIN_DIRS = iconengines \
+                         imageformats \
+                         platforms \
+                         mediaservice \
+                         sqldrivers
+        for(dir, QT_PLUGIN_DIRS) {
+            data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_PLUGINS_PATH/$$dir\") $$addNewline()
+        }
+        QT_PLUGIN_LIBS = iconengines/libqsvgicon.so \
+                         imageformats/libqgif.so \
+                         imageformats/libqico.so \
+                         imageformats/libqjpeg.so \
+                         imageformats/libqmng.so \
+                         imageformats/libqsvg.so \
+                         imageformats/libqtiff.so \
+                         platforms/libqxcb.so \
+                         sqldrivers/libqsqlite.so
+        for(lib, QT_PLUGIN_LIBS) {
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_PLUGINS]/$$lib\") $$targetPath(\"$$GCS_QT_PLUGINS_PATH/$$lib\") $$addNewline()
+        }
+
+        # create QtQuick2 plugin directories
+        QT_QUICK2_DIRS = QtQuick \
+                         QtQuick.2 \
+                         QtQuick/Layouts \
+                         QtQuick/LocalStorage \
+                         QtQuick/Particles.2 \
+                         QtQuick/PrivateWidgets \
+                         QtQuick/Window.2 \
+                         QtQuick/XmlListModel
+        for(dir, QT_QUICK2_DIRS) {
+            data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_QML_PATH/$$dir\") $$addNewline()
+        }
+
+        # Copy QtQuick2 complete directories
+        # These directories have a lot of files
+        # Easier to copy everything
+        QTQ_WHOLE_DIRS = QtQuick/Controls \
+                         QtQuick/Dialogs
+        for(dir, QTQ_WHOLE_DIRS) {
+            data_copy.commands += $(COPY_DIR) $$targetPath(\"$$[QT_INSTALL_QML]/$$dir\") $$targetPath(\"$$GCS_QT_QML_PATH/$$dir\") $$addNewline()
+        }
+
+        # Remove the few unwanted libs after whole dir copy
+        QT_QUICK2_DELS = QtQuick/Controls/libqtquickcontrolsplugin.so \
+        QtQuick/Controls/Private/libqtquickcontrolsprivateplugin.so \
+        QtQuick/Dialogs/libdialogplugin.so
+
+        for(delfile, QT_QUICK2_DELS) {
+            data_copy.commands += $(DEL_FILE) $$targetPath(\"$$GCS_QT_QML_PATH/$${delfile}\") $$addNewline()
+        }
+
+        # Remaining QtQuick plugin libs
+        QT_QUICK2_DLLS = QtQuick.2/libqtquick2plugin.so \
+                         QtQuick.2/plugins.qmltypes \
+                         QtQuick.2/qmldir \
+        QtQuick/Layouts/libqquicklayoutsplugin.so \
+        QtQuick/Layouts/plugins.qmltypes \
+        QtQuick/Layouts/qmldir \
+        QtQuick/LocalStorage/libqmllocalstorageplugin.so \
+        QtQuick/LocalStorage/plugins.qmltypes \
+        QtQuick/LocalStorage/qmldir \
+        QtQuick/Particles.2/libparticlesplugin.so \
+        QtQuick/Particles.2/plugins.qmltypes \
+        QtQuick/Particles.2/qmldir \
+        QtQuick/PrivateWidgets/libwidgetsplugin.so  \
+        QtQuick/PrivateWidgets/plugins.qmltypes \
+        QtQuick/PrivateWidgets/qmldir \
+        QtQuick/Window.2/libwindowplugin.so \
+        QtQuick/Window.2/plugins.qmltypes \
+        QtQuick/Window.2/qmldir \
+        QtQuick/XmlListModel/libqmlxmllistmodelplugin.so \
+        QtQuick/XmlListModel/plugins.qmltypes \
+        QtQuick/XmlListModel/qmldir
+
+        for(lib, QT_QUICK2_DLLS) {
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_QML]/$$lib\") $$targetPath(\"$$GCS_QT_QML_PATH/$$lib\") $$addNewline()
+        }
+
+        data_copy.target = FORCE
+        QMAKE_EXTRA_TARGETS += data_copy
+    }
     # Windows release only, no debug target DLLs ending with 'd'
     # It is assumed that SDL.dll can be found in the same directory as mingw32-make.exe
     win32 {
@@ -146,11 +264,37 @@ equals(copydata, 1) {
             ssleay32.dll \
             libeay32.dll
         for(dll, OPENSSL_DLLS) {
-            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(OPENSSL)/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(OPENSSL_DIR)/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
         }
 
         data_copy.target = FORCE
         QMAKE_EXTRA_TARGETS += data_copy
     }
 
+
+    macx{
+        #NOTE: debug dylib can be copied as they will be cleaned out with packaging scripts
+        #standard plugins directory (will copy just dylib, plugins.qmltypes and qmldir
+        QT_QUICK2_PLUGINS = QtQuick.2 QtQuick/Layouts QtQuick/LocalStorage QtQuick/Particles.2 QtQuick/PrivateWidgets QtQuick/Window.2 QtQuick/XmlListModel
+        #those directories will be fully copied to dest
+        QT_QUICK2_FULL_DIRS = QtQuick/Controls QtQuick/Dialogs
+
+        #create QtQuick dir (that will host all subdirs)
+        data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_QML_PATH/QtQuick\") $$addNewline()
+
+        for(dir, QT_QUICK2_FULL_DIRS) {
+            #data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_QML_PATH/$$dir\") $$addNewline()
+            data_copy.commands += $(COPY_DIR) $$targetPath(\"$$[QT_INSTALL_QML]/$$dir\") $$targetPath(\"$$GCS_QT_QML_PATH/$$dir\") $$addNewline()
+        }
+
+        for(lib, QT_QUICK2_PLUGINS) {
+            data_copy.commands += $(MKDIR) $$targetPath(\"$$GCS_QT_QML_PATH/$$lib\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_QML]/$$lib/\"*.dylib) $$targetPath(\"$$GCS_QT_QML_PATH/$$lib/\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_QML]/$$lib/plugins.qmltypes\") $$targetPath(\"$$GCS_QT_QML_PATH/$$lib/plugins.qmltypes\") $$addNewline()
+            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_QML]/$$lib/qmldir\") $$targetPath(\"$$GCS_QT_QML_PATH/$$lib/qmldir\") $$addNewline()
+        }
+
+        data_copy.target = FORCE
+        QMAKE_EXTRA_TARGETS += data_copy
+    }
 }

ground/openpilotgcs/openpilotgcs.pri

@@ -77,6 +77,7 @@ macx {
     GCS_APP_TARGET   = "OpenPilot GCS"
     GCS_LIBRARY_PATH = $$GCS_APP_PATH/$${GCS_APP_TARGET}.app/Contents/Plugins
     GCS_PLUGIN_PATH  = $$GCS_LIBRARY_PATH
+    GCS_QT_QML_PATH = $$GCS_APP_PATH/$${GCS_APP_TARGET}.app/Contents/Imports
     GCS_LIBEXEC_PATH = $$GCS_APP_PATH/$${GCS_APP_TARGET}.app/Contents/Resources
     GCS_DATA_PATH    = $$GCS_APP_PATH/$${GCS_APP_TARGET}.app/Contents/Resources
     GCS_DATA_BASENAME = Resources
@@ -89,6 +90,9 @@ macx {
     } else {
         GCS_APP_WRAPPER  = openpilotgcs
         GCS_APP_TARGET   = openpilotgcs.bin
+        GCS_QT_LIBRARY_PATH = $$GCS_BUILD_TREE/$$GCS_LIBRARY_BASENAME/qt5
+        GCS_QT_PLUGINS_PATH = $$GCS_BUILD_TREE/$$GCS_LIBRARY_BASENAME/qt5/plugins
+        GCS_QT_QML_PATH = $$GCS_BUILD_TREE/$$GCS_LIBRARY_BASENAME/qt5/qml
     }
     GCS_LIBRARY_PATH = $$GCS_BUILD_TREE/$$GCS_LIBRARY_BASENAME/openpilotgcs
     GCS_PLUGIN_PATH  = $$GCS_LIBRARY_PATH/plugins

ground/openpilotgcs/openpilotgcs.pro

@@ -21,6 +21,7 @@ macx {
     QMAKE_CC = /usr/bin/gcc
     QMAKE_CXX = /usr/bin/g++ 
     QMAKE_LINK = /usr/bin/g++
+    QMAKE_MACOSX_DEPLOYMENT_TARGET = 10.6
 }
 
 include(openpilotgcs.pri)

ground/openpilotgcs/share/openpilotgcs/pfd/default/PfdWorldView.qml

@@ -35,7 +35,7 @@ Item {
             Rotation {
                 angle: -AttitudeState.Roll
                 origin.x : world.parent.width/2
-                origin.y : world.parent.height/2
+                origin.y : horizontCenter
             }
         ]
 

ground/openpilotgcs/src/openpilotgcsplugin.pri

@@ -31,7 +31,7 @@ macx {
         QMAKE_LFLAGS_SONAME = -Wl,-install_name,@executable_path/../Plugins/$${PROVIDER}/
 } else:linux-* {
     #do the rpath by hand since it's not possible to use ORIGIN in QMAKE_RPATHDIR
-    QMAKE_RPATHDIR += \$\$ORIGIN
+    QMAKE_RPATHDIR = \$\$ORIGIN
     QMAKE_RPATHDIR += \$\$ORIGIN/..
     QMAKE_RPATHDIR += \$\$ORIGIN/../..
     GCS_PLUGIN_RPATH = $$join(QMAKE_RPATHDIR, ":")
@@ -45,7 +45,7 @@ contains(QT_CONFIG, reduce_exports):CONFIG += hGCS_symbols
 CONFIG += plugin plugin_with_soname
 
 !macx {
-    target.path = /$$GCS_LIBRARY_BASENAME/opnepilotgcs/plugins/$$PROVIDER
+    target.path = /$$GCS_LIBRARY_BASENAME/openpilotgcs/plugins/$$PROVIDER
     pluginspec.files += $${TARGET}.pluginspec
     pluginspec.path = /$$GCS_LIBRARY_BASENAME/openpilotgcs/plugins/$$PROVIDER
     INSTALLS += target pluginspec

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

@@ -79,17 +79,23 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
     unsigned int indexRT = 0;
     foreach(QString name, manualSettingsObj->getField("ChannelNumber")->getElementNames()) {
         Q_ASSERT(index < ManualControlSettings::CHANNELGROUPS_NUMELEM);
-        inputChannelForm *inpForm = new inputChannelForm(this, index == 0);
+        InputChannelForm *inpForm = new InputChannelForm(this, index == 0);
         ui->channelSettings->layout()->addWidget(inpForm); // Add the row to the UI
         inpForm->setName(name);
         addWidgetBinding("ManualControlSettings", "ChannelGroups", inpForm->ui->channelGroup, index);
         addWidgetBinding("ManualControlSettings", "ChannelNumber", inpForm->ui->channelNumber, index);
-        addWidgetBinding("ManualControlSettings", "ChannelMin", inpForm->ui->channelMin, index);
+
+        // The order of the following three binding calls is important. Since the values will be populated
+        // in reverse order of the binding order otherwise the 'Reversed' logic will floor the neutral value
+        // to the max value ( which is smaller than the neutral value when reversed )
         addWidgetBinding("ManualControlSettings", "ChannelNeutral", inpForm->ui->channelNeutral, index);
+        addWidgetBinding("ManualControlSettings", "ChannelNeutral", inpForm->ui->neutralValue, index);
+        addWidgetBinding("ManualControlSettings", "ChannelMin", inpForm->ui->channelMin, index);
         addWidgetBinding("ManualControlSettings", "ChannelMax", inpForm->ui->channelMax, index);
+
         addWidget(inpForm->ui->channelNumberDropdown);
-        addWidget(inpForm->ui->channelRev);
         addWidget(inpForm->ui->channelResponseTime);
+        addWidget(inpForm->ui->channelRev);
 
         // Input filter response time fields supported for some channels only
         switch (index) {

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

@@ -53,7 +53,6 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
     } else {
         qDebug() << "Error: Object is unknown (OPLinkSettings).";
     }
-    autoLoadWidgets();
     Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
     if (!settings->useExpertMode()) {
         m_oplink->Apply->setVisible(false);
@@ -114,7 +113,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 
     // Request and update of the setting object.
     settingsUpdated = false;
-
+    autoLoadWidgets();
     disableMouseWheelEvents();
 }
 

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

@@ -92,6 +92,10 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     addWidget(ui->realTimeUpdates_8);
     connect(ui->realTimeUpdates_12, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
     addWidget(ui->realTimeUpdates_12);
+    connect(ui->realTimeUpdates_7, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
+    addWidget(ui->realTimeUpdates_7);
+    connect(ui->realTimeUpdates_9, SIGNAL(toggled(bool)), this, SLOT(realtimeUpdatesSlot(bool)));
+    addWidget(ui->realTimeUpdates_9);
 
     connect(ui->checkBox_7, SIGNAL(toggled(bool)), this, SLOT(linkCheckBoxes(bool)));
     addWidget(ui->checkBox_7);
@@ -143,6 +147,8 @@ void ConfigStabilizationWidget::realtimeUpdatesSlot(bool value)
     ui->realTimeUpdates_6->setChecked(value);
     ui->realTimeUpdates_8->setChecked(value);
     ui->realTimeUpdates_12->setChecked(value);
+    ui->realTimeUpdates_7->setChecked(value);
+    ui->realTimeUpdates_9->setChecked(value);
 
     if (value && !realtimeUpdates->isActive()) {
         realtimeUpdates->start(AUTOMATIC_UPDATE_RATE);

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

@@ -128,8 +128,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>768</width>
+            <width>766</width>
-            <height>742</height>
+            <height>745</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout">
@@ -151,7 +151,7 @@
            <item row="1" column="0">
             <widget class="QGroupBox" name="groupBox_5">
              <property name="title">
-              <string/>
+              <string>Input Channel Configuration</string>
              </property>
              <layout class="QVBoxLayout" name="verticalLayout_6">
               <property name="leftMargin">
@@ -277,13 +277,6 @@
                     </property>
                    </spacer>
                   </item>
-                  <item>
-                   <widget class="Line" name="line_2">
-                    <property name="orientation">
-                     <enum>Qt::Horizontal</enum>
-                    </property>
-                   </widget>
-                  </item>
                  </layout>
                 </widget>
                 <widget class="QWidget" name="wizard">
@@ -388,6 +381,12 @@
               </item>
               <item>
                <widget class="QPushButton" name="configurationWizard">
+                <property name="minimumSize">
+                 <size>
+                  <width>210</width>
+                  <height>0</height>
+                 </size>
+                </property>
                 <property name="text">
                  <string>Start Configuration Wizard</string>
                 </property>
@@ -559,8 +558,8 @@
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>768</width>
+            <width>766</width>
-            <height>742</height>
+            <height>745</height>
            </rect>
           </property>
           <layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
@@ -2183,8 +2182,8 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>504</width>
+            <width>766</width>
-            <height>156</height>
+            <height>745</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_2">

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

@@ -4,9 +4,9 @@
 #include "manualcontrolsettings.h"
 #include "gcsreceiver.h"
 
-inputChannelForm::inputChannelForm(QWidget *parent, bool showlegend) :
+InputChannelForm::InputChannelForm(QWidget *parent, bool showlegend) :
     ConfigTaskWidget(parent),
-    ui(new Ui::inputChannelForm)
+    ui(new Ui::InputChannelForm)
 {
     ui->setupUi(this);
 
@@ -19,6 +19,7 @@ inputChannelForm::inputChannelForm(QWidget *parent, bool showlegend) :
         layout()->removeWidget(ui->legend4);
         layout()->removeWidget(ui->legend5);
         layout()->removeWidget(ui->legend6);
+        layout()->removeWidget(ui->legend7);
         delete ui->legend0;
         delete ui->legend1;
         delete ui->legend2;
@@ -26,12 +27,14 @@ inputChannelForm::inputChannelForm(QWidget *parent, bool showlegend) :
         delete ui->legend4;
         delete ui->legend5;
         delete ui->legend6;
+        delete ui->legend7;
     }
 
     connect(ui->channelMin, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
     connect(ui->channelMax, SIGNAL(valueChanged(int)), this, SLOT(minMaxUpdated()));
+    connect(ui->neutralValue, SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated()));
     connect(ui->channelGroup, SIGNAL(currentIndexChanged(int)), this, SLOT(groupUpdated()));
-    connect(ui->channelNeutral, SIGNAL(valueChanged(int)), this, SLOT(neutralUpdated(int)));
+    connect(ui->channelRev, SIGNAL(toggled(bool)), this, SLOT(reversedUpdated()));
 
     // This is awkward but since we want the UI to be a dropdown but the field is not an enum
     // it breaks the UAUVObject widget relation of the task gadget.  Running the data through
@@ -43,17 +46,17 @@ inputChannelForm::inputChannelForm(QWidget *parent, bool showlegend) :
 }
 
 
-inputChannelForm::~inputChannelForm()
+InputChannelForm::~InputChannelForm()
 {
     delete ui;
 }
 
-void inputChannelForm::setName(QString &name)
+void InputChannelForm::setName(QString &name)
 {
     ui->channelName->setText(name);
     QFontMetrics metrics(ui->channelName->font());
     int width = metrics.width(name) + 5;
-    foreach(inputChannelForm * form, parent()->findChildren<inputChannelForm *>()) {
+    foreach(InputChannelForm * form, parent()->findChildren<InputChannelForm *>()) {
         if (form == this) {
             continue;
         }
@@ -69,7 +72,7 @@ void inputChannelForm::setName(QString &name)
 /**
  * Update the direction of the slider and boundaries
  */
-void inputChannelForm::minMaxUpdated()
+void InputChannelForm::minMaxUpdated()
 {
     bool reverse = ui->channelMin->value() > ui->channelMax->value();
 
@@ -85,9 +88,43 @@ void inputChannelForm::minMaxUpdated()
     ui->channelNeutral->setInvertedControls(reverse);
 }
 
-void inputChannelForm::neutralUpdated(int newval)
+void InputChannelForm::neutralUpdated()
 {
-    ui->neutral->setText(QString::number(newval));
+    int neutralValue = ui->neutralValue->value();
+    if(ui->channelRev->isChecked()) {
+        if(neutralValue > ui->channelMin->value()) {
+            ui->channelMin->setValue(neutralValue);
+        } else if(neutralValue < ui->channelMax->value()) {
+            ui->channelMax->setValue(neutralValue);
+        }
+    } else {
+        if(neutralValue < ui->channelMin->value()) {
+            ui->channelMin->setValue(neutralValue);
+        } else if(neutralValue > ui->channelMax->value()) {
+            ui->channelMax->setValue(neutralValue);
+        }
+    }
+}
+
+void InputChannelForm::reversedUpdated()
+{
+    int value = ui->channelNeutral->value();
+    int min = ui->channelMin->value();
+    int max = ui->channelMax->value();
+
+    if(ui->channelRev->isChecked()) {
+        if(min < max) {
+            ui->channelMax->setValue(min);
+            ui->channelMin->setValue(max);
+            ui->channelNeutral->setValue(value);
+        }
+    } else {
+        if(min > max) {
+            ui->channelMax->setValue(min);
+            ui->channelMin->setValue(max);
+            ui->channelNeutral->setValue(value);
+        }
+    }
 }
 
 /**
@@ -96,7 +133,7 @@ void inputChannelForm::neutralUpdated(int newval)
  * I fully admit this is terrible practice to embed data within UI
  * like this.  Open to suggestions. JC 2011-09-07
  */
-void inputChannelForm::groupUpdated()
+void InputChannelForm::groupUpdated()
 {
     ui->channelNumberDropdown->clear();
     ui->channelNumberDropdown->addItem("Disabled");
@@ -140,7 +177,7 @@ void inputChannelForm::groupUpdated()
 /**
  * Update the dropdown from the hidden control
  */
-void inputChannelForm::channelDropdownUpdated(int newval)
+void InputChannelForm::channelDropdownUpdated(int newval)
 {
     ui->channelNumber->setValue(newval);
 }
@@ -148,7 +185,7 @@ void inputChannelForm::channelDropdownUpdated(int newval)
 /**
  * Update the hidden control from the dropdown
  */
-void inputChannelForm::channelNumberUpdated(int newval)
+void InputChannelForm::channelNumberUpdated(int newval)
 {
     ui->channelNumberDropdown->setCurrentIndex(newval);
 }

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

@@ -4,26 +4,27 @@
 #include <QWidget>
 #include "configinputwidget.h"
 namespace Ui {
-class inputChannelForm;
+class InputChannelForm;
 }
 
-class inputChannelForm : public ConfigTaskWidget {
+class InputChannelForm : public ConfigTaskWidget {
     Q_OBJECT
 
 public:
-    explicit inputChannelForm(QWidget *parent = 0, bool showlegend = false);
+    explicit InputChannelForm(QWidget *parent = 0, bool showlegend = false);
-    ~inputChannelForm();
+    ~InputChannelForm();
     friend class ConfigInputWidget;
     void setName(QString &name);
 private slots:
     void minMaxUpdated();
-    void neutralUpdated(int);
+    void neutralUpdated();
+    void reversedUpdated();
     void groupUpdated();
     void channelDropdownUpdated(int);
     void channelNumberUpdated(int);
 
 private:
-    Ui::inputChannelForm *ui;
+    Ui::InputChannelForm *ui;
 };
 
 #endif // INPUTCHANNELFORM_H

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

@@ -1,13 +1,13 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <ui version="4.0">
- <class>inputChannelForm</class>
+ <class>InputChannelForm</class>
- <widget class="QWidget" name="inputChannelForm">
+ <widget class="QWidget" name="InputChannelForm">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>828</width>
-    <height>69</height>
+    <height>93</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -26,6 +26,169 @@
    <property name="bottomMargin">
     <number>6</number>
    </property>
+   <item row="0" column="5" colspan="2">
+    <widget class="QLabel" name="legend4">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel neutral</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="text">
+      <string>Neutral</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="8">
+    <widget class="QSpinBox" name="channelMax">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+     <property name="buttonSymbols">
+      <enum>QAbstractSpinBox::UpDownArrows</enum>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="12">
+    <widget class="QLabel" name="legend7">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>30</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Response time</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>RT</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="0" column="10" colspan="2">
+    <widget class="QLabel" name="legend6">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>75</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel values are inverted</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Reversed</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
    <item row="0" column="0">
     <widget class="QLabel" name="legend0">
      <property name="enabled">
@@ -50,6 +213,9 @@
        <bold>true</bold>
       </font>
      </property>
+     <property name="toolTip">
+      <string>Channel function</string>
+     </property>
      <property name="styleSheet">
       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -92,6 +258,9 @@ font:bold;</string>
        <bold>true</bold>
       </font>
      </property>
+     <property name="toolTip">
+      <string>Channel type</string>
+     </property>
      <property name="styleSheet">
       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -134,6 +303,9 @@ font:bold;</string>
        <bold>true</bold>
       </font>
      </property>
+     <property name="toolTip">
+      <string>Channel number</string>
+     </property>
      <property name="styleSheet">
       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -176,6 +348,9 @@ font:bold;</string>
        <bold>true</bold>
       </font>
      </property>
+     <property name="toolTip">
+      <string>Channel min</string>
+     </property>
      <property name="styleSheet">
       <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
 color: rgb(255, 255, 255);
@@ -194,48 +369,6 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="0" column="5">
-    <widget class="QLabel" name="legend4">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="text">
-      <string>Neutral</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="0">
     <widget class="QLabel" name="channelName">
      <property name="sizePolicy">
@@ -255,31 +388,6 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="1">
-    <widget class="QComboBox" name="channelGroup">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
-       <horstretch>6</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="maximumSize">
-      <size>
-       <width>100</width>
-       <height>16777215</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-    </widget>
-   </item>
    <item row="1" column="2">
     <widget class="QComboBox" name="channelNumberDropdown">
      <property name="sizePolicy">
@@ -308,6 +416,31 @@ font:bold;</string>
      </property>
     </widget>
    </item>
+   <item row="1" column="1">
+    <widget class="QComboBox" name="channelGroup">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Maximum" vsizetype="Fixed">
+       <horstretch>6</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="maximumSize">
+      <size>
+       <width>100</width>
+       <height>16777215</height>
+      </size>
+     </property>
+     <property name="focusPolicy">
+      <enum>Qt::StrongFocus</enum>
+     </property>
+    </widget>
+   </item>
    <item row="1" column="3">
     <widget class="QSpinBox" name="channelMin">
      <property name="minimumSize">
@@ -320,7 +453,7 @@ font:bold;</string>
       <enum>Qt::StrongFocus</enum>
      </property>
      <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
+      <enum>QAbstractSpinBox::UpDownArrows</enum>
      </property>
      <property name="maximum">
       <number>9999</number>
@@ -346,6 +479,70 @@ font:bold;</string>
      </property>
     </spacer>
    </item>
+   <item row="0" column="8">
+    <widget class="QLabel" name="legend5">
+     <property name="enabled">
+      <bool>true</bool>
+     </property>
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>20</height>
+      </size>
+     </property>
+     <property name="font">
+      <font>
+       <weight>75</weight>
+       <italic>false</italic>
+       <bold>true</bold>
+      </font>
+     </property>
+     <property name="toolTip">
+      <string>Channel max</string>
+     </property>
+     <property name="styleSheet">
+      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+     </property>
+     <property name="frameShape">
+      <enum>QFrame::StyledPanel</enum>
+     </property>
+     <property name="lineWidth">
+      <number>1</number>
+     </property>
+     <property name="text">
+      <string>Max</string>
+     </property>
+     <property name="alignment">
+      <set>Qt::AlignCenter</set>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="7">
+    <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>10</width>
+       <height>20</height>
+      </size>
+     </property>
+    </spacer>
+   </item>
    <item row="1" column="5">
     <widget class="QSlider" name="channelNeutral">
      <property name="sizePolicy">
@@ -368,112 +565,13 @@ font:bold;</string>
      </property>
     </widget>
    </item>
-   <item row="1" column="6">
+   <item row="1" column="12">
-    <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>10</width>
-       <height>20</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item row="1" column="7">
-    <widget class="QSpinBox" name="channelMax">
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>25</height>
-      </size>
-     </property>
-     <property name="focusPolicy">
-      <enum>Qt::StrongFocus</enum>
-     </property>
-     <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
-     </property>
-     <property name="maximum">
-      <number>9999</number>
-     </property>
-     <property name="value">
-      <number>1000</number>
-     </property>
-    </widget>
-   </item>
-   <item row="0" column="7">
-    <widget class="QLabel" name="legend5">
-     <property name="enabled">
-      <bool>true</bool>
-     </property>
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:1px;
-font:bold;</string>
-     </property>
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="lineWidth">
-      <number>1</number>
-     </property>
-     <property name="text">
-      <string>Max</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="9">
-    <widget class="QCheckBox" name="channelRev">
-     <property name="enabled">
-      <bool>false</bool>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>0</width>
-       <height>20</height>
-      </size>
-     </property>
-     <property name="text">
-      <string>Rev</string>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="10">
     <widget class="QSpinBox" name="channelResponseTime">
      <property name="enabled">
       <bool>true</bool>
      </property>
      <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
@@ -501,67 +599,49 @@ even lead to crash. Use with caution.</string>
       <bool>true</bool>
      </property>
      <property name="buttonSymbols">
-      <enum>QAbstractSpinBox::NoButtons</enum>
+      <enum>QAbstractSpinBox::UpDownArrows</enum>
      </property>
      <property name="maximum">
       <number>999</number>
      </property>
     </widget>
    </item>
-   <item row="0" column="10">
+   <item row="1" column="10" colspan="2">
-    <widget class="QLabel" name="legend6">
+    <widget class="QFrame" name="frame">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
      <property name="minimumSize">
       <size>
-       <width>30</width>
+       <width>75</width>
-       <height>26</height>
-      </size>
-     </property>
-     <property name="font">
-      <font>
-       <weight>75</weight>
-       <italic>false</italic>
-       <bold>true</bold>
-      </font>
-     </property>
-     <property name="styleSheet">
-      <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
-color: rgb(255, 255, 255);
-border-radius: 5;
-margin:5px;
-font:bold;</string>
-     </property>
-     <property name="text">
-      <string>RT</string>
-     </property>
-     <property name="alignment">
-      <set>Qt::AlignCenter</set>
-     </property>
-    </widget>
-   </item>
-   <item row="1" column="8">
-    <widget class="QLabel" name="neutral">
-     <property name="sizePolicy">
-      <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-       <horstretch>0</horstretch>
-       <verstretch>0</verstretch>
-      </sizepolicy>
-     </property>
-     <property name="minimumSize">
-      <size>
-       <width>48</width>
        <height>0</height>
       </size>
      </property>
-     <property name="maximumSize">
+     <property name="frameShape">
+      <enum>QFrame::NoFrame</enum>
+     </property>
+     <property name="frameShadow">
+      <enum>QFrame::Raised</enum>
+     </property>
+     <layout class="QGridLayout" name="gridLayout_2">
+      <property name="leftMargin">
+       <number>0</number>
+      </property>
+      <property name="topMargin">
+       <number>0</number>
+      </property>
+      <property name="rightMargin">
+       <number>0</number>
+      </property>
+      <property name="bottomMargin">
+       <number>0</number>
+      </property>
+      <item row="0" column="0" alignment="Qt::AlignHCenter">
+       <widget class="QCheckBox" name="channelRev">
+        <property name="enabled">
+         <bool>true</bool>
+        </property>
+        <property name="minimumSize">
          <size>
-       <width>45</width>
+          <width>0</width>
-       <height>16777215</height>
+          <height>20</height>
          </size>
         </property>
         <property name="text">
@@ -570,6 +650,25 @@ font:bold;</string>
        </widget>
       </item>
      </layout>
+    </widget>
+   </item>
+   <item row="1" column="6">
+    <widget class="QSpinBox" name="neutralValue">
+     <property name="minimumSize">
+      <size>
+       <width>0</width>
+       <height>25</height>
+      </size>
+     </property>
+     <property name="maximum">
+      <number>9999</number>
+     </property>
+     <property name="value">
+      <number>1000</number>
+     </property>
+    </widget>
+   </item>
+  </layout>
   <widget class="QSpinBox" name="channelNumber">
    <property name="enabled">
     <bool>true</bool>

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

@@ -8614,16 +8614,16 @@ border-radius: 5;</string>
                </property>
                <layout class="QVBoxLayout" name="verticalLayout_11">
                 <property name="leftMargin">
-                 <number>0</number>
+                 <number>9</number>
                 </property>
                 <property name="topMargin">
-                 <number>0</number>
+                 <number>9</number>
                 </property>
                 <property name="rightMargin">
-                 <number>0</number>
+                 <number>9</number>
                 </property>
                 <property name="bottomMargin">
-                 <number>0</number>
+                 <number>9</number>
                 </property>
                 <item>
                  <widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
@@ -18750,8 +18750,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>752</width>
+            <width>796</width>
-            <height>526</height>
+            <height>708</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_9">
@@ -26881,14 +26881,11 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>284</width>
+            <width>796</width>
-            <height>133</height>
+            <height>708</height>
            </rect>
           </property>
-          <layout class="QVBoxLayout" name="verticalLayout_17">
+          <layout class="QVBoxLayout" name="verticalLayout_19">
-           <property name="spacing">
-            <number>0</number>
-           </property>
            <item>
             <widget class="QGroupBox" name="gridGroupBox">
              <property name="title">
@@ -27107,7 +27104,7 @@ border-radius: 5;</string>
              </property>
              <layout class="QGridLayout" name="gridLayout_23">
               <property name="leftMargin">
-               <number>9</number>
+               <number>0</number>
               </property>
               <property name="topMargin">
                <number>9</number>
@@ -27118,20 +27115,47 @@ border-radius: 5;</string>
               <property name="bottomMargin">
                <number>9</number>
               </property>
+              <item row="0" column="1">
+               <widget class="QPushButton" name="pushButton_11">
+                <property name="text">
+                 <string>Default</string>
+                </property>
+                <property name="objrelation" stdset="0">
+                 <stringlist>
+                  <string>objname:StabilizationSettings</string>
+                  <string>button:default</string>
+                  <string>buttongroup:16</string>
+                 </stringlist>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="0">
+               <spacer name="horizontalSpacer_58">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
               <item row="1" column="0" colspan="2">
-               <widget class="QGroupBox" name="gridGroupBox">
+               <widget class="QFrame" name="gridFrame">
                 <layout class="QGridLayout" name="gridLayout_25">
                  <property name="leftMargin">
-                  <number>0</number>
+                  <number>9</number>
                  </property>
                  <property name="topMargin">
                   <number>9</number>
                  </property>
                  <property name="rightMargin">
-                  <number>0</number>
+                  <number>9</number>
                  </property>
                  <property name="bottomMargin">
-                  <number>0</number>
+                  <number>9</number>
                  </property>
                  <item row="1" column="4">
                   <widget class="QDoubleSpinBox" name="doubleSpinBox_6">
@@ -27614,32 +27638,39 @@ border-radius: 5;</string>
                 </layout>
                </widget>
               </item>
-              <item row="0" column="1">
+             </layout>
-               <widget class="QPushButton" name="pushButton_11">
-                <property name="text">
-                 <string>Default</string>
-                </property>
-                <property name="objrelation" stdset="0">
-                 <stringlist>
-                  <string>objname:StabilizationSettings</string>
-                  <string>button:default</string>
-                  <string>buttongroup:16</string>
-                 </stringlist>
-                </property>
             </widget>
            </item>
-              <item row="0" column="0">
+           <item>
-               <spacer name="horizontalSpacer_58">
+            <widget class="QGroupBox" name="groupBox_9">
-                <property name="orientation">
+             <property name="title">
-                 <enum>Qt::Horizontal</enum>
+              <string>Instant Update</string>
              </property>
-                <property name="sizeHint" stdset="0">
+             <layout class="QVBoxLayout" name="verticalLayout_17">
+              <item>
+               <widget class="QCheckBox" name="realTimeUpdates_9">
+                <property name="sizePolicy">
+                 <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                  <horstretch>0</horstretch>
+                  <verstretch>0</verstretch>
+                 </sizepolicy>
+                </property>
+                <property name="minimumSize">
                  <size>
-                  <width>40</width>
+                  <width>136</width>
                   <height>20</height>
                  </size>
                 </property>
-               </spacer>
+                <property name="toolTip">
+                 <string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this feature mean that any changes made to the sliders will be instantly sent and used by the Flight Controller, useful for two person tuning where one normally flies and ones changes the GCS.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+                </property>
+                <property name="styleSheet">
+                 <string notr="true"/>
+                </property>
+                <property name="text">
+                 <string>Update flight controller in real time</string>
+                </property>
+               </widget>
               </item>
              </layout>
             </widget>
@@ -27696,8 +27727,8 @@ border-radius: 5;</string>
            <rect>
             <x>0</x>
             <y>0</y>
-            <width>347</width>
+            <width>796</width>
-            <height>500</height>
+            <height>708</height>
            </rect>
           </property>
           <layout class="QVBoxLayout" name="verticalLayout_18">
@@ -29523,7 +29554,7 @@ border-radius: 5;</string>
                      <string>element:Kp</string>
                      <string>scale:0.01</string>
                      <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
+                     <string>buttongroup:98,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -29570,7 +29601,7 @@ border-radius: 5;</string>
                      <string>element:Kp</string>
                      <string>scale:0.01</string>
                      <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
+                     <string>buttongroup:98,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -29617,7 +29648,7 @@ border-radius: 5;</string>
                      <string>element:Ki</string>
                      <string>scale:0.00001</string>
                      <string>haslimits:yes</string>
-                     <string>buttongroup:98</string>
+                     <string>buttongroup:98,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -30763,7 +30794,7 @@ border-radius: 5;</string>
                      <string>fieldname:ThrottleExp</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:99</string>
+                     <string>buttongroup:99,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -30837,7 +30868,7 @@ border-radius: 5;</string>
                      <string>fieldname:ThrottleRate</string>
                      <string>haslimits:no</string>
                      <string>scale:1</string>
-                     <string>buttongroup:99</string>
+                     <string>buttongroup:99,10</string>
                     </stringlist>
                    </property>
                   </widget>
@@ -31491,7 +31522,7 @@ border-radius: 5;</string>
              <property name="title">
               <string>Instant Update</string>
              </property>
-             <layout class="QVBoxLayout" name="verticalLayout_14">
+             <layout class="QVBoxLayout" name="verticalLayout_14" stretch="0">
               <item>
                <widget class="QCheckBox" name="realTimeUpdates_7">
                 <property name="sizePolicy">

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp

@@ -42,11 +42,11 @@ HighLightManager::HighLightManager(long checkingInterval)
 bool HighLightManager::add(TreeItem *itemToAdd)
 {
     // Lock to ensure thread safety
-    QMutexLocker locker(&m_listMutex);
+    QMutexLocker locker(&m_mutex);
 
     // Check so that the item isn't already in the list
-    if (!m_itemsList.contains(itemToAdd)) {
+    if (!m_items.contains(itemToAdd)) {
-        m_itemsList.append(itemToAdd);
+        m_items.insert(itemToAdd);
         return true;
     }
     return false;
@@ -59,10 +59,10 @@ bool HighLightManager::add(TreeItem *itemToAdd)
 bool HighLightManager::remove(TreeItem *itemToRemove)
 {
     // Lock to ensure thread safety
-    QMutexLocker locker(&m_listMutex);
+    QMutexLocker locker(&m_mutex);
 
     // Remove item and return result
-    return m_itemsList.removeOne(itemToRemove);
+    return m_items.remove(itemToRemove);
 }
 
 /*
@@ -74,10 +74,10 @@ bool HighLightManager::remove(TreeItem *itemToRemove)
 void HighLightManager::checkItemsExpired()
 {
     // Lock to ensure thread safety
-    QMutexLocker locker(&m_listMutex);
+    QMutexLocker locker(&m_mutex);
 
     // Get a mutable iterator for the list
-    QMutableLinkedListIterator<TreeItem *> iter(m_itemsList);
+    QMutableSetIterator<TreeItem *> iter(m_items);
 
     // This is the timestamp to compare with
     QTime now = QTime::currentTime();
@@ -211,7 +211,6 @@ void TreeItem::setHighlight(bool highlight)
 void TreeItem::removeHighlight()
 {
     m_highlight = false;
-    // update();
     emit updateHighlight(this);
 }
 

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h

@@ -78,11 +78,11 @@ private:
     // The timer checking highlight expiration.
     QTimer m_expirationTimer;
 
-    // The list holding all items due to be updated.
+    // The collection holding all items due to be updated.
-    QLinkedList<TreeItem *> m_itemsList;
+    QSet<TreeItem *> m_items;
 
-    // Mutex to lock when accessing list.
+    // Mutex to lock when accessing collection.
-    QMutex m_listMutex;
+    QMutex m_mutex;
 };
 
 class TreeItem : public QObject {
@@ -231,8 +231,8 @@ public:
     QList<MetaObjectTreeItem *> getMetaObjectItems();
 
 private:
-    QMap<quint32, DataObjectTreeItem *> m_objectTreeItemsPerObjectIds;
+    QHash<quint32, DataObjectTreeItem *> m_objectTreeItemsPerObjectIds;
-    QMap<quint32, MetaObjectTreeItem *> m_metaObjectTreeItemsPerObjectIds;
+    QHash<quint32, MetaObjectTreeItem *> m_metaObjectTreeItemsPerObjectIds;
 };
 
 class ObjectTreeItem : public TreeItem {

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjectbrowserwidget.cpp

@@ -122,7 +122,7 @@ void UAVObjectBrowserWidget::useScientificNotation(bool scientific)
     Q_ASSERT(objManager);
 
     UAVObjectTreeModel *tmpModel = m_model;
-    m_model = new UAVObjectTreeModel(0, m_viewoptions->cbCategorized, scientific);
+    m_model = new UAVObjectTreeModel(0, m_viewoptions->cbCategorized->isChecked(), scientific);
     m_model->setRecentlyUpdatedColor(m_recentlyUpdatedColor);
     m_model->setManuallyChangedColor(m_manuallyChangedColor);
     m_model->setRecentlyUpdatedTimeout(m_recentlyUpdatedTimeout);

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp

@@ -33,7 +33,6 @@
 #include "uavobjectfield.h"
 #include "extensionsystem/pluginmanager.h"
 #include <QColor>
-// #include <QIcon>
 #include <QtCore/QTimer>
 #include <QtCore/QSignalMapper>
 #include <QtCore/QDebug>
@@ -41,6 +40,7 @@
 UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent, bool categorize, bool useScientificNotation) :
     QAbstractItemModel(parent),
     m_useScientificFloatNotation(useScientificNotation),
+    m_categorize(categorize),
     m_recentlyUpdatedTimeout(500), // ms
     m_recentlyUpdatedColor(QColor(255, 230, 230)),
     m_manuallyChangedColor(QColor(230, 230, 255))
@@ -54,7 +54,7 @@ UAVObjectTreeModel::UAVObjectTreeModel(QObject *parent, bool categorize, bool us
     connect(objManager, SIGNAL(newInstance(UAVObject *)), this, SLOT(newObject(UAVObject *)));
 
     TreeItem::setHighlightTime(m_recentlyUpdatedTimeout);
-    setupModelData(objManager, categorize);
+    setupModelData(objManager);
 }
 
 UAVObjectTreeModel::~UAVObjectTreeModel()
@@ -63,7 +63,7 @@ UAVObjectTreeModel::~UAVObjectTreeModel()
     delete m_rootItem;
 }
 
-void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager, bool categorize)
+void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager)
 {
     // root
     QList<QVariant> rootData;
@@ -83,7 +83,7 @@ void UAVObjectTreeModel::setupModelData(UAVObjectManager *objManager, bool categ
     QList< QList<UAVDataObject *> > objList = objManager->getDataObjects();
     foreach(QList<UAVDataObject *> list, objList) {
         foreach(UAVDataObject * obj, list) {
-            addDataObject(obj, categorize);
+            addDataObject(obj);
         }
     }
 }
@@ -97,13 +97,13 @@ void UAVObjectTreeModel::newObject(UAVObject *obj)
     }
 }
 
-void UAVObjectTreeModel::addDataObject(UAVDataObject *obj, bool categorize)
+void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
 {
     TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
 
     TreeItem *parent  = root;
 
-    if (categorize && obj->getCategory() != 0 && !obj->getCategory().isEmpty()) {
+    if (m_categorize && obj->getCategory() != 0 && !obj->getCategory().isEmpty()) {
         QStringList categoryPath = obj->getCategory().split('/');
         parent = createCategoryItems(categoryPath, root);
     }

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.h

@@ -92,9 +92,9 @@ private slots:
     void updateHighlight(TreeItem *);
 
 private:
-    void setupModelData(UAVObjectManager *objManager, bool categorize = true);
+    void setupModelData(UAVObjectManager *objManager);
     QModelIndex index(TreeItem *item);
-    void addDataObject(UAVDataObject *obj, bool categorize = true);
+    void addDataObject(UAVDataObject *obj);
     MetaObjectTreeItem *addMetaObject(UAVMetaObject *obj, TreeItem *parent);
     void addArrayField(UAVObjectField *field, TreeItem *parent);
     void addSingleField(int index, UAVObjectField *field, TreeItem *parent);
@@ -115,6 +115,7 @@ private:
     QColor m_manuallyChangedColor;
     bool m_onlyHilightChangedValues;
     bool m_useScientificFloatNotation;
+    bool m_categorize;
 
     // Highlight manager to handle highlighting of tree items.
     HighLightManager *m_highlightManager;

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

@@ -467,6 +467,8 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         struc.fwHash   = desc.mid(40, 20);
         struc.uavoHash.clear();
         struc.uavoHash = desc.mid(60, 20);
+
+        /*
         qDebug() << __FUNCTION__ << ":description from board:";
         foreach(char x, desc) {
             qDebug() << QString::number(x, 16);
@@ -477,6 +479,7 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
         foreach(char x, array2) {
             qDebug() << QString::number(x, 16);
         }
+        */
         return true;
     }
     return false;

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

@@ -362,7 +362,7 @@ void ConfigTaskWidget::enableControls(bool enable)
         button->setEnabled(enable);
     }
 
-    foreach(WidgetBinding * binding, m_widgetBindingsPerObject) {
+    foreach(WidgetBinding * binding, m_widgetBindingsPerWidget) {
         if (binding->isEnabled() && binding->widget()) {
             binding->widget()->setEnabled(enable);
             foreach(ShadowWidgetBinding * shadow, binding->shadows()) {
@@ -746,7 +746,7 @@ void ConfigTaskWidget::reloadButtonClicked()
     }
     int groupID = sender()->property("group").toInt();
     QList<WidgetBinding *> bindings = m_reloadGroups.values(groupID);
-    if (!bindings.isEmpty()) {
+    if (bindings.isEmpty()) {
         return;
     }
     ObjectPersistence *objper = dynamic_cast<ObjectPersistence *>(getObjectManager()->getObject(ObjectPersistence::NAME));
@@ -811,6 +811,8 @@ void ConfigTaskWidget::connectWidgetUpdatesToSlot(QWidget *widget, const char *f
         connect(cb, SIGNAL(valueChanged(int)), this, function, Qt::UniqueConnection);
     } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
         connect(cb, SIGNAL(valueChanged(double)), this, function, Qt::UniqueConnection);
+    } else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
+        connect(cb, SIGNAL(textChanged(QString)), this, function, Qt::UniqueConnection);
     } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
         connect(cb, SIGNAL(stateChanged(int)), this, function, Qt::UniqueConnection);
     } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {
@@ -837,6 +839,8 @@ void ConfigTaskWidget::disconnectWidgetUpdatesToSlot(QWidget *widget, const char
         disconnect(cb, SIGNAL(valueChanged(int)), this, function);
     } else if (QDoubleSpinBox * cb = qobject_cast<QDoubleSpinBox *>(widget)) {
         disconnect(cb, SIGNAL(valueChanged(double)), this, function);
+    }else if (QLineEdit * cb = qobject_cast<QLineEdit *>(widget)) {
+        disconnect(cb, SIGNAL(textChanged(double)), this, function);
     } else if (QCheckBox * cb = qobject_cast<QCheckBox *>(widget)) {
         disconnect(cb, SIGNAL(stateChanged(int)), this, function);
     } else if (QPushButton * cb = qobject_cast<QPushButton *>(widget)) {

ground/openpilotgcs/src/rpath.pri

@@ -3,7 +3,8 @@ macx {
 } else:linux-* {
     #do the rpath by hand since it's not possible to use ORIGIN in QMAKE_RPATHDIR
     # this expands to $ORIGIN (after qmake and make), it does NOT read a qmake var
-    QMAKE_RPATHDIR += \$\$ORIGIN/../$$GCS_LIBRARY_BASENAME/openpilotgcs
+    QMAKE_RPATHDIR = \$\$ORIGIN/../$$GCS_LIBRARY_BASENAME/openpilotgcs
+    QMAKE_RPATHDIR += \$\$ORIGIN/../$$GCS_LIBRARY_BASENAME/qt5
     GCS_PLUGIN_RPATH = $$join(QMAKE_RPATHDIR, ":")
  
     QMAKE_LFLAGS += -Wl,-z,origin \'-Wl,-rpath,$${GCS_PLUGIN_RPATH}\'

make/scripts/uncrustify.sh

@@ -45,6 +45,7 @@ recursive()
         case "$1" in
             *.c|*.h|*.cc|*.cpp|*.hpp)
                 ${UNCRUSTIFY} -c "${UNCRUSTIFY_CONFIG}" --no-backup "$1"
+                ${UNCRUSTIFY} -c "${UNCRUSTIFY_CONFIG}" --no-backup "$1" -q
                 ;;
         esac
     fi

make/tools.mk

@@ -564,12 +564,16 @@ ifeq ($(UNAME), Windows)
 $(eval $(call TOOL_INSTALL_TEMPLATE,openssl,$(OPENSSL_DIR),$(OPENSSL_URL),$(notdir $(OPENSSL_URL))))
 
 ifeq ($(shell [ -d "$(OPENSSL_DIR)" ] && $(ECHO) "exists"), exists)
-    export OPENSSL := $(OPENSSL_DIR)
+    export OPENSSL := "$(OPENSSL_DIR)/bin/openssl"    
+    export OPENSSL_DIR := "$(OPENSSL_DIR)"
 else
     # not installed, hope it's in the path...
     # $(info $(EMPTY) WARNING     $(call toprel, $(OPENSSL_DIR)) not found (make openssl_install), using system PATH)
 endif
 
+.PHONY: openssl_version
+openssl_version:
+	-$(V1) $(ECHO) "OpenSSL `$(OPENSSL) version`"
 endif
 
 ##############################
@@ -947,6 +951,19 @@ android_sdk_update:
 	$(V0) @echo " UPDATE       $(ANDROID_SDK_DIR)"
 	$(ANDROID_SDK_DIR)/tools/android update sdk --no-ui -t platform-tools,android-16,addon-google_apis-google-16
 
+		#Install git hooks under the right folder
+
+.PHONY: prepare
+prepare:
+	$(V0) @echo " Configuring GIT commit template"
+	$(V1) $(CD) "$(ROOT_DIR)"
+	$(V1) $(GIT) config commit.template .commit-template
+
+.PHONY: prepare_clean
+prepare_clean:
+	$(V0) @echo " Cleanup GIT commit template configuration"
+	$(V1) $(CD) "$(ROOT_DIR)"
+	$(V1) $(GIT) config --unset commit.template 
 
 ##############################
 #

package/linux/deb_common/openpilot.substvars

@@ -1,2 +1,2 @@
-shlibs:Depends=libc6 (>= 2.3.6-6~), libc6 (>= 2.4), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglu1-mesa | libglu1, libphonon4 (>= 4:4.3.0), libqt4-network (>= 4:4.6.1), libqt4-opengl (>= 4:4.6.1), libqt4-script (>= 4:4.5.3), libqt4-sql (>= 4:4.5.3), libqt4-svg (>= 4:4.5.3), libqt4-test (>= 4:4.5.3), libqt4-xml (>= 4:4.5.3), libqtcore4 (>= 4:4.7.0~beta1), libqtgui4 (>= 4:4.6.2), libsdl1.2debian (>= 1.2.10-1), libstdc++6 (>= 4.1.1), libudev0 (>= 147), libusb-0.1-4 (>= 2:0.1.12), phonon
+shlibs:Depends=libc6, libgcc1, libgl1-mesa-glx | libgl1, libglu1-mesa | libglu1, libsdl1.2debian, libstdc++6, libudev0 | libudev1, libusb-1.0-0
 misc:Depends=

package/linux/deb_common/rules

@@ -37,6 +37,7 @@ install:
 	cp -arp build/openpilotgcs_release/lib   debian/openpilot/usr/local/OpenPilot
 	cp -arp build/openpilotgcs_release/share debian/openpilot/usr/local/OpenPilot
 	cp -arp build/openpilotgcs_release/.obj  debian/openpilot/usr/local/OpenPilot
+	cp -arp package/linux/qt.conf debian/openpilot/usr/local/OpenPilot/bin
 	cp -arp package/linux/openpilot.desktop debian/openpilot/usr/share/applications
 	cp -arp package/linux/openpilot.png     debian/openpilot/usr/share/pixmaps
 	cp -arp package/linux/openpilot_menu.png  debian/openpilot/usr/share/pixmaps
@@ -54,7 +55,8 @@ endif
 	rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/mapicons/mapicons
 	rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/dials/dials
 	rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/diagrams/diagrams
-
+# Removing leaked files from the dist
+	find debian/openpilot -name Makefile -exec rm -f {} \;
 
 # Build architecture-independent files here.
 binary-indep: install
@@ -73,10 +75,10 @@ binary-arch: install
 	dh_compress
 	dh_fixperms
 	dh_installdeb
-	dh_shlibdeps -l/usr/local/OpenPilot/lib/openpilotgcs --dpkg-shlibdeps-params="--ignore-missing-info -v"
+	dh_shlibdeps -l/usr/local/OpenPilot/lib/openpilotgcs:/usr/local/OpenPilot/lib/qt5 --dpkg-shlibdeps-params="--ignore-missing-info -v"
 	dh_gencontrol
 	dh_md5sums
-	dh_builddeb
+	dh_builddeb -- -Zbzip2
 
 binary: binary-indep binary-arch
 

package/linux/qt.conf

@@ -0,0 +1,6 @@
+[Paths]
+Prefix = ..
+Plugins = lib/qt5/plugins
+Imports = lib/qt5/qml
+Qml2Imports = lib/qt5/qml
+Libraries = lib/qt5

package/osx/libraries

@@ -3,7 +3,7 @@
 APP="${1?}"
 PLUGINS="${APP}/Contents/Plugins"
 OP_PLUGINS="${APP}/Contents/Plugins/OpenPilot"
-QT_LIBS="QtDeclarative QtXmlPatterns QtGui QtTest QtCore QtSvg QtSql QtOpenGL QtNetwork QtXml QtScript"
+QT_LIBS="QtCore QtGui QtMultimedia QtMultimediaWidgets QtNetwork QtOpenGL QtPrintSupport QtQml QtQuick QtScript QtSerialPort QtSql QtSvg QtWidgets QtV8 QtXml"
 QT_DIR=$(otool -L "${APP}/Contents/MacOS/OpenPilot GCS" | sed -n -e 's/\/QtCore\.framework.*//p' | sed -n -E 's:^.::p')
 QT_EXTRA="accessible/libqtaccessiblewidgets.dylib bearer/libqgenericbearer.dylib imageformats/libqgif.dylib imageformats/libqico.dylib imageformats/libqjpeg.dylib imageformats/libqmng.dylib imageformats/libqtiff.dylib imageformats/libqsvg.dylib qmltooling/libqmldbg_tcp.dylib sqldrivers/libqsqlodbc.dylib sqldrivers/libqsqlpsql.dylib sqldrivers/libqsqlite.dylib imageformats/libqtga.dylib iconengines/libqsvgicon.dylib"
 
@@ -23,25 +23,36 @@ fi
 
 echo "Qt library directory is \"${QT_DIR}\""
 
-echo "Running macdeployqt"
+echo "Running macdeployqt from ${QT_DIR}../bin/macdeployqt"
-macdeployqt "${APP}" -no-strip 
 
-echo "Processing Qt libraries in ${APP}"
+"${QT_DIR}../bin/macdeployqt" "${APP}" -no-strip -verbose=2
-for f in "${PLUGINS}/"*.dylib "${OP_PLUGINS}/"*.dylib
+
+#Append Qml2Imports config to qt.conf
+echo "Qml2Imports = Imports" >> "${APP}/"Contents/Resources/qt.conf
+
+echo "Processing Qt libraries paths in ${APP}"
+for f in "${PLUGINS}/"*.dylib "${OP_PLUGINS}/"*.dylib "${APP}/"Contents/Imports/QtQuick.2/*.dylib "${APP}/"Contents/Imports/QtQuick/*/*.dylib
 do
+    if [ -f "${f}" ] && [ ! -L "${f}" ]
+    then
         # Only process plain files
-    [ ! -L "${f}" ] && for g in $QT_LIBS
+        chmod +w "${f}"
+        echo "* ${f}"
+        for g in $QT_LIBS
         do
             install_name_tool -change \
                 "${QT_DIR}${g}.framework/Versions/5/${g}" \
                 @executable_path/../Frameworks/${g}.framework/Versions/5/${g} \
                 "${f}"
         done
+        chmod -w "${f}"
+    fi
 done
 
 echo "Copying SDL"
 cp -a "/Library/Frameworks/SDL.framework" "${APP}/Contents/Frameworks/"
-
+chmod +w "${APP}/Contents/Plugins/libsdlgamepad.1.dylib"
+chmod +w "${APP}/Contents/Frameworks/SDL.framework/SDL"
 echo "Changing package identification of SDL"
 install_name_tool -id \
     @executable_path/../Frameworks/SDL.framework/SDL \
@@ -50,6 +61,8 @@ install_name_tool -change \
     @rpath/SDL.framework/Versions/A/SDL \
     "@executable_path/../Frameworks/SDL.framework/SDL" \
     "${APP}/Contents/Plugins/libsdlgamepad.1.dylib"
+chmod -w "${APP}/Contents/Plugins/libsdlgamepad.1.dylib"
+chmod -w "${APP}/Contents/Frameworks/SDL.framework/SDL"
 
 # deleting unnecessary files
 echo "Deleting unnecessary files"

package/osx/package

@@ -14,8 +14,9 @@ rm -f "${TEMP_FILE}"
 rm -f "${OUT_FILE}"
 
 # if an OpenPilot volume is already mounted, unmount it
-if [ ! -f "/Volumes/${VOL_NAME}" ]
+if [ -f "/Volumes/${VOL_NAME}" ]
 then
+echo "Unmount existing /Volumes/${VOL_NAME}"
 hdiutil unmount "/Volumes/${VOL_NAME}"
 fi
 
@@ -24,18 +25,30 @@ hdiutil convert "${ROOT_DIR}/package/osx/OpenPilot.dmg" \
 device=$(hdiutil attach "${TEMP_FILE}" | \
     egrep '^/dev/' | sed 1q | awk '{print $1}')
 
+#Just in case something is still mounted as ${VOL_NAME}, check the correct mount point
+mountvolume=$(hdiutil info | egrep "^${device}"| egrep "${VOL_NAME}" | sed 's/.*Volumes\///;s/*//' | sed 1q)
+
+echo "Image mounted as /Volumes/${mountvolume}"
+
+if [ ! -d "/Volumes/${mountvolume}/OpenPilot GCS.app" ]
+then
+    echo "Cannot find a valid image at /Volumes/${mountvolume}"
+    exit 1
+fi
+
 # packaging goes here
-cp -a "${APP_PATH}" "/Volumes/${VOL_NAME}"
+cp -a "${APP_PATH}" "/Volumes/${mountvolume}"
+
 #ls "${FW_DIR}" | xargs -n 1 -I {} cp "${FW_DIR}/{}" "/Volumes/${VOL_NAME}/Firmware"
-cp "${BUILD_DIR}/uavobject-synthetics/matlab/OPLogConvert.m" "/Volumes/${VOL_NAME}/Utilities"
+cp "${BUILD_DIR}/uavobject-synthetics/matlab/OPLogConvert.m" "/Volumes/${mountvolume}/Utilities"
-cp "${ROOT_DIR}/WHATSNEW.txt" "/Volumes/${VOL_NAME}"
+cp "${ROOT_DIR}/WHATSNEW.txt" "/Volumes/${mountvolume}"
-cp "${ROOT_DIR}/README.txt" "/Volumes/${VOL_NAME}/Docs"
+cp "${ROOT_DIR}/README.txt" "/Volumes/${mountvolume}/Docs"
-cp "${ROOT_DIR}/MILESTONES.txt" "/Volumes/${VOL_NAME}/Docs"
+cp "${ROOT_DIR}/MILESTONES.txt" "/Volumes/${mountvolume}/Docs"
-cp "${ROOT_DIR}/LICENSE.txt" "/Volumes/${VOL_NAME}/Docs"
+cp "${ROOT_DIR}/LICENSE.txt" "/Volumes/${mountvolume}/Docs"
-cp "${ROOT_DIR}/GPLv3.txt" "/Volumes/${VOL_NAME}/Docs"
+cp "${ROOT_DIR}/GPLv3.txt" "/Volumes/${mountvolume}/Docs"
 
 "${ROOT_DIR}/package/osx/libraries" \
-    "/Volumes/${VOL_NAME}/OpenPilot GCS.app" || exit 1
+    "/Volumes/${mountvolume}/OpenPilot GCS.app" || exit 1
 
 hdiutil detach ${device}
 

shared/uavobjectdefinition/manualcontrolcommand.xml

@@ -8,7 +8,7 @@
         <field name="Yaw" units="%" type="float" elements="1"/>
         <field name="Collective" units="%" type="float" elements="1"/>
 	<field name="Channel" units="us" type="uint16" elements="9"/>
-	<field name="FlightModeSwitchPosition" units="" type="uint8" elements="1"/>
+	<field name="FlightModeSwitchPosition" units="" type="uint8" elements="1" defaultvalue="0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="2000"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -44,31 +44,31 @@
                type="enum"
                elements="6"
                options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
-               defaultvalue="Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold,Manual"
+               defaultvalue="Stabilized1,Stabilized2,Stabilized3,AltitudeHold,AltitudeVario,Manual"
                limits="\
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
                        \
                        %0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
-                       %0903NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
+                       %0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>

shared/uavobjectdefinition/systemstats.xml

@@ -4,6 +4,7 @@
         <field name="FlightTime" units="ms" type="uint32" elements="1"/>
         <field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
         <field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
+        <field name="SystemModStackRemaining" units="bytes" type="uint16" elements="1"/>
         <field name="CPULoad" units="%" type="uint8" elements="1"/>
         <field name="CPUTemp" units="C" type="int8" elements="1"/>
         <field name="EventSystemWarningID" units="uavoid" type="uint32" elements="1"/>