Merge branch 'next' into Mathieu/OP-958_HID_plugin_basic_cleanup

Makefile

@@ -440,7 +440,7 @@ sim_osx_%: uavobjects_flight
 all_ground: openpilotgcs
 
 # Convenience target for the GCS
-.PHONY: gcs gcs_clean gcs_all_clean
+.PHONY: gcs gcs_clean
 gcs: openpilotgcs
 gcs_clean: openpilotgcs_clean
 
@@ -563,7 +563,7 @@ $$(UAVO_COLLECTION_DIR)/$(1)/uavohash: $$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml
         # The sed bit truncates the UAVO hash to 16 hex digits
 	$$(V1) $$(VERSION_INFO) \
 			--uavodir=$$(UAVO_COLLECTION_DIR)/$(1)/uavo-xml/shared/uavobjectdefinition \
-			--format='$$$${UAVOSHA1TXT}' | \
+			--format='$$$${UAVO_HASH}' | \
 		$(SED) -e 's|\(................\).*|\1|' > $$@
 
 	$$(V0) @$(ECHO) " UAVOHASH  $(1) ->" $$$$(cat $$(UAVO_COLLECTION_DIR)/$(1)/uavohash)
@@ -764,7 +764,7 @@ package: all_fw all_ground uavobjects_matlab
 	$(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
 	$(V1) $(MKDIR) -p "$(PACKAGE_DIR)/firmware"
 	$(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.opfw,.opfw))
-	$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,))
+	$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,.elf))
 	$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
 
 ##############################
@@ -946,7 +946,6 @@ help:
 	@$(ECHO) "     gcs                  - Build the Ground Control System (GCS) application (debug|release)"
 	@$(ECHO) "     gcs_clean            - Remove the Ground Control System (GCS) application (debug|release)"
 	@$(ECHO) "                            Supported build configurations: GCS_BUILD_CONF=debug|release (default is $(GCS_BUILD_CONF))"
-	@$(ECHO) "     gcs_all_clean        - Remove the Ground Control System (GCS) application (all build confgurations)"
 	@$(ECHO)
 	@$(ECHO) "   [AndroidGCS]"
 	@$(ECHO) "     androidgcs           - Build the Android Ground Control System (GCS) application"

flight/modules/Attitude/revolution/attitude.c

@@ -1185,7 +1185,7 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
         AttitudeSettingsGet(&attitudeSettings);
 
         // Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
-        const float fakeDt = 0.0025f;
+        const float fakeDt = 0.0015f;
         if (attitudeSettings.AccelTau < 0.0001f) {
             accel_alpha = 0; // not trusting this to resolve to 0
             accel_filter_enabled = false;

flight/templates/firmware_info.c.template

@@ -30,7 +30,6 @@
 /**
  * We have 100 bytes for the whole description.
  *
- *
  * Structure is:
  *   4 bytes: header: "OpFw".
  *   4 bytes: GIT commit tag (short version of SHA1).
@@ -66,6 +65,6 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
     .board_type         = ${BOARD_TYPE},
     .board_revision     = ${BOARD_REVISION},
     .commit_tag_name    = "${FWTAG}",
-    .sha1sum            = { ${SHA1} },
+    .sha1sum            = { ${IMAGE_HASH_ARRAY} },
-    .uavosha1           = { ${UAVOSHA1} },
+    .uavosha1           = { ${UAVO_HASH_ARRAY} },
 };

ground/openpilotgcs/src/libs/version_info/version_info.cpp.template

@@ -27,22 +27,102 @@ VersionInfo::VersionInfo()
 {
 }
 
+QString VersionInfo::origin()
+{
+    return "${ORIGIN}";
+}
+
 QString VersionInfo::revision()
 {
     return "${REVISION}";
 }
 
+QString VersionInfo::hash()
+{
+    return "${HASH}";
+}
+
+QString VersionInfo::uavoHash()
+{
+    return "${UAVO_HASH}";
+}
+
+QString VersionInfo::uavoHashArray()
+{
+    return "{ ${UAVO_HASH_ARRAY} }";
+}
+
+QString VersionInfo::label()
+{
+    return "${LABEL}";
+}
+
+QString VersionInfo::tag()
+{
+    return "${TAG}";
+}
+
+QString VersionInfo::tagOrBranch()
+{
+    return "${TAG_OR_BRANCH}";
+}
+
+QString VersionInfo::tagOrHash8()
+{
+    return "${TAG_OR_HASH8}";
+}
+
+QString VersionInfo::hash8()
+{
+    return "${HASH8}";
+}
+
+QString VersionInfo::fwTag()
+{
+    return "${FWTAG}";
+}
+
+QString VersionInfo::unixTime()
+{
+    return "${UNIXTIME}";
+}
+
+QString VersionInfo::dateTime()
+{
+    return "${DATETIME}";
+}
+
+QString VersionInfo::date()
+{
+    return "${DATE}";
+}
+
+QString VersionInfo::day()
+{
+    return "${DAY}";
+}
+
+QString VersionInfo::month()
+{
+    return "${MONTH}";
+}
+
 QString VersionInfo::year()
 {
     return "${YEAR}";
 }
 
-QString VersionInfo::origin()
+QString VersionInfo::hour()
 {
-    return "${ORIGIN}";
+    return "${HOUR}";
 }
 
-QString VersionInfo::uavoHash()
+QString VersionInfo::minute()
 {
-    return "{ ${UAVOSHA1} }";
+    return "${MINUTE}";
+}
+
+QString VersionInfo::dirty()
+{
+    return "${DIRTY}";
 }

ground/openpilotgcs/src/libs/version_info/version_info.h

@@ -27,12 +27,40 @@
 
 #include <QString>
 
+/**
+ * @class VersionInfo
+ * @brief Library class to provide version info information extracted from a git repository.
+ *
+ * Class static members return read-only strings extracted from a git repository at compile time.
+ * The content is generated by the version-info.py utility using template.
+ *
+ * @note If repository or git utility is unavailable, strings can be empty or be "None".
+ *       So do not assume they have some particular format when used, use them as strings only.
+ *
+ * More info: http://wiki.openpilot.org/display/Doc/Building+and+Packaging+Overview
+ */
 class VersionInfo {
 public:
-    static QString revision();
-    static QString year();
     static QString origin();
+    static QString revision();
+    static QString hash();
     static QString uavoHash();
+    static QString uavoHashArray();
+    static QString label();
+    static QString tag();
+    static QString tagOrBranch();
+    static QString tagOrHash8();
+    static QString hash8();
+    static QString fwTag();
+    static QString unixTime();
+    static QString dateTime();
+    static QString date();
+    static QString day();
+    static QString month();
+    static QString year();
+    static QString hour();
+    static QString minute();
+    static QString dirty();
 private:
     VersionInfo();
 };

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

@@ -234,15 +234,15 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
     UAVObjectField *descField = object->getField("Description");
     if (descField) {
         /*
-         * This looks like a binary with a description at the end
+         * This looks like a binary with a description at the end:
-         *  4 bytes: header: "OpFw"
+         *   4 bytes: header: "OpFw".
-         *  4 bytes: git commit hash (short version of SHA1)
+         *   4 bytes: GIT commit tag (short version of SHA1).
-         *  4 bytes: Unix timestamp of last git commit
+         *   4 bytes: Unix timestamp of compile time.
-         *  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
+         *   2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
-         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
+         *  26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
-         *   ---- 40 bytes limit ---
          *  20 bytes: SHA1 sum of the firmware.
-         *  40 bytes: free for now.
+         *  20 bytes: SHA1 sum of the uavo definitions.
+         *  20 bytes: free for now.
          */
         char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
         for (unsigned int i = 0; i < 26; ++i) {

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

@@ -75,31 +75,10 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
     // : This gets conditionally inserted as argument %8 into the description string.
     ideRev = tr("From revision %1<br/>").arg(VersionInfo::revision().left(10));
 
-    QString uavoHashStr;
-    if (VersionInfo::uavoHash().length() > 15) {
-        // : This gets conditionally inserted as argument %11 into the description string.
-        QByteArray uavoHashArray;
-        QString uavoHash = VersionInfo::uavoHash();
-        uavoHash.chop(2);
-        uavoHash.remove(0, 2);
-        uavoHash = uavoHash.trimmed();
-        bool ok;
-        foreach(QString str, uavoHash.split(",")) {
-            uavoHashArray.append(str.toInt(&ok, 16));
-        }
-        QString gcsUavoHashStr;
-        foreach(char i, uavoHashArray) {
-            gcsUavoHashStr.append(QString::number(i, 16).right(2));
-        }
-        uavoHashStr = gcsUavoHashStr;
-    } else {
-        uavoHashStr = "N/A";
-    }
-
     const QString description = tr(
         "<h3>OpenPilot Ground Control Station</h3>"
         "GCS Revision: <b>%1</b><br/>"
-        "UAVO Hash: %2<br/>"
+        "UAVO Hash: <b>%2</b><br/>"
         "<br/>"
         "Built from %3<br/>"
         "Built on %4 at %5<br/>"
@@ -117,7 +96,7 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
         "PARTICULAR PURPOSE.</small>"
         ).arg(
         VersionInfo::revision().left(60), // %1
-        uavoHashStr, // %2
+        VersionInfo::uavoHash().left(8), // %2
         VersionInfo::origin(), // $3
         QLatin1String(__DATE__), // %4
         QLatin1String(__TIME__), // %5

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

@@ -59,31 +59,10 @@ VersionDialog::VersionDialog(QWidget *parent)
     QGridLayout *layout = new QGridLayout(this);
     layout->setSizeConstraint(QLayout::SetFixedSize);
 
-    QString uavoHashStr;
-    if (VersionInfo::uavoHash().length() > 15) {
-        // : This gets conditionally inserted as argument %11 into the description string.
-        QByteArray uavoHashArray;
-        QString uavoHash = VersionInfo::uavoHash();
-        uavoHash.chop(2);
-        uavoHash.remove(0, 2);
-        uavoHash = uavoHash.trimmed();
-        bool ok;
-        foreach(QString str, uavoHash.split(",")) {
-            uavoHashArray.append(str.toInt(&ok, 16));
-        }
-        QString gcsUavoHashStr;
-        foreach(char i, uavoHashArray) {
-            gcsUavoHashStr.append(QString::number(i, 16).right(2));
-        }
-        uavoHashStr = gcsUavoHashStr;
-    } else {
-        uavoHashStr = "N/A";
-    }
-
     const QString description = tr(
         "<h3>OpenPilot Ground Control Station</h3>"
         "GCS Revision: <b>%1</b><br/>"
-        "UAVO Hash: %2<br/>"
+        "UAVO Hash: <b>%2</b><br/>"
         "<br/>"
         "Built from %3<br/>"
         "Built on %4 at %5<br/>"
@@ -101,7 +80,7 @@ VersionDialog::VersionDialog(QWidget *parent)
         "PARTICULAR PURPOSE.</small>"
         ).arg(
         VersionInfo::revision().left(60), // %1
-        uavoHashStr, // %2
+        VersionInfo::uavoHash().left(8), // %2
         VersionInfo::origin(), // $3
         QLatin1String(__DATE__), // %4
         QLatin1String(__TIME__), // %5

ground/openpilotgcs/src/plugins/hitl/hitlwidget.ui

@@ -187,6 +187,12 @@ color: rgba(0, 0, 0, 128);
         </property>
         <item>
          <widget class="QPushButton" name="startButton">
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="toolTip">
            <string>Request update</string>
           </property>
@@ -208,7 +214,7 @@ color: rgba(0, 0, 0, 128);
           </property>
           <property name="sizeHint" stdset="0">
            <size>
-            <width>10</width>
+            <width>5</width>
             <height>20</height>
            </size>
           </property>
@@ -219,6 +225,12 @@ color: rgba(0, 0, 0, 128);
           <property name="enabled">
            <bool>false</bool>
           </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
           <property name="toolTip">
            <string>Send update</string>
           </property>
@@ -347,22 +359,6 @@ color: rgba(0, 0, 0, 128);
           </property>
          </widget>
         </item>
-        <item>
-         <spacer name="horizontalSpacer_2">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeType">
-           <enum>QSizePolicy::Preferred</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>10</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
         <item>
          <spacer name="horizontalSpacer_6">
           <property name="orientation">
@@ -390,7 +386,7 @@ color: rgba(0, 0, 0, 128);
          </widget>
         </item>
         <item>
-         <spacer name="horizontalSpacer_8">
+         <spacer name="horizontalSpacer_3">
           <property name="orientation">
            <enum>Qt::Horizontal</enum>
           </property>
@@ -399,27 +395,44 @@ color: rgba(0, 0, 0, 128);
           </property>
           <property name="sizeHint" stdset="0">
            <size>
-            <width>5</width>
+            <width>10</width>
             <height>20</height>
            </size>
           </property>
          </spacer>
         </item>
-        <item>
+        <item alignment="Qt::AlignRight">
-         <spacer name="horizontalSpacer_3">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
          <widget class="QPushButton" name="buttonClearLog">
+          <property name="enabled">
+           <bool>true</bool>
+          </property>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
+          </property>
+          <property name="minimumSize">
+           <size>
+            <width>140</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="sizeIncrement">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="baseSize">
+           <size>
+            <width>0</width>
+            <height>0</height>
+           </size>
+          </property>
+          <property name="autoFillBackground">
+           <bool>false</bool>
+          </property>
           <property name="text">
            <string>Clear Log</string>
           </property>
@@ -466,6 +479,12 @@ color: rgba(0, 0, 0, 128);
    </item>
   </layout>
  </widget>
+ <tabstops>
+  <tabstop>startButton</tabstop>
+  <tabstop>stopButton</tabstop>
+  <tabstop>buttonClearLog</tabstop>
+  <tabstop>textBrowser</tabstop>
+ </tabstops>
  <resources/>
  <connections/>
 </ui>

ground/openpilotgcs/src/plugins/opmap/opmapgadgetwidget.cpp

@@ -2170,21 +2170,30 @@ bool OPMapGadgetWidget::getUAVPosition(double &latitude, double &longitude, doub
 
     Q_ASSERT(obm != NULL);
 
+    PositionActual *positionActual = PositionActual::GetInstance(obm);
+    Q_ASSERT(positionActual != NULL);
+    PositionActual::DataFields positionActualData = positionActual->getData();
+    if (positionActualData.North == 0 && positionActualData.East == 0 && positionActualData.Down == 0) {
+        GPSPosition *gpsPositionObj = GPSPosition::GetInstance(obm);
+        Q_ASSERT(gpsPositionObj);
+
+        GPSPosition::DataFields gpsPositionData = gpsPositionObj->getData();
+        latitude  = gpsPositionData.Latitude / 1.0e7;
+        longitude = gpsPositionData.Longitude / 1.0e7;
+        altitude  = gpsPositionData.Altitude;
+        return true;
+    }
     HomeLocation *homeLocation = HomeLocation::GetInstance(obm);
     Q_ASSERT(homeLocation != NULL);
     HomeLocation::DataFields homeLocationData = homeLocation->getData();
 
-    homeLLA[0] = homeLocationData.Latitude / 1e7;
+    homeLLA[0] = homeLocationData.Latitude / 1.0e7;
-    homeLLA[1] = homeLocationData.Longitude / 1e7;
+    homeLLA[1] = homeLocationData.Longitude / 1.0e7;
     homeLLA[2] = homeLocationData.Altitude;
 
-    PositionActual *positionActual = PositionActual::GetInstance(obm);
+    NED[0]     = positionActualData.North;
-    Q_ASSERT(positionActual != NULL);
+    NED[1]     = positionActualData.East;
-    PositionActual::DataFields positionActualData = positionActual->getData();
+    NED[2]     = positionActualData.Down;
-
-    NED[0] = positionActualData.North;
-    NED[1] = positionActualData.East;
-    NED[2] = positionActualData.Down;
 
     Utils::CoordinateConversions().NED2LLA_HomeLLA(homeLLA, NED, LLA);
 

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -321,11 +321,11 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
     data.Stabilization3Settings[2] = ManualControlSettings::STABILIZATION3SETTINGS_RATE;
     data.FlightModeNumber = 3;
     data.FlightModePosition[0]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
-    data.FlightModePosition[1]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
+    data.FlightModePosition[1]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED2;
-    data.FlightModePosition[2]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
+    data.FlightModePosition[2]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED3;
-    data.FlightModePosition[3]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
+    data.FlightModePosition[3]     = ManualControlSettings::FLIGHTMODEPOSITION_ALTITUDEHOLD;
-    data.FlightModePosition[4]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
+    data.FlightModePosition[4]     = ManualControlSettings::FLIGHTMODEPOSITION_POSITIONHOLD;
-    data.FlightModePosition[5]     = ManualControlSettings::FLIGHTMODEPOSITION_STABILIZED1;
+    data.FlightModePosition[5]     = ManualControlSettings::FLIGHTMODEPOSITION_MANUAL;
     controlSettings->setData(data);
     addModifiedObject(controlSettings, tr("Writing flight mode settings"));
 }

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

@@ -423,14 +423,14 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
 {
     if (desc.startsWith("OpFw")) {
         /*
-         * This looks like a binary with a description at the end
+         * This looks like a binary with a description at the end:
-         *  4 bytes: header: "OpFw"
+         *   4 bytes: header: "OpFw".
-         *  4 bytes: git commit hash (short version of SHA1)
+         *   4 bytes: GIT commit tag (short version of SHA1).
-         *  4 bytes: Unix timestamp of last git commit
+         *   4 bytes: Unix timestamp of compile time.
-         *  2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
+         *   2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
-         *  26 bytes: commit tag if it is there, otherwise "Unreleased". Zero-padded
+         *  26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
          *  20 bytes: SHA1 sum of the firmware.
-         *  20 bytes: SHA1 sum of the UAVO definition files.
+         *  20 bytes: SHA1 sum of the uavo definitions.
          *  20 bytes: free for now.
          */
 

ground/openpilotgcs/src/plugins/uavsettingsimportexport/uavsettingsimportexportfactory.cpp

@@ -241,20 +241,18 @@ QString UAVSettingsImportExportFactory::createXMLDocument(const enum storedData
     versionInfo.appendChild(hw);
 
     QDomElement fw = doc.createElement("firmware");
+    QString uavo   = board.uavoHash.toHex();
+    fw.setAttribute("tag", board.gitTag);
     fw.setAttribute("date", board.gitDate);
     fw.setAttribute("hash", board.gitHash);
-    fw.setAttribute("tag", board.gitTag);
+    fw.setAttribute("uavo", uavo.left(8));
     versionInfo.appendChild(fw);
 
-    QString gcsRevision = VersionInfo::revision();
+    QDomElement gcs = doc.createElement("gcs");
-    QString gcsGitDate  = gcsRevision.mid(gcsRevision.indexOf(" ") + 1, 14);
+    gcs.setAttribute("tag", VersionInfo::tagOrBranch() + VersionInfo::dirty());
-    QString gcsGitHash  = gcsRevision.mid(gcsRevision.indexOf(":") + 1, 8);
+    gcs.setAttribute("date", VersionInfo::dateTime());
-    QString gcsGitTag   = gcsRevision.left(gcsRevision.indexOf(":"));
+    gcs.setAttribute("hash", VersionInfo::hash().left(8));
-
+    gcs.setAttribute("uavo", VersionInfo::uavoHash().left(8));
-    QDomElement gcs     = doc.createElement("gcs");
-    gcs.setAttribute("date", gcsGitDate);
-    gcs.setAttribute("hash", gcsGitHash);
-    gcs.setAttribute("tag", gcsGitTag);
     versionInfo.appendChild(gcs);
 
     // create settings and/or data elements

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

@@ -957,7 +957,7 @@ void UploaderGadgetWidget::versionMatchCheck()
     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
     deviceDescriptorStruct boardDescription = utilMngr->getBoardDescriptionStruct();
     QByteArray uavoHashArray;
-    QString uavoHash = VersionInfo::uavoHash();
+    QString uavoHash = VersionInfo::uavoHashArray();
 
     uavoHash.chop(2);
     uavoHash.remove(0, 2);

make/scripts/version-info.py

@@ -271,7 +271,7 @@ def xtrim(string, suffix, length):
         assert n > 0, "length of truncated string+suffix exceeds maximum length"
         return ''.join([string[:n], '+', suffix])
 
-def get_hash_of_dirs(directory, verbose = 0, raw = 0):
+def get_hash_of_dirs(directory, verbose = 0, raw = 0, n = 40):
     """Return hash of XML files from UAVObject definition directory"""
     import hashlib, os
     SHAhash = hashlib.sha1()
@@ -322,7 +322,7 @@ def get_hash_of_dirs(directory, verbose = 0, raw = 0):
         print 'Final hash is', SHAhash.hexdigest()
 
     if raw == 1:
-        return SHAhash.hexdigest()
+        return SHAhash.hexdigest()[:n]
     else:
         hex_stream = lambda s:",".join(['0x'+hex(ord(c))[2:].zfill(2) for c in s])
         return hex_stream(SHAhash.digest())
@@ -417,9 +417,10 @@ string given.
         MINUTE = r.time('%M'),
         BOARD_TYPE = args.type,
         BOARD_REVISION = args.revision,
-        SHA1 = sha1(args.image),
+        UAVO_HASH = get_hash_of_dirs(args.uavodir, verbose = 0, raw = 1),
-        UAVOSHA1TXT = get_hash_of_dirs(args.uavodir, verbose = 0, raw = 1),
+        UAVO_HASH8 = get_hash_of_dirs(args.uavodir, verbose = 0, raw = 1, n = 8),
-        UAVOSHA1 = get_hash_of_dirs(args.uavodir, verbose = 0, raw = 0),
+        UAVO_HASH_ARRAY = get_hash_of_dirs(args.uavodir, verbose = 0, raw = 0),
+        IMAGE_HASH_ARRAY = sha1(args.image),
     )
 
     # Process positional arguments in the form of:

make/templates/build-info.txt

@@ -15,7 +15,7 @@
 ORIGIN='${ORIGIN}'
 REVISION='${REVISION}'
 HASH='${HASH}'
-UAVOSHA1='${UAVOSHA1TXT}'
+UAVO_HASH='${UAVO_HASH}'
 LABEL='${LABEL}'
 TAG='${TAG}'
 TAG_OR_BRANCH='${TAG_OR_BRANCH}'

package/linux/deb_common/rules

@@ -43,7 +43,7 @@ install:
 	cp -arp package/linux/openpilot_menu.menu debian/openpilot/etc/xdg/menus/applications-merged
 	cp -arp package/linux/openpilot_menu.directory debian/openpilot/usr/share/desktop-directories
 ifdef PACKAGE_DIR
-	cp -a $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/
+	cp -a $(PACKAGE_DIR)/*.elf debian/openpilot/usr/local/OpenPilot/firmware/
 else
 	$(error PACKAGE_DIR not defined! $(PACKAGE_DIR))
 endif

package/osx/package

@@ -20,7 +20,7 @@ device=$(hdiutil attach "${TEMP_FILE}" | \
 
 # packaging goes here
 cp -a "${APP_PATH}" "/Volumes/${VOL_NAME}"
-ls "${FW_DIR}" | xargs -n 1 -I {} cp "${FW_DIR}/{}" "/Volumes/${VOL_NAME}/Firmware"
+#ls "${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 "${ROOT_DIR}/HISTORY.txt" "/Volumes/${VOL_NAME}"
 

package/winx86/openpilotgcs.nsi

@@ -202,7 +202,7 @@ Section "-Localization" InSecLocalization
 SectionEnd
 
 ; Copy firmware files
-Section "Firmware" InSecFirmware
+Section /o "-Firmware" InSecFirmware
   SetOutPath "$INSTDIR\firmware"
   File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
 SectionEnd

shared/uavobjectdefinition/attitudesettings.xml

@@ -7,13 +7,13 @@
         <field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
         <field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
         <field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
-		<field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
+        <field name="MagKi" units="" type="float" elements="1" defaultvalue="0"/>
-		<field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
+        <field name="MagKp" units="" type="float" elements="1" defaultvalue="0"/>
-	<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
+        <field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
         <field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
-	<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+        <field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
-	<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
+        <field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
-	<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
+        <field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -23,7 +23,7 @@
         <field name="Stabilization1Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw"
 		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
-		defaultvalue="Attitude,Attitude,Rate"
+		defaultvalue="Attitude,Attitude,AxisLock"
 		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
         <field name="Stabilization2Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw"
@@ -33,7 +33,7 @@
         <field name="Stabilization3Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw"
 		options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
-		defaultvalue="Attitude,Attitude,Rate"
+		defaultvalue="Rate,Rate,Rate"
 		limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
@@ -44,7 +44,7 @@
                type="enum"
                elements="6"
                options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
-               defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
+               defaultvalue="Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold,Manual"
                limits="\
                        %0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
                        %0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\