Merge remote-tracking branch 'remotes/origin/next' into sambas/diffnext

Conflicts:
	.gitignore

.gitignore

@@ -50,6 +50,16 @@ openpilotgcs-build-desktop
 # Ignore build output from Eclipse android builds
 /androidgcs/bin/
 /androidgcs/gen/
+
+# Ignore Eclipse Projects and Metadata
 /.cproject
 /.project
 /.metadata
+
+# Ignore Eclipse temp folder, git plugin based?
+RemoteSystemsTempFiles
+
+# Ignore patch-related files
+*.rej
+*.orig
+*.diff~

.gitmodules

@@ -1,3 +1,3 @@
 [submodule "overo"]
 	path = overo
-	url = git@github.com:peabody124/op_overo.git
+	url = gitolite@git.openpilot.org:op_overo.git

KNOWN_ISSUES.txt

@@ -1,7 +1,7 @@
 Here is a list of some known unresolved issues. If an issue has JIRA ID [OP-XXX], you may track it using the
 following URL: http://bugs.openpilot.org/browse/OP-XXX
 
-+ Missing Translations, use English.
++ Only French translation is updated, use English for other locales or help with translations.
 + Radio Wizard confused by a reversed throttle, fix it on your transmitter before starting wizard.
 + Radio Wizard Throttle display does not show full range properly.
 + [Windows 8] USB Driver is broken.
@@ -17,6 +17,4 @@ following URL: http://bugs.openpilot.org/browse/OP-XXX
 + [OP-725] GCS camera stab config error message disappears too fast (but config error is cleared as it should)
 + [OP-767] GCS does not send AttitudeActual packets over serial port when GPS is connected and system is armed
 + [OP-768] GCS does not show UAV position on the map (master or next CC branches, but works in Revo branches)
-+ [OP-682] GCS crashes on firmware page. Noted on Windows and OSX platforms, difficult to reproduce.
-           Workaround: use Vehicle setup wizard to update the firmware.
 + [OP-769] Can't enter "12,45" on German system. Workaround: change GCS language (in fact, locale) to German.

Makefile

@@ -70,7 +70,7 @@ SANITIZE_GCC_VARS += CFLAGS CPATH C_INCLUDE_PATH CPLUS_INCLUDE_PATH OBJC_INCLUDE
 $(foreach var, $(SANITIZE_GCC_VARS), $(eval $(call SANITIZE_VAR,$(var),disallowed)))
 
 # These specific variables used to be valid but now they make no sense
-SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER
+SANITIZE_DEPRECATED_VARS := USE_BOOTLOADER CLEAN_BUILD
 $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),deprecated)))
 
 # Make sure this isn't being run as root (no whoami on Windows, but that is ok here)
@@ -755,9 +755,9 @@ $(OPFW_RESOURCE): $(FW_TARGETS)
 	$(V1) $(MKDIR) -p $(dir $@)
 	$(V1) $(ECHO) $(QUOTE)$(OPFW_CONTENTS)$(QUOTE) > $@
 
-# If opfw_resource or all are requested, GCS should depend on the resource
+# If opfw_resource or all firmware are requested, GCS should depend on the resource
-ifneq ($(strip $(filter opfw_resource all,$(MAKECMDGOALS))),)
+ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
-    $(eval openpilotgcs: | opfw_resource)
+    $(eval openpilotgcs: $(OPFW_RESOURCE))
 endif
 
 # Packaging targets: package, clean_package
@@ -780,7 +780,7 @@ ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
 
     # Packaged GCS should depend on opfw_resource
     ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
-        $(eval openpilotgcs: | opfw_resource)
+        $(eval openpilotgcs: $(OPFW_RESOURCE))
     endif
 
     # Clean the build directory if clean_package is requested

flight/Libraries/inc/packet_handler.h

@@ -42,22 +42,21 @@
 // Public types
 typedef enum {
 	PACKET_TYPE_NONE = 0,
-	PACKET_TYPE_STATUS,         // broadcasts status of this modem
+	PACKET_TYPE_STATUS,              // broadcasts status of this modem
-	PACKET_TYPE_CON_REQUEST,    // request a connection to another modem
+	PACKET_TYPE_CON_REQUEST,         // request a connection to another modem
-	PACKET_TYPE_DATA,           // data packet (packet contains user data)
+	PACKET_TYPE_DATA,                // data packet (packet contains user data)
-	PACKET_TYPE_DUPLICATE_DATA, // a duplicate data packet
+	PACKET_TYPE_DUPLICATE_DATA,      // a duplicate data packet
-	PACKET_TYPE_PPM,            // PPM relay values
+	PACKET_TYPE_PPM,                 // PPM relay values
-	PACKET_TYPE_ACK,            // Acknowlege the receipt of a packet
+	PACKET_TYPE_ACK,                 // Acknowlege the receipt of a packet
-	PACKET_TYPE_ACK_RTS,        // Acknowlege the receipt of a packet and indicate that the receiving side has data to send (ready to send)
+	PACKET_TYPE_ACK_RTS,             // Acknowlege the receipt of a packet and indicate that the receiving side has data to send (ready to send)
-	PACKET_TYPE_NACK,           // Acknowlege the receipt of an uncorrectable packet
+	PACKET_TYPE_NACK,                // Acknowlege the receipt of an uncorrectable packet
 } PHPacketType;
 
 typedef struct {
 	uint32_t destination_id;
-	uint32_t source_id;
+	uint16_t seq_num;
 	uint8_t type;
 	uint8_t data_size;
-	uint16_t seq_num;
 } PHPacketHeader;
 
 #define PH_MAX_DATA (PIOS_PH_MAX_PACKET - sizeof(PHPacketHeader) - RS_ECC_NPARITY)
@@ -70,6 +69,7 @@ typedef struct {
 #define PH_ACK_NACK_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
 typedef struct {
 	PHPacketHeader header;
+	portTickType packet_recv_time;
 	uint8_t ecc[RS_ECC_NPARITY];
 } PHAckNackPacket, *PHAckNackPacketHandle;
 
@@ -83,6 +83,7 @@ typedef struct {
 #define PH_STATUS_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
 typedef struct {
 	PHPacketHeader header;
+        uint32_t source_id;
 	uint8_t link_quality;
 	int8_t received_rssi;
 	uint8_t ecc[RS_ECC_NPARITY];
@@ -91,12 +92,13 @@ typedef struct {
 #define PH_CONNECTION_DATA_SIZE(p) ((uint8_t*)((p)->ecc) - (uint8_t*)(((PHPacketHandle)(p))->data))
 typedef struct {
 	PHPacketHeader header;
-	uint8_t datarate;
+        uint32_t source_id;
-	uint32_t frequency_hz;
 	uint32_t min_frequency;
 	uint32_t max_frequency;
-	uint8_t max_tx_power;
+	uint32_t channel_spacing;
-	OPLinkSettingsOutputConnectionOptions port;
+	OPLinkSettingsMainPortOptions main_port;
+	OPLinkSettingsFlexiPortOptions flexi_port;
+	OPLinkSettingsVCPPortOptions vcp_port;
 	OPLinkSettingsComSpeedOptions com_speed;
 	uint8_t ecc[RS_ECC_NPARITY];
 } PHConnectionPacket, *PHConnectionPacketHandle;

flight/Modules/ManualControl/manualcontrol.c

@@ -705,11 +705,8 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
 static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool home)
 {
 	static portTickType lastSysTime;
-	portTickType thisSysTime;
+	portTickType thisSysTime = xTaskGetTickCount();
-	float dT;
+	/* float dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f; */
-
-	thisSysTime = xTaskGetTickCount();
-	dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
 	lastSysTime = thisSysTime;
 
 	if (home && changed) {
@@ -746,16 +743,15 @@ static void updatePathDesired(ManualControlCommandData * cmd, bool changed,bool
 		pathDesired.EndingVelocity=0;
 		pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
 		PathDesiredSet(&pathDesired);
+	/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
 	} else {
-		
-/*Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.		
 		PathDesiredData pathDesired;
 		PathDesiredGet(&pathDesired);
 		pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch;
 		pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll;
 		pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
 		PathDesiredSet(&pathDesired);
-*/ 
+	*/
 	}
 }
 

flight/Modules/PipXtreme/pipxtrememod.c

@@ -47,7 +47,6 @@
 
 // Private constants
 #define SYSTEM_UPDATE_PERIOD_MS 1000
-#define LED_BLINK_RATE_HZ 5
 
 #if defined(PIOS_SYSTEM_STACK_SIZE)
 #define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
@@ -155,9 +154,7 @@ static void systemTask(void *parameters)
 
 		// Update the PipXstatus UAVO
 		OPLinkStatusData oplinkStatus;
-		uint32_t pairID;
 		OPLinkStatusGet(&oplinkStatus);
-		OPLinkSettingsPairIDGet(&pairID);
 
 		// Get the other device stats.
 		PIOS_RFM2B_GetPairStats(pios_rfm22b_id, oplinkStatus.PairIDs, oplinkStatus.PairSignalStrengths, OPLINKSTATUS_PAIRIDS_NUMELEM);
@@ -167,6 +164,7 @@ static void systemTask(void *parameters)
 		PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
 
 		// Update the status
+                oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
 		oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
 		oplinkStatus.RxGood = radio_stats.rx_good;
 		oplinkStatus.RxCorrected = radio_stats.rx_corrected;
@@ -179,7 +177,6 @@ static void systemTask(void *parameters)
 		oplinkStatus.Resets = radio_stats.resets;
 		oplinkStatus.Timeouts = radio_stats.timeouts;
 		oplinkStatus.RSSI = radio_stats.rssi;
-		oplinkStatus.AFCCorrection = radio_stats.afc_correction;
 		oplinkStatus.LinkQuality = radio_stats.link_quality;
 		if (first_time)
 			first_time = false;

flight/Modules/RadioComBridge/RadioComBridge.c

@@ -46,6 +46,12 @@
 
 #include <stdbool.h>
 
+// External functions
+void PIOS_InitUartMainPort();
+void PIOS_InitUartFlexiPort();
+void PIOS_InitPPMMainPort(bool input);
+void PIOS_InitPPMFlexiPort(bool input);
+
 // ****************
 // Private constants
 
@@ -82,6 +88,12 @@ typedef struct {
 	uint32_t UAVTalkErrors;
 	uint32_t droppedPackets;
 
+	// Should we parse UAVTalk?
+	bool parseUAVTalk;
+
+	// The current configured uart speed
+	OPLinkSettingsComSpeedOptions comSpeed;
+
 } RadioComBridgeData;
 
 // ****************
@@ -94,7 +106,9 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
 static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
 static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte);
 static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
-static void configureComCallback(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
+static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
+				 OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
+				 uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing);
 static void updateSettings();
 
 // ****************
@@ -109,30 +123,77 @@ static RadioComBridgeData *data;
  */
 static int32_t RadioComBridgeStart(void)
 {
-	if(data) {
+    if(data) {
 
-		// Configure the com port configuration callback
+        // Configure the com port configuration callback
-		PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
+        PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
 
-		// Set the baudrates, etc.
+	// Get the settings.
-		updateSettings();
+	OPLinkSettingsData oplinkSettings;
+	OPLinkSettingsGet(&oplinkSettings);
 
-		// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
+        // Set the baudrates, etc.
-		xTaskCreate(telemetryTxTask, (signed char *)"telemTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
+        bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
-		xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
+        if (is_coordinator) {
-		xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
 
-		// Register the watchdog timers.
+            // Set the maximum radio RF power.
+            switch (oplinkSettings.MaxRFPower)
+            {
+            case OPLINKSETTINGS_MAXRFPOWER_125:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_16:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_316:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_63:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_126:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_25:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_50:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
+                break;
+            case OPLINKSETTINGS_MAXRFPOWER_100:
+                PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
+                break;
+	    default:
+	        // do nothing
+		break;
+            }
+
+	    // Set the frequency range.
+	    PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency, oplinkSettings.ChannelSpacing);
+	    
+            // Reinitilize the modem.
+            PIOS_RFM22B_Reinit(pios_rfm22b_id);
+        }
+
+	// Set the initial frequency.
+	PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, oplinkSettings.InitFrequency);
+
+        // Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
+        xTaskCreate(telemetryTxTask, (signed char *)"telemTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
+        xTaskCreate(radioRxTask, (signed char *)"radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
+        xTaskCreate(radioTxTask, (signed char *)"radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
+
+        // Register the watchdog timers.
 #ifdef PIOS_INCLUDE_WDG
-		PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRY);
+        PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRY);
-		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
+        PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
-		PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
+        PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
 #endif
 
-		return 0;
+        return 0;
-	}
+    }
 
-	return -1;
+    return -1;
 }
 
 /**
@@ -149,7 +210,6 @@ static int32_t RadioComBridgeInitialize(void)
 		return -1;
 
 	// Initialize the UAVObjects that we use
-	GCSReceiverInitialize();
 	OPLinkStatusInitialize();
 	ObjectPersistenceInitialize();
 
@@ -163,11 +223,17 @@ static int32_t RadioComBridgeInitialize(void)
 	// Configure our UAVObjects for updates.
 	UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
 	UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
+#if defined(PIOS_INCLUDE_RFM22B_GCSRECEIVER)
+	UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
+#endif
 
 	// Initialize the statistics.
 	data->comTxErrors = 0;
 	data->comTxRetries = 0;
 	data->UAVTalkErrors = 0;
+	data->parseUAVTalk = false;
+        data->comSpeed = OPLINKSETTINGS_COMSPEED_9600;
+        PIOS_COM_RADIO = PIOS_COM_RFM22B;
 
 	return 0;
 }
@@ -235,7 +301,7 @@ static void radioRxTask(void *parameters)
 	// Task loop
 	while (1) {
 #ifdef PIOS_INCLUDE_WDG
-		PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
+                PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
 #endif
 		uint8_t serial_data[1];
 		uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
@@ -259,17 +325,18 @@ static void radioTxTask(void *parameters)
 #endif
 #if defined(PIOS_INCLUDE_USB)
 		// Determine output port (USB takes priority over telemetry port)
-		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB)
+		if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID)
-			inputPort = PIOS_COM_TELEM_USB;
+			inputPort = PIOS_COM_TELEM_USB_HID;
 #endif /* PIOS_INCLUDE_USB */
-		if(inputPort)
+		if(inputPort) {
-		{
 			uint8_t serial_data[1];
 			uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
-			if (bytes_to_process > 0)
+			if (bytes_to_process > 0) {
-				for (uint8_t i = 0; i < bytes_to_process; i++)
+                            for (uint8_t i = 0; i < bytes_to_process; i++)
-					ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
+                                ProcessInputStream(data->inUAVTalkCon, serial_data[i]);
-		}
+                        }
+		} else
+			vTaskDelay(5);
 	}
 }
 
@@ -285,8 +352,8 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
 	uint32_t outputPort = PIOS_COM_TELEMETRY;
 #if defined(PIOS_INCLUDE_USB)
 	// Determine output port (USB takes priority over telemetry port)
-	if (PIOS_COM_TELEM_USB && PIOS_COM_Available(PIOS_COM_TELEM_USB))
+	if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID))
-		outputPort = PIOS_COM_TELEM_USB;
+		outputPort = PIOS_COM_TELEM_USB_HID;
 #endif /* PIOS_INCLUDE_USB */
 	if(outputPort)
 		return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
@@ -303,13 +370,14 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
  */
 static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
 {
-	uint32_t outputPort = PIOS_COM_RADIO;
+    uint32_t outputPort = PIOS_COM_RADIO;
-	// Don't send any data unless the radio port is available.
+    // Don't send any data unless the radio port is available.
-	if(outputPort && PIOS_COM_Available(outputPort))
+    if(outputPort && PIOS_COM_Available(outputPort)) {
-		return PIOS_COM_SendBuffer(outputPort, buf, length);
+        return PIOS_COM_SendBufferNonBlocking(outputPort, buf, length);
-	else
+    } else {
-		// For some reason, if this function returns failure, it prevents saving settings.
+        // For some reason, if this function returns failure, it prevents saving settings.
-		return length;
+        return length;
+    }
 }
 
 static void ProcessInputStream(UAVTalkConnection connectionHandle, uint8_t rxbyte)
@@ -443,161 +511,149 @@ static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEve
  * \param[in] com_port  The com port to configure
  * \param[in] com_speed  The com port speed
  */
-static void configureComCallback(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed)
+static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
+				 OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
+				 uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing)
 {
 
-	// Get the settings.
+    // Update the com baud rate
-	OPLinkSettingsData oplinkSettings;
+    data->comSpeed = com_speed;
-	OPLinkSettingsGet(&oplinkSettings);
 
-	// Set the output telemetry port and speed.
+    // Set the output main/flexi/vcp port and speed.
-	switch (com_port)
+    bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
-	{
+    if (!is_coordinator) {
-	case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEHID:
+
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
+        // Get the settings.
-		break;
+        OPLinkSettingsData oplinkSettings;
-	case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEVCP:
+        OPLinkSettingsGet(&oplinkSettings);
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_VCP;
+
-		break;
+	switch (main_port) {
-	case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTETELEMETRY:
+	case OPLINKSETTINGS_REMOTEMAINPORT_DISABLED:
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_TELEMETRY;
+            oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_DISABLED;
-		break;
+            break;
-	case OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEFLEXI:
+	case OPLINKSETTINGS_REMOTEMAINPORT_SERIAL:
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_FLEXI;
+            oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_SERIAL;
-		break;
+            break;
-	case OPLINKSETTINGS_OUTPUTCONNECTION_TELEMETRY:
+	case OPLINKSETTINGS_REMOTEMAINPORT_PPM:
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
+            oplinkSettings.MainPort = OPLINKSETTINGS_MAINPORT_PPM;
-		break;
+            break;
-	case OPLINKSETTINGS_OUTPUTCONNECTION_FLEXI:
-		oplinkSettings.InputConnection = OPLINKSETTINGS_INPUTCONNECTION_HID;
-		break;
 	}
-	oplinkSettings.ComSpeed = com_speed;
 
-	// A non-coordinator modem should not set a remote telemetry connection.
+	switch (flexi_port) {
-	oplinkSettings.OutputConnection = OPLINKSETTINGS_OUTPUTCONNECTION_REMOTEHID;
+	case OPLINKSETTINGS_REMOTEFLEXIPORT_DISABLED:
+            oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_DISABLED;
+            break;
+	case OPLINKSETTINGS_REMOTEFLEXIPORT_SERIAL:
+            oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_SERIAL;
+            break;
+	case OPLINKSETTINGS_REMOTEFLEXIPORT_PPM:
+            oplinkSettings.FlexiPort = OPLINKSETTINGS_FLEXIPORT_PPM;
+            break;
+	}
 
-	// Update the OPLinkSettings object.
+	switch (vcp_port) {
-	OPLinkSettingsSet(&oplinkSettings);
+	case OPLINKSETTINGS_REMOTEVCPPORT_DISABLED:
+            oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_DISABLED;
+            break;
+	case OPLINKSETTINGS_REMOTEVCPPORT_SERIAL:
+            oplinkSettings.VCPPort = OPLINKSETTINGS_VCPPORT_SERIAL;
+            break;
+	}
 
-	// Perform the update.
+	// Set the frequency range.
-	updateSettings();
+	PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, min_frequency, max_frequency, channel_spacing);
+
+        // Update the OPLinkSettings object.
+        OPLinkSettingsSet(&oplinkSettings);
+    }
+
+    // Perform the update.
+    updateSettings();
 }
 
 /**
- * Update the oplink settings, called on startup.
+ * Update the oplink settings.
  */
 static void updateSettings()
 {
+    // Get the settings.
+    OPLinkSettingsData oplinkSettings;
+    OPLinkSettingsGet(&oplinkSettings);
 
-	// Get the settings.
+    // Configure the main port
-	OPLinkSettingsData oplinkSettings;
+    bool is_coordinator = PIOS_RFM22B_IsCoordinator(pios_rfm22b_id);
-	OPLinkSettingsGet(&oplinkSettings);
+    switch (oplinkSettings.MainPort)
+    {
+    case OPLINKSETTINGS_MAINPORT_TELEMETRY:
+        data->parseUAVTalk = true;
+    case OPLINKSETTINGS_MAINPORT_SERIAL:
+        /* Configure the main port for uart serial */
+        PIOS_InitUartMainPort();
+        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
+        break;
+    case OPLINKSETTINGS_MAINPORT_PPM:
+        PIOS_InitPPMMainPort(is_coordinator);
+        break;
+    case OPLINKSETTINGS_MAINPORT_DISABLED:
+        break;
+    }
 
-	bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE);
+    // Configure the flexi port
-	if (is_coordinator)
+    switch (oplinkSettings.FlexiPort)
-	{
+    {
-		// Set the remote com configuration parameters
+    case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
-		PIOS_RFM22B_SetRemoteComConfig(pios_rfm22b_id, oplinkSettings.OutputConnection, oplinkSettings.ComSpeed);
+        data->parseUAVTalk = true;
+    case OPLINKSETTINGS_FLEXIPORT_SERIAL:
+        /* Configure the flexi port as uart serial */
+        PIOS_InitUartFlexiPort();
+        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
+        break;
+    case OPLINKSETTINGS_FLEXIPORT_PPM:
+        PIOS_InitPPMFlexiPort(is_coordinator);
+        break;
+    case OPLINKSETTINGS_FLEXIPORT_DISABLED:
+        break;
+    }
 
-		// Configure the RFM22B device as coordinator or not
+    // Configure the USB VCP port
-		PIOS_RFM22B_SetCoordinator(pios_rfm22b_id, true);
+    switch (oplinkSettings.VCPPort)
+    {
+    case OPLINKSETTINGS_VCPPORT_SERIAL:
+        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
+        break;
+    case OPLINKSETTINGS_VCPPORT_DISABLED:
+        break;
+    }
 
-		// Set the frequencies.
+    // Update the com baud rate.
-		PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, oplinkSettings.MinFrequency, oplinkSettings.MaxFrequency);
+    uint32_t comBaud = 9600;
-
+    switch (data->comSpeed) {
-		// Set the maximum radio RF power.
+    case OPLINKSETTINGS_COMSPEED_2400:
-		switch (oplinkSettings.MaxRFPower)
+        comBaud = 2400;
-		{
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_125:
+    case OPLINKSETTINGS_COMSPEED_4800:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
+        comBaud = 4800;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_16:
+    case OPLINKSETTINGS_COMSPEED_9600:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
+        comBaud = 9600;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_316:
+    case OPLINKSETTINGS_COMSPEED_19200:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
+        comBaud = 19200;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_63:
+    case OPLINKSETTINGS_COMSPEED_38400:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
+        comBaud = 38400;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_126:
+    case OPLINKSETTINGS_COMSPEED_57600:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
+        comBaud = 57600;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_25:
+    case OPLINKSETTINGS_COMSPEED_115200:
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
+        comBaud = 115200;
-			break;
+        break;
-		case OPLINKSETTINGS_MAXRFPOWER_50:
+    }
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
+    if (PIOS_COM_RADIO) {
-			break;
+        PIOS_COM_ChangeBaud(PIOS_COM_RADIO, comBaud);
-		case OPLINKSETTINGS_MAXRFPOWER_100:
+    }
-			PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
+    if (PIOS_COM_TELEMETRY) {
-			break;
+        PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
-		}
+    }
-
-		// Set the radio destination ID.
-		PIOS_RFM22B_SetDestinationId(pios_rfm22b_id, oplinkSettings.PairID);
-	}
-
-	// Determine what com ports we're using.
-	switch (oplinkSettings.InputConnection)
-	{
-	case OPLINKSETTINGS_INPUTCONNECTION_VCP:
-		PIOS_COM_TELEMETRY = PIOS_COM_TELEM_VCP;
-		break;
-	case OPLINKSETTINGS_INPUTCONNECTION_TELEMETRY:
-		PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_TELEM;
-		break;
-	case OPLINKSETTINGS_INPUTCONNECTION_FLEXI:
-		PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
-		break;
-	default:
-		PIOS_COM_TELEMETRY = 0;
-		break;
-	}
-
-	switch (oplinkSettings.OutputConnection)
-	{
-	case OPLINKSETTINGS_OUTPUTCONNECTION_FLEXI:
-		PIOS_COM_RADIO = PIOS_COM_TELEM_UART_FLEXI;
-		break;
-	case OPLINKSETTINGS_OUTPUTCONNECTION_TELEMETRY:
-		PIOS_COM_RADIO = PIOS_COM_TELEM_UART_TELEM;
-		break;
-	default:
-		PIOS_COM_RADIO = PIOS_COM_RFM22B;
-		break;
-	}
-
-	// Configure the com port speeds.
-	switch (oplinkSettings.ComSpeed) {
-	case OPLINKSETTINGS_COMSPEED_2400:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 2400);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 2400);
-		break;
-	case OPLINKSETTINGS_COMSPEED_4800:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 4800);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 4800);
-		break;
-	case OPLINKSETTINGS_COMSPEED_9600:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 9600);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 9600);
-		break;
-	case OPLINKSETTINGS_COMSPEED_19200:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 19200);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 19200);
-		break;
-	case OPLINKSETTINGS_COMSPEED_38400:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 38400);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 38400);
-		break;
-	case OPLINKSETTINGS_COMSPEED_57600:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 57600);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 57600);
-		break;
-	case OPLINKSETTINGS_COMSPEED_115200:
-		if (is_coordinator && PIOS_COM_RADIO)  PIOS_COM_ChangeBaud(PIOS_COM_RADIO, 115200);
-		if (PIOS_COM_TELEMETRY)  PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, 115200);
-		break;
-	}
 }

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -174,17 +174,18 @@ extern uint32_t pios_i2c_flexi_adapter_id;
 
 extern uint32_t pios_com_telem_usb_id;
 extern uint32_t pios_com_telem_vcp_id;
-extern uint32_t pios_com_telem_uart_telem_id;
+extern uint32_t pios_com_telem_uart_main_id;
 extern uint32_t pios_com_telem_uart_flexi_id;
 extern uint32_t pios_com_telemetry_id;
 extern uint32_t pios_com_rfm22b_id;
 extern uint32_t pios_com_radio_id;
 extern uint32_t pios_ppm_rcvr_id;
 extern uint32_t pios_ppm_out_id;
-#define PIOS_COM_TELEM_USB         (pios_com_telem_usb_id)
+#define PIOS_COM_TELEM_USB_HID     (pios_com_telem_usb_id)
-#define PIOS_COM_TELEM_VCP         (pios_com_telem_vcp_id)
+#define PIOS_COM_TELEM_USB         PIOS_COM_TELEM_USB_HID
+#define PIOS_COM_TELEM_USB_VCP     (pios_com_telem_vcp_id)
+#define PIOS_COM_TELEM_UART_MAIN   (pios_com_telem_uart_main_id)
 #define PIOS_COM_TELEM_UART_FLEXI  (pios_com_telem_uart_flexi_id)
-#define PIOS_COM_TELEM_UART_TELEM  (pios_com_telem_uart_telem_id)
 #define PIOS_COM_TELEMETRY         (pios_com_telemetry_id)
 #define PIOS_COM_RFM22B            (pios_com_rfm22b_id)
 #define PIOS_COM_RADIO             (pios_com_radio_id)

flight/PiOS/Boards/STM32F4xx_RevoMini.h

@@ -77,6 +77,28 @@ TIM8  |           |           |           |
 //------------------------
 #define PIOS_LED_HEARTBEAT	0
 #define PIOS_LED_ALARM		1
+#ifdef PIOS_RFM22B_DEBUG_ON_SERVO
+#define PIOS_LED_D1		2
+#define PIOS_LED_D2		3
+#define PIOS_LED_D3		4
+#define PIOS_LED_D4		5
+
+#define D1_LED_ON	PIOS_LED_On(PIOS_LED_D1)
+#define D1_LED_OFF	PIOS_LED_Off(PIOS_LED_D1)
+#define D1_LED_TOGGLE	PIOS_LED_Toggle(PIOS_LED_D1)
+
+#define D2_LED_ON	PIOS_LED_On(PIOS_LED_D2)
+#define D2_LED_OFF	PIOS_LED_Off(PIOS_LED_D2)
+#define D2_LED_TOGGLE	PIOS_LED_Toggle(PIOS_LED_D2)
+
+#define D3_LED_ON	PIOS_LED_On(PIOS_LED_D3)
+#define D3_LED_OFF	PIOS_LED_Off(PIOS_LED_D3)
+#define D3_LED_TOGGLE	PIOS_LED_Toggle(PIOS_LED_D3)
+
+#define D4_LED_ON	PIOS_LED_On(PIOS_LED_D4)
+#define D4_LED_OFF	PIOS_LED_Off(PIOS_LED_D4)
+#define D4_LED_TOGGLE	PIOS_LED_Toggle(PIOS_LED_D4)
+#endif
 
 //------------------------
 // PIOS_SPI
@@ -193,7 +215,6 @@ extern uint32_t pios_packet_handler;
 //
 #define PIOS_PERIPHERAL_APB2_CLOCK					PIOS_SYSCLK
 
-
 //-------------------------
 // Interrupt Priorities
 //-------------------------
@@ -209,7 +230,7 @@ extern uint32_t pios_packet_handler;
 #define PIOS_RCVR_MAX_DEVS           3
 #define PIOS_RCVR_MAX_CHANNELS       12
 #define PIOS_GCSRCVR_TIMEOUT_MS      100
-#define PIOS_RFM22B_RCVR_TIMEOUT_MS  100
+#define PIOS_RFM22B_RCVR_TIMEOUT_MS  200
 
 //-------------------------
 // Receiver PPM input

flight/PiOS/Common/pios_rfm22b.c

@@ -52,6 +52,9 @@
 
 #include <pios_spi_priv.h>
 #include <packet_handler.h>
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include <gcsreceiver.h>
+#endif
 #include <pios_rfm22b_priv.h>
 #include <pios_ppm_out_priv.h>
 #include <ecc.h>
@@ -62,11 +65,13 @@
 #define ISR_TIMEOUT 2 // ms
 #define EVENT_QUEUE_SIZE 5
 #define RFM22B_DEFAULT_RX_DATARATE RFM22_datarate_9600
-#define RFM22B_DEFAULT_FREQUENCY 434000000
+#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_0
-#define RFM22B_DEFAULT_MIN_FREQUENCY (RFM22B_DEFAULT_FREQUENCY - 2000000)
-#define RFM22B_DEFAULT_MAX_FREQUENCY (RFM22B_DEFAULT_FREQUENCY + 2000000)
-#define RFM22B_DEFAULT_TX_POWER RFM22_tx_pwr_txpow_7
 #define RFM22B_LINK_QUALITY_THRESHOLD 20
+#define RFM22B_NOMINAL_CARRIER_FREQUENCY 430000000
+#define RFM22B_MAXIMUM_FREQUENCY 440000000
+#define RFM22B_DEFAULT_FREQUENCY 433000000
+#define RFM22B_FREQUENCY_HOP_STEP_SIZE 75000
+//#define RFM22B_TEST_DROPPED_PACKETS 1
 
 // The maximum amount of time since the last message received to consider the connection broken.
 #define DISCONNECT_TIMEOUT_MS 1000 // ms
@@ -84,7 +89,7 @@
 #define MAX_RADIOSTATS_MISS_COUNT 3
 
 // The time between PPM updates
-#define PPM_UPDATE_PERIOD_MS 40
+#define PPM_UPDATE_PERIOD_MS 20
 
 // this is too adjust the RF module so that it is on frequency
 #define OSC_LOAD_CAP				0x7F	// cap = 12.5pf .. default
@@ -142,8 +147,8 @@ struct pios_rfm22b_transition {
 };
 
 // Must ensure these prefilled arrays match the define sizes
-static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = 
+static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
-	{PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
+	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
 	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
 	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
 	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
@@ -157,7 +162,8 @@ static const uint8_t FULL_PREAMBLE[FIFO_SIZE] =
 	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,
 	PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE,PREAMBLE_BYTE}; // 64 bytes
 static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1)/2 + 2] = {PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2};
-static const uint8_t OUT_FF[64] = {0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
+static const uint8_t OUT_FF[64] = {
+	0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
 	0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
 	0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
 	0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
@@ -182,7 +188,6 @@ static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_d
 static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev);
 static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev);
 static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev);
-static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev);
 static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev);
 static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev);
 static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev);
@@ -196,10 +201,16 @@ static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev);
 static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev);
 static void rfm22b_add_rx_status(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22b_rx_packet_status status);
 static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHandle p, uint16_t rx_len);
-static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz);
+static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size);
+static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel);
 static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev);
 static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev);
+static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev);
 static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev);
+static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks);
+static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev);
+static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev);
+static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev);
 static void rfm22_clearLEDs();
 
 // SPI read/write functions
@@ -225,18 +236,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 	[RFM22B_STATE_INITIALIZING] = {
 		.entry_fn = rfm22_init,
 		.next_state = {
-			[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_INITIATING_CONNECTION,
+			[RFM22B_EVENT_INITIALIZED] = RFM22B_STATE_RX_MODE,
-			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
-			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
-			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
-		},
-	},
-	[RFM22B_STATE_INITIATING_CONNECTION] = {
-		.entry_fn = rfm22_initConnection,
-		.next_state = {
-			[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
-			[RFM22B_EVENT_WAIT_FOR_CONNECTION] = RFM22B_STATE_RX_MODE,
-			[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@@ -249,13 +249,13 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 			[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
-			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
+			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR
 		},
 	},
 	[RFM22B_STATE_ACCEPTING_CONNECTION] = {
 		.entry_fn = rfm22_acceptConnection,
 		.next_state = {
-			[RFM22B_EVENT_CONNECTION_ACCEPTED] = RFM22B_STATE_SENDING_ACK,
+			[RFM22B_EVENT_DEFAULT] = RFM22B_STATE_SENDING_ACK,
 			[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
@@ -307,6 +307,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 		.next_state = {
 			[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_RX_DATA,
 			[RFM22B_EVENT_RX_COMPLETE] = RFM22B_STATE_SENDING_ACK,
+			[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
 			[RFM22B_EVENT_RX_ERROR] = RFM22B_STATE_SENDING_NACK,
 			[RFM22B_EVENT_STATUS_RECEIVED] = RFM22B_STATE_RECEIVING_STATUS,
 			[RFM22B_EVENT_CONNECTION_REQUESTED] = RFM22B_STATE_ACCEPTING_CONNECTION,
@@ -375,6 +376,7 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 		.entry_fn = rfm22_txData,
 		.next_state = {
 			[RFM22B_EVENT_INT_RECEIVED] = RFM22B_STATE_TX_DATA,
+			[RFM22B_EVENT_REQUEST_CONNECTION] = RFM22B_STATE_REQUESTING_CONNECTION,
 			[RFM22B_EVENT_RX_MODE] = RFM22B_STATE_RX_MODE,
 			[RFM22B_EVENT_FAILURE] = RFM22B_STATE_TX_FAILURE,
 			[RFM22B_EVENT_TIMEOUT] = RFM22B_STATE_TIMEOUT,
@@ -397,7 +399,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 		.entry_fn = rfm22_sendAck,
 		.next_state = {
 			[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
-			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@@ -407,7 +408,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 		.entry_fn = rfm22_sendNack,
 		.next_state = {
 			[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
-			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@@ -417,7 +417,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 		.entry_fn = rfm22_timeout,
 		.next_state = {
 			[RFM22B_EVENT_TX_START] = RFM22B_STATE_TX_START,
-			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@@ -426,7 +425,6 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 	[RFM22B_STATE_ERROR] = {
 		.entry_fn = rfm22_error,
 		.next_state = {
-			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_ERROR] = RFM22B_STATE_ERROR,
 			[RFM22B_EVENT_INITIALIZE] = RFM22B_STATE_INITIALIZING,
 			[RFM22B_EVENT_FATAL_ERROR] = RFM22B_STATE_FATAL_ERROR,
@@ -440,63 +438,34 @@ const static struct pios_rfm22b_transition rfm22b_transitions[RFM22B_STATE_NUM_S
 };
 
 // xtal 10 ppm, 434MHz
-#define LOOKUP_SIZE	 14
+#define LOOKUP_SIZE	 15
-static const uint32_t            data_rate[] = {   500,  1000,  2000,  4000,  8000,  9600, 16000, 19200, 24000,  32000,  64000, 128000, 192000, 256000};
+static const uint32_t            data_rate[] = {   500,  1000,  2000,  4000,  8000,  9600, 16000, 19200, 24000,  32000,  57600, 64000, 128000, 192000, 256000};
-static const uint8_t      modulation_index[] = {    16,     8,     4,     2,     1,     1,     1,     1,     1,      1,      1,      1,      1,      1};
+static const uint8_t      modulation_index[] = {    16,     8,     4,     2,     1,     1,     1,     1,     1,      1,      1,     1,      1,      1,      1};
-static const uint32_t       freq_deviation[] = {  4000,  4000,  4000,  4000,  4000,  4800,  8000,  9600, 12000,  16000,  32000,  64000,  96000, 128000};
-static const uint32_t         rx_bandwidth[] = { 17500, 17500, 17500, 17500, 17500, 19400, 32200, 38600, 51200,  64100, 137900, 269300, 420200, 518800};
-static const int8_t        est_rx_sens_dBm[] = {  -118,  -118,  -117,  -116,  -115,  -115,  -112,  -112,  -110,   -109,   -106,   -103,   -101,   -100}; // estimated receiver sensitivity for BER = 1E-3
 
-static const uint8_t                reg_1C[] = {  0x37,  0x37,  0x37,  0x37,  0x3A,  0x3B,  0x26,  0x28,  0x2E,   0x16,   0x07,   0x83,   0x8A,   0x8C}; // rfm22_if_filter_bandwidth
+static const uint8_t                reg_1C[] = {  0x37,  0x37,  0x37,  0x37,  0x3A,  0x3B,  0x26,  0x28,  0x2E,   0x16,   0x06,   0x07,   0x83,   0x8A,   0x8C}; // rfm22_if_filter_bandwidth
 
-static const uint8_t                reg_1D[] = {  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,   0x44,   0x44,   0x44,   0x44,   0x44}; // rfm22_afc_loop_gearshift_override
+static const uint8_t                reg_1D[] = {  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,  0x44,   0x44,   0x40,   0x44,   0x44,   0x44,   0x44}; // rfm22_afc_loop_gearshift_override
-static const uint8_t                reg_1E[] = {  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,   0x0A,   0x0A,   0x0A,   0x0A,   0x02}; // rfm22_afc_timing_control
+static const uint8_t                reg_1E[] = {  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,  0x0A,   0x0A,   0x0A,   0x0A,   0x0A,   0x0A,   0x02}; // rfm22_afc_timing_control
 
-static const uint8_t                reg_1F[] = {  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,   0x03,   0x03,   0x03,   0x03,   0x03}; // rfm22_clk_recovery_gearshift_override
+static const uint8_t                reg_1F[] = {  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,  0x03,   0x03,   0x03,   0x03,   0x03,   0x03,   0x03}; // rfm22_clk_recovery_gearshift_override
-static const uint8_t                reg_20[] = {  0xE8,  0xF4,  0xFA,  0x70,  0x3F,  0x34,  0x3F,  0x34,  0x2A,   0x3F,   0x3F,   0x5E,   0x3F,   0x2F}; // rfm22_clk_recovery_oversampling_ratio
+static const uint8_t                reg_20[] = {  0xE8,  0xF4,  0xFA,  0x70,  0x3F,  0x34,  0x3F,  0x34,  0x2A,   0x3F,   0x45,   0x3F,   0x5E,   0x3F,   0x2F}; // rfm22_clk_recovery_oversampling_ratio
-static const uint8_t                reg_21[] = {  0x60,  0x20,  0x00,  0x01,  0x02,  0x02,  0x02,  0x02,  0x03,   0x02,   0x02,   0x01,   0x02,   0x02}; // rfm22_clk_recovery_offset2
+static const uint8_t                reg_21[] = {  0x60,  0x20,  0x00,  0x01,  0x02,  0x02,  0x02,  0x02,  0x03,   0x02,   0x01,   0x02,   0x01,   0x02,   0x02}; // rfm22_clk_recovery_offset2
-static const uint8_t                reg_22[] = {  0x20,  0x41,  0x83,  0x06,  0x0C,  0x75,  0x0C,  0x75,  0x12,   0x0C,   0x0C,   0x5D,   0x0C,   0xBB}; // rfm22_clk_recovery_offset1
+static const uint8_t                reg_22[] = {  0x20,  0x41,  0x83,  0x06,  0x0C,  0x75,  0x0C,  0x75,  0x12,   0x0C,   0xD7,   0x0c,   0x5D,   0x0C,   0xBB}; // rfm22_clk_recovery_offset1
-static const uint8_t                reg_23[] = {  0xC5,  0x89,  0x12,  0x25,  0x4A,  0x25,  0x4A,  0x25,  0x6F,   0x4A,   0x4A,   0x86,   0x4A,   0x0D}; // rfm22_clk_recovery_offset0
+static const uint8_t                reg_23[] = {  0xC5,  0x89,  0x12,  0x25,  0x4A,  0x25,  0x4A,  0x25,  0x6F,   0x4A,   0xDC,   0x4A,   0x86,   0x4A,   0x0D}; // rfm22_clk_recovery_offset0
-static const uint8_t                reg_24[] = {  0x00,  0x00,  0x00,  0x02,  0x07,  0x07,  0x07,  0x07,  0x07,   0x07,   0x07,   0x05,   0x07,   0x07}; // rfm22_clk_recovery_timing_loop_gain1
+static const uint8_t                reg_24[] = {  0x00,  0x00,  0x00,  0x02,  0x07,  0x07,  0x07,  0x07,  0x07,   0x07,   0x07,   0x07,   0x05,   0x07,   0x07}; // rfm22_clk_recovery_timing_loop_gain1
-static const uint8_t                reg_25[] = {  0x0A,  0x23,  0x85,  0x0E,  0xFF,  0xFF,  0xFF,  0xFF,  0xFF,   0xFF,   0xFF,   0x74,   0xFF,   0xFF}; // rfm22_clk_recovery_timing_loop_gain0
+static const uint8_t                reg_25[] = {  0x0A,  0x23,  0x85,  0x0E,  0xFF,  0xFF,  0xFF,  0xFF,  0xFF,   0xFF,   0x6E,   0xFF,   0x74,   0xFF,   0xFF}; // rfm22_clk_recovery_timing_loop_gain0
 
-static const uint8_t                reg_2A[] = {  0x0E,  0x0E,  0x0E,  0x0E,  0x0E,  0x0D,  0x0D,  0x0E,  0x12,   0x17,   0x31,   0x50,   0x50,   0x50}; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
+static const uint8_t                reg_2A[] = {  0x0E,  0x0E,  0x0E,  0x0E,  0x0E,  0x0D,  0x0D,  0x0E,  0x12,   0x17,   0x2D,   0x31,   0x50,   0x50,   0x50}; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
 
-static const uint8_t                reg_6E[] = {  0x04,  0x08,  0x10,  0x20,  0x41,  0x4E,  0x83,  0x9D,  0xC4,   0x08,   0x10,   0x20,   0x31,   0x41}; // rfm22_tx_data_rate1
+static const uint8_t                reg_58[] = {  0x80,  0x80,  0x80,  0x80,  0x80,  0x80,  0x80,  0x80,  0x80,   0x80,   0x80,   0x80,   0x80,   0x80,   0x80}; // rfm22_cpcuu
-static const uint8_t                reg_6F[] = {  0x19,  0x31,  0x62,  0xC5,  0x89,  0xA5,  0x12,  0x49,  0x9C,   0x31,   0x62,   0xC5,   0x27,   0x89}; // rfm22_tx_data_rate0
+static const uint8_t                reg_69[] = {  0x20,  0x20,  0x20,  0x20,  0x20,  0x20,  0x20,  0x20,  0x20,   0x20,   0x60,   0x20,   0x20,   0x20,   0x20}; // rfm22_agc_override1
+static const uint8_t                reg_6E[] = {  0x04,  0x08,  0x10,  0x20,  0x41,  0x4E,  0x83,  0x9D,  0xC4,   0x08,   0x0E,   0x10,   0x20,   0x31,   0x41}; // rfm22_tx_data_rate1
+static const uint8_t                reg_6F[] = {  0x19,  0x31,  0x62,  0xC5,  0x89,  0xA5,  0x12,  0x49,  0x9C,   0x31,   0xBF,   0x62,   0xC5,   0x27,   0x89}; // rfm22_tx_data_rate0
 
-static const uint8_t                reg_70[] = {  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,   0x0D,   0x0D,   0x0D,   0x0D,   0x0D}; // rfm22_modulation_mode_control1
+static const uint8_t                reg_70[] = {  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,  0x2D,   0x0D,   0x0C,   0x0C,   0x0D,   0x0D,   0x0D}; // rfm22_modulation_mode_control1
-static const uint8_t                reg_71[] = {  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,   0x23,   0x23,   0x23,   0x23,   0x23}; // rfm22_modulation_mode_control2
+static const uint8_t                reg_71[] = {  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,  0x23,   0x23,   0x23,   0x23,   0x23,   0x23,   0x23}; // rfm22_modulation_mode_control2
 
-static const uint8_t                reg_72[] = {  0x06,  0x06,  0x06,  0x06,  0x06,  0x08,  0x0D,  0x0F,  0x13,   0x1A,   0x33,   0x66,   0x9A,   0xCD}; // rfm22_frequency_deviation
+static const uint8_t                reg_72[] = {  0x06,  0x06,  0x06,  0x06,  0x06,  0x08,  0x0D,  0x0F,  0x13,   0x1A,   0x2E,   0x33,   0x66,   0x9A,   0xCD}; // rfm22_frequency_deviation
-
-// ************************************
-// Scan Spectrum settings
-// GFSK modulation
-// no manchester encoding
-// data whitening
-// FIFO mode
-//  5-nibble rx preamble length detection
-// 10-nibble tx preamble length
-#define SS_LOOKUP_SIZE	 2
-
-// xtal 1 ppm, 434MHz
-static const uint32_t ss_rx_bandwidth[] = {  2600, 10600};
-
-static const uint8_t ss_reg_1C[] = {  0x51, 0x32}; // rfm22_if_filter_bandwidth
-static const uint8_t ss_reg_1D[] = {  0x00, 0x00}; // rfm22_afc_loop_gearshift_override
-
-static const uint8_t ss_reg_20[] = {  0xE8, 0x38}; // rfm22_clk_recovery_oversampling_ratio
-static const uint8_t ss_reg_21[] = {  0x60, 0x02}; // rfm22_clk_recovery_offset2
-static const uint8_t ss_reg_22[] = {  0x20, 0x4D}; // rfm22_clk_recovery_offset1
-static const uint8_t ss_reg_23[] = {  0xC5, 0xD3}; // rfm22_clk_recovery_offset0
-static const uint8_t ss_reg_24[] = {  0x00, 0x07}; // rfm22_clk_recovery_timing_loop_gain1
-static const uint8_t ss_reg_25[] = {  0x0F, 0xFF}; // rfm22_clk_recovery_timing_loop_gain0
-
-static const uint8_t ss_reg_2A[] = {  0xFF, 0xFF}; // rfm22_afc_limiter .. AFC_pull_in_range = <20>AFCLimiter[7:0] x (hbsel+1) x 625 Hz
-
-static const uint8_t ss_reg_70[] = {  0x24, 0x2D}; // rfm22_modulation_mode_control1
-static const uint8_t ss_reg_71[] = {  0x2B, 0x23}; // rfm22_modulation_mode_control2
 
 
 static inline uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
@@ -563,9 +532,9 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
 	rfm22b_dev->spi_id = spi_id;
 
 	// Initialize our configuration parameters
-	rfm22b_dev->coordinator = false;
 	rfm22b_dev->send_ppm = false;
 	rfm22b_dev->datarate = RFM22B_DEFAULT_RX_DATARATE;
+	rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
 
 	// Initialize the com callbacks.
 	rfm22b_dev->com_config_cb = NULL;
@@ -584,6 +553,18 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
 	rfm22b_dev->stats.timeouts = 0;
 	rfm22b_dev->stats.link_quality = 0;
 	rfm22b_dev->stats.rssi = 0;
+	rfm22b_dev->stats.tx_seq = 0;
+	rfm22b_dev->stats.rx_seq = 0;
+
+	// Initialize the frequencies.
+	PIOS_RFM22B_SetInitialFrequency(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY);
+	PIOS_RFM22B_SetFrequencyRange(*rfm22b_id, RFM22B_DEFAULT_FREQUENCY, RFM22B_DEFAULT_FREQUENCY, RFM22B_FREQUENCY_HOP_STEP_SIZE);
+
+	// Initialize the bindings.
+	for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
+		rfm22b_dev->bindings[i].pairID = 0;
+	}
+	rfm22b_dev->coordinator = false;
 
 	// Create the event queue
 	rfm22b_dev->eventQueue = xQueueCreate(EVENT_QUEUE_SIZE, sizeof(enum pios_rfm22b_event));
@@ -606,6 +587,11 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
 	rfm22b_dev->deviceID = crcs[0] | crcs[1] << 8 | crcs[2] << 16 | crcs[3] << 24;
 	DEBUG_PRINTF(2, "RF device ID: %x\n\r", rfm22b_dev->deviceID);
 
+#if defined(PIOS_INCLUDE_GCSRCVR)
+        // Initialize the GCSReceive object
+	GCSReceiverInitialize();
+#endif
+
 	// Initialize the external interrupt.
 	PIOS_EXTI_Init(cfg->exti_cfg);
 
@@ -629,13 +615,23 @@ int32_t PIOS_RFM22B_Init(uint32_t *rfm22b_id, uint32_t spi_id, uint32_t slave_nu
 	return(0);
 }
 
+/**
+ * Re-initialize the modem after a configuration change.
+ */
+void PIOS_RFM22B_Reinit(uint32_t rfm22b_id)
+{
+	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+	if (PIOS_RFM22B_validate(rfm22b_dev))
+		PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
+}
+
 /**
  * The RFM22B external interrupt routine.
  */
 bool PIOS_RFM22_EXT_Int(void)
 {
 	if (!PIOS_RFM22B_validate(g_rfm22b_dev))
-	    return false;
+		return false;
 
 	// Inject an interrupt event into the state machine.
 	PIOS_RFM22B_InjectEvent(g_rfm22b_dev, RFM22B_EVENT_INT_RECEIVED, true);
@@ -681,10 +677,26 @@ void PIOS_RFM22B_InjectEvent(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rfm22
 uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
 {
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if (PIOS_RFM22B_validate(rfm22b_dev))
+	if (PIOS_RFM22B_validate(rfm22b_dev)) {
-		return rfm22b_dev->deviceID;
+                return rfm22b_dev->deviceID;
-	else
+	} else {
 		return 0;
+	}
+}
+
+/**
+ * Returns true if the modem is configured as a coordinator.
+ * \param[in] rfm22b_id The RFM22B device index.
+ * \return True if the modem is configured as a coordinator.
+ */
+bool PIOS_RFM22B_IsCoordinator(uint32_t rfm22b_id)
+{
+	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+	if (PIOS_RFM22B_validate(rfm22b_dev)) {
+		return rfm22b_dev->coordinator;
+	} else {
+		return false;
+	}
 }
 
 /**
@@ -695,74 +707,42 @@ uint32_t PIOS_RFM22B_DeviceID(uint32_t rfm22b_id)
 void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr)
 {
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if (!PIOS_RFM22B_validate(rfm22b_dev))
+	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
 		return;
+	}
 	rfm22b_dev->tx_power = tx_pwr;
 }
 
 /**
- * Sets the radio frequency range and value.
+ * Sets the radio frequency range and initial frequency
- * \param[in] rfm22b_id The RFM22B device index.
+ * \param[in] rfm22b_id  The RFM22B device index.
- * \param[in] min_frequency The minimum frequency.
+ * \param[in] min_freq  The minimum frequency
- * \param[in] max_frequency The maximum frequency.
+ * \param[in] max_freq  The maximum frequency
+ * \param[in] step_size  The channel step size
  */
-void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_frequency, uint32_t max_frequency)
+void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size)
 {
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if (!PIOS_RFM22B_validate(rfm22b_dev))
+	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
 		return;
-	rfm22b_dev->min_frequency = min_frequency;
+	}
-	rfm22b_dev->max_frequency = max_frequency;
+	rfm22b_dev->con_packet.min_frequency = min_freq;
-	rfm22_setNominalCarrierFrequency(rfm22b_dev, (max_frequency - min_frequency) / 2);
+	rfm22b_dev->con_packet.max_frequency = max_freq;
+	rfm22b_dev->con_packet.channel_spacing = step_size;
 }
 
 /**
- * Sets the radio destination ID.
+ * Sets the initial radio frequency range
- * \param[in] rfm22b_id The RFM22B device index.
+ * \param[in] rfm22b_id  The RFM22B device index.
- * \param[in] dest_id The destination ID.
+ * \param[in] init_freq  The initial frequency
  */
-void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id)
+void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq)
 {
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if (!PIOS_RFM22B_validate(rfm22b_dev))
+	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
 		return;
-	rfm22b_dev->destination_id = (dest_id == 0) ? 0xffffffff : dest_id;
+	}
-	// The first slot is reserved for our current pairID
+	rfm22b_dev->init_frequency = init_freq;
-	rfm22b_dev->pair_stats[0].pairID = dest_id;
-	rfm22b_dev->pair_stats[0].rssi = -127;
-	rfm22b_dev->pair_stats[0].afc_correction = 0;
-	rfm22b_dev->pair_stats[0].lastContact = 0;
-}
-
-/**
- * Configures the radio as a coordinator or not.
- * \param[in] rfm22b_id The RFM22B device index.
- * \param[in] coordinator Sets as coordinator if true.
- */
-void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator)
-{
-	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if (!PIOS_RFM22B_validate(rfm22b_dev))
-		return;
-	rfm22b_dev->coordinator = coordinator;
-
-	// Re-initialize the radio device.
-	PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
-}
-
-/**
- * Set the remote com port configuration parameters.
- * \param[in] rfm22b_id  The rfm22b device.
- * \param[in] com_port  The remote com port
- * \param[in] com_speed  The remote com port speed
- */
-void PIOS_RFM22B_SetRemoteComConfig(uint32_t rfm22b_id, OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed)
-{
- 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if(!PIOS_RFM22B_validate(rfm22b_dev))
-		return;
-	rfm22b_dev->con_packet.port = com_port;
-	rfm22b_dev->con_packet.com_speed = com_speed;
 }
 
 /**
@@ -771,11 +751,35 @@ void PIOS_RFM22B_SetRemoteComConfig(uint32_t rfm22b_id, OPLinkSettingsOutputConn
  * \param[in] cb  A pointer to the callback function
  */
 void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb)
+{
+ 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+	if(!PIOS_RFM22B_validate(rfm22b_dev)) {
+		return;
+	}
+	rfm22b_dev->com_config_cb = cb;
+}
+
+/**
+ * Set the list of modems that this modem will bind with.
+ * \param[in] rfm22b_id  The rfm22b device.
+ * \param[in] bindings  The array of bindings.
+ */
+void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
+			     const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[])
 {
  	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 	if(!PIOS_RFM22B_validate(rfm22b_dev))
 		return;
-	rfm22b_dev->com_config_cb = cb;
+	// This modem will be considered a coordinator if any bindings have been set.
+	rfm22b_dev->coordinator = false;
+	for (uint32_t i = 0; i < OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
+		rfm22b_dev->bindings[i].pairID = bindingPairIDs[i];
+		rfm22b_dev->bindings[i].main_port = mainPortSettings[i];
+		rfm22b_dev->bindings[i].flexi_port = flexiPortSettings[i];
+		rfm22b_dev->bindings[i].vcp_port = vcpPortSettings[i];
+		rfm22b_dev->bindings[i].com_speed = comSpeeds[i];
+		rfm22b_dev->coordinator |= (rfm22b_dev->bindings[i].pairID != 0);
+	}
 }
 
 /**
@@ -806,7 +810,7 @@ void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats) {
 	*stats = rfm22b_dev->stats;
 }
 
- /**
+/**
  * Get the stats of the oter radio devices that are in range.
  * \param[out] device_ids  A pointer to the array to store the device IDs.
  * \param[out] RSSIs  A pointer to the array to store the RSSI values in.
@@ -839,7 +843,41 @@ bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id)
  	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 	if(!PIOS_RFM22B_validate(rfm22b_dev))
 		return false;
-	return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD);
+	return (rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->stats.link_quality > RFM22B_LINK_QUALITY_THRESHOLD));
+}
+
+/**
+ * Send a PPM packet with the given channel values.
+ * \param[in] rfm22b_id  The rfm22b device.
+ * \param[in] channels  The channel values.
+ * \param[in] nchannels  The number of channels.
+ * Returns true if there is a valid connection to paired radio, false otherwise.
+ */
+void PIOS_RFM22B_SendPPM(uint32_t rfm22b_id, const uint16_t *channels, uint8_t nchannels)
+{
+#ifdef PIOS_PPM_RECEIVER
+	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
+ 	if (!PIOS_RFM22B_validate(rfm22b_dev)) {
+ 		return;
+	}
+
+	// Only send PPM if we're connected
+	if (!rfm22_isConnected(rfm22b_dev)) {
+		return;
+	}
+
+	// See if we have any valid channels.
+	uint8_t nchan = (nchannels <= PIOS_PPM_NUM_INPUTS) ? nchannels : PIOS_PPM_NUM_INPUTS;
+	for (uint8_t i = 0; i < nchan; ++i) {
+		rfm22b_dev->ppm_packet.channels[i] = channels[i];
+	}
+
+	// Send the PPM packet.
+	rfm22b_dev->ppm_packet.header.destination_id = rfm22b_dev->destination_id;
+	rfm22b_dev->ppm_packet.header.type = PACKET_TYPE_PPM;
+	rfm22b_dev->ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&(rfm22b_dev->ppm_packet));
+	rfm22b_dev->send_ppm = true;
+#endif
 }
 
 /**
@@ -849,7 +887,7 @@ static void PIOS_RFM22B_Task(void *parameters)
 {
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)parameters;
 	if (!PIOS_RFM22B_validate(rfm22b_dev))
-	    return;
+		return;
 	portTickType lastEventTicks = xTaskGetTickCount();
 	portTickType lastStatusTicks = lastEventTicks;
 	portTickType lastPPMTicks = lastEventTicks;
@@ -892,17 +930,21 @@ static void PIOS_RFM22B_Task(void *parameters)
 			}
 		}
 
+		// Change channels if necessary.
+		if ((rfm22b_dev->state == RFM22B_STATE_RX_MODE) || (rfm22b_dev->state == RFM22B_STATE_WAIT_PREAMBLE)) {
+			rfm22_changeChannel(rfm22b_dev);
+		}
+
 		portTickType curTicks = xTaskGetTickCount();
+		uint32_t last_rec_ms = (rfm22b_dev->rx_complete_ticks == 0) ? 0 : timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks);
 		// Have we been sending this packet too long?
-		if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3)))
+		if ((rfm22b_dev->packet_start_ticks > 0) && (timeDifferenceMs(rfm22b_dev->packet_start_ticks, curTicks) > (rfm22b_dev->max_packet_time * 3))) {
 			rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TIMEOUT);
 
-		// Have it been too long since we received a packet
+		// Has it been too long since we received a packet
-		else if ((rfm22b_dev->rx_complete_ticks > 0) && (timeDifferenceMs(rfm22b_dev->rx_complete_ticks, curTicks) > DISCONNECT_TIMEOUT_MS))
+		} else if (last_rec_ms > DISCONNECT_TIMEOUT_MS) {
 			rfm22_process_event(rfm22b_dev, RFM22B_EVENT_ERROR);
-
+		} else {
-		else
-		{
 				
 			// Are we waiting for an ACK?
 			if (rfm22b_dev->prev_tx_packet)
@@ -926,7 +968,7 @@ static void PIOS_RFM22B_Task(void *parameters)
 				}
 
 				// Queue up a status packet if it's time.
-				if (timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS)
+				if ((timeDifferenceMs(lastStatusTicks, curTicks) > RADIOSTATS_UPDATE_PERIOD_MS) || (last_rec_ms > rfm22b_dev->max_packet_time * 4))
 				{
 					rfm22_sendStatus(rfm22b_dev);
 					lastStatusTicks = curTicks;
@@ -937,11 +979,17 @@ static void PIOS_RFM22B_Task(void *parameters)
 
 		// Send a packet if it's our time slice
 		rfm22b_dev->time_to_send = (((curTicks - rfm22b_dev->time_to_send_offset) & 0x6) == 0);
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
-		if (rfm22b_dev->time_to_send)
+		if (rfm22b_dev->time_to_send) {
 			D4_LED_ON;
-		else
+		} else {
 			D4_LED_OFF;
+		}
+		if (rfm22_inChannelBuffer(rfm22b_dev)) {
+			D3_LED_ON;
+		} else {
+			D3_LED_OFF;
+		}
 #endif
 		if (rfm22b_dev->time_to_send)
 			rfm22_process_event(rfm22b_dev, RFM22B_EVENT_TX_START);
@@ -965,11 +1013,11 @@ static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_d
 {
 	uint32_t datarate_bps = data_rate[datarate];
 	rfm22b_dev->max_packet_time = (uint16_t)((float)(PIOS_PH_MAX_PACKET * 8 * 1000) / (float)(datarate_bps) + 0.5);
-	if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
+	if (rfm22_isConnected(rfm22b_dev))
 	{
 		// Generate a pseudo-random number from 0-8 to add to the delay
 		uint8_t random = PIOS_CRC_updateByte(0, (uint8_t)(xTaskGetTickCount() & 0xff)) & 0x03;
-		rfm22b_dev->max_ack_delay = (uint16_t)((float)(sizeof(PHPacketHeader) * 8 * 1000) / (float)(datarate_bps) + 0.5) * 4 + random;
+		rfm22b_dev->max_ack_delay = (uint16_t)((float)((sizeof(PHAckNackPacket) * 8 + TX_PREAMBLE_NIBBLES * 4) * 1000) / (float)(datarate_bps) + 0.5) * 4 + 4 + random;
 	}
 	else
 		rfm22b_dev->max_ack_delay = CONNECT_ATTEMPT_PERIOD_MS;
@@ -996,6 +1044,8 @@ static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_d
 	rfm22_write(rfm22b_dev, 0x24, reg_24[datarate]);
 	// rfm22_clk_recovery_timing_loop_gain0
 	rfm22_write(rfm22b_dev, 0x25, reg_25[datarate]);
+	// rfm22_agc_override1
+	rfm22_write(rfm22b_dev, RFM22_agc_override1, reg_69[datarate]);
 
 	// rfm22_afc_limiter
 	rfm22_write(rfm22b_dev, 0x2A, reg_2A[datarate]);
@@ -1018,21 +1068,13 @@ static void rfm22_setDatarate(struct pios_rfm22b_dev * rfm22b_dev, enum rfm22b_d
 	// rfm22_frequency_deviation
 	rfm22_write(rfm22b_dev, 0x72, reg_72[datarate]);
 
+	// rfm22_cpcuu
+	rfm22_write(rfm22b_dev, 0x58, reg_58[datarate]);
+
 	rfm22_write(rfm22b_dev, RFM22_ook_counter_value1, 0x00);
 	rfm22_write(rfm22b_dev, RFM22_ook_counter_value2, 0x00);
 }
 
-void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening)
-{
-	struct pios_rfm22b_dev * rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
-	if(!PIOS_RFM22B_validate(rfm22b_dev))
-		return;
-	rfm22b_dev->datarate = datarate;
-
-	// Re-initialize the radio device.
-	PIOS_RFM22B_InjectEvent(rfm22b_dev, RFM22B_EVENT_INITIALIZE, false);
-}
-
 // ************************************
 // SPI read/write
 
@@ -1085,13 +1127,13 @@ static void rfm22_write(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_
  * toggle the NSS line
  * @param[in] addr The address of the RFM22b register to write
  * @param[in] data The data to write to that register
-static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
+ static void rfm22_write_noclaim(struct pios_rfm22b_dev *rfm22b_dev, uint8_t addr, uint8_t data)
-{
+ {
-	uint8_t buf[2] = {addr | 0x80, data};
+	 uint8_t buf[2] = {addr | 0x80, data};
-	rfm22_assertCs(rfm22b_dev);
+	 rfm22_assertCs(rfm22b_dev);
-	PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
+	 PIOS_SPI_TransferBlock(rfm22b_dev->spi_id, buf, NULL, sizeof(buf), NULL);
-	rfm22_deassertCs(rfm22b_dev);
+	 rfm22_deassertCs(rfm22b_dev);
-}
+ }
 */
 
 /**
@@ -1169,61 +1211,61 @@ static void rfm22_process_event(struct pios_rfm22b_dev *rfm22b_dev, enum pios_rf
 
 // ************************************
 
-static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t frequency_hz)
+static void rfm22_setNominalCarrierFrequency(struct pios_rfm22b_dev *rfm22b_dev, uint32_t min_frequency, uint32_t max_frequency, uint32_t step_size)
 {
-	if (frequency_hz < rfm22b_dev->min_frequency)
+	uint32_t frequency_hz = min_frequency;
-		frequency_hz = rfm22b_dev->min_frequency;
-	else if (frequency_hz > rfm22b_dev->max_frequency)
-		frequency_hz = rfm22b_dev->max_frequency;
 
 	// holds the hbsel (1 or 2)
 	uint8_t	hbsel;
 	if (frequency_hz < 480000000)
-		hbsel = 1;
+		hbsel = 0;
 	else
-		hbsel = 2;
+		hbsel = 1;
-	uint8_t fb = (uint8_t)(frequency_hz / (10000000 * hbsel));
+	float freq_mhz = (float)(frequency_hz) / 1000000.0;
+	float xtal_freq_khz = 30000;
+	float sfreq = freq_mhz / (10.0 * (xtal_freq_khz / 30000.0) * (1 + hbsel));
+	uint32_t fb = (uint32_t)sfreq - 24 + (64 + 32 * hbsel);
+	uint32_t fc = (uint32_t)((sfreq - (uint32_t)sfreq) * 64000.0);
+	uint8_t fch = (fc >> 8) & 0xff;
+	uint8_t fcl = fc & 0xff;
 
-	uint32_t fc = (uint32_t)(frequency_hz - (10000000 * hbsel * fb));
+	// Calculate the number of frequency hopping channels.
+	rfm22b_dev->num_channels = (step_size == 0) ? 1 : (uint16_t)((max_frequency - min_frequency) / step_size);
 
-	fc = (fc * 64u) / (10000ul * hbsel);
+	// initialize the frequency hopping step size (specified in 10khz increments).
-	fb -= 24;
+	uint32_t freq_hop_step_size = step_size / 10000;
-
+	if (freq_hop_step_size > 255) {
-	if (hbsel > 1)
+		freq_hop_step_size = 255;
-		fb |= RFM22_fbs_hbsel;
+        }
-
+	rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, (uint8_t)freq_hop_step_size);
-	fb |= RFM22_fbs_sbse;	// is this the RX LO polarity?
 
 	// frequency hopping channel (0-255)
 	rfm22b_dev->frequency_step_size = 156.25f * hbsel;
 
 	// frequency hopping channel (0-255)
-	rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, rfm22b_dev->frequency_hop_channel);
+	rfm22b_dev->frequency_hop_channel = 0;
+	rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, 0);
 
 	// no frequency offset
 	rfm22_write(rfm22b_dev, RFM22_frequency_offset1, 0);
-	// no frequency offset
 	rfm22_write(rfm22b_dev, RFM22_frequency_offset2, 0);
 
 	// set the carrier frequency
-	rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb);
+	rfm22_write(rfm22b_dev, RFM22_frequency_band_select, fb & 0xff);
-	rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fc >> 8);
+	rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency1, fch);
-	rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fc & 0xff);
+	rfm22_write(rfm22b_dev, RFM22_nominal_carrier_frequency0, fcl);
 }
 
-/*
+static bool rfm22_setFreqHopChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t channel)
-static void rfm22_setFreqHopChannel(uint8_t channel)
+{
-{	// set the frequency hopping channel
+	// set the frequency hopping channel
-	g_rfm22b_dev->frequency_hop_channel = channel;
+	if (rfm22b_dev->frequency_hop_channel == channel)
+		return false;
+	rfm22b_dev->frequency_hop_channel = channel;
 	rfm22_write(rfm22b_dev, RFM22_frequency_hopping_channel_select, channel);
+	return true;
 }
 
-static uint32_t rfm22_freqHopSize(void)
-{	// return the frequency hopping step size
-	return ((uint32_t)g_rfm22b_dev->frequency_hop_step_size_reg * 10000);
-}
-*/
-
 static void rfm22_calculateLinkQuality(struct pios_rfm22b_dev *rfm22b_dev)
 {
 	// Add the RX packet statistics
@@ -1267,13 +1309,11 @@ static enum pios_rfm22b_event rfm22_setRxMode(struct pios_rfm22b_dev *rfm22b_dev
 {
 	// Are we already in Rx mode?
 	if (rfm22b_dev->in_rx_mode)
-		return RFM22B_EVENT_NUM_EVENTS;
+ 		return RFM22B_EVENT_NUM_EVENTS;
-
 	rfm22b_dev->packet_start_ticks = 0;
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 	D2_LED_ON;
-	D3_LED_TOGGLE;
+#endif // PIOS_RFM22B_DEBUG_ON_TELEM
-#endif
 
 	// disable interrupts
 	rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
@@ -1319,6 +1359,10 @@ static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
 	if (rfm22b_dev->prev_tx_packet || rfm22b_dev->send_ppm || rfm22b_dev->send_status)
 		return true;
 
+	// Are we not connected yet?
+	if (!rfm22_isConnected(rfm22b_dev))
+		return true;
+
 	// Is there some data ready to sent?
 	PHPacketHandle dp = &rfm22b_dev->data_packet;
 	if (dp->header.data_size > 0)
@@ -1332,49 +1376,51 @@ static bool rfm22_ready_to_send(struct pios_rfm22b_dev *rfm22b_dev)
 	return false;
 }
 
+static bool rfm22_isConnected(struct pios_rfm22b_dev *rfm22b_dev)
+{
+	return (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED);
+}
+
 static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
 {
 	PHPacketHandle p = NULL;
 
 	// Don't send if it's not our turn.
-	if (!rfm22b_dev->time_to_send)
+	if (!rfm22b_dev->time_to_send || (rfm22_inChannelBuffer(rfm22b_dev) && rfm22_isConnected(rfm22b_dev)))
 		return RFM22B_EVENT_RX_MODE;
 
 	// See if there's a packet ready to send.
 	if (rfm22b_dev->tx_packet)
 		p = rfm22b_dev->tx_packet;
 
-	// Are we waiting for an ACK?
+	else {
-	else
-	{
 
 		// Don't send a packet if we're waiting for an ACK
 		if (rfm22b_dev->prev_tx_packet)
 			return RFM22B_EVENT_RX_MODE;
 
-		if (!p && rfm22b_dev->send_connection_request)
+		// Send a connection request?
-		{
+		if (!p && rfm22b_dev->send_connection_request) {
 			p = (PHPacketHandle)&(rfm22b_dev->con_packet);
 			rfm22b_dev->send_connection_request = false;
 		}
 
 #ifdef PIOS_PPM_RECEIVER
-		if (!p && rfm22b_dev->send_ppm)
+		// Send a PPM packet?
-		{
+		if (!p && rfm22b_dev->send_ppm)	{
 			p = (PHPacketHandle)&(rfm22b_dev->ppm_packet);
 			rfm22b_dev->send_ppm = false;
 		}
 #endif
 
-		if (!p && rfm22b_dev->send_status)
+		// Send status?
-		{
+		if (!p && rfm22b_dev->send_status) {
 			p = (PHPacketHandle)&(rfm22b_dev->status_packet);
 			rfm22b_dev->send_status = false;
 		}
 
-		if (!p)
+		// Try to get some data to send
-		{
+		if (!p)	{
-			// Try to get some data to send
 			bool need_yield = false;
 			p = &rfm22b_dev->data_packet;
 			p->header.type = PACKET_TYPE_DATA;
@@ -1383,7 +1429,7 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
 				p->header.data_size = (rfm22b_dev->tx_out_cb)(rfm22b_dev->tx_out_context, p->data, PH_MAX_DATA, NULL, &need_yield);
 
 			// Don't send any data until we're connected.
-			if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
+			if (!rfm22_isConnected(rfm22b_dev))
 				p->header.data_size = 0;
 			if (p->header.data_size == 0)
 				p = NULL;
@@ -1398,14 +1444,17 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
 	// We're transitioning out of Rx mode.
 	rfm22b_dev->in_rx_mode = false;
 
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 	D1_LED_ON;
 	D2_LED_OFF;
-	D3_LED_TOGGLE;
 #endif
 
+	// Change the channel if necessary.
+	if (((p->header.type != PACKET_TYPE_ACK) && (p->header.type != PACKET_TYPE_ACK_RTS)) ||
+	    (rfm22b_dev->rx_packet.header.type != PACKET_TYPE_CON_REQUEST))
+		rfm22_changeChannel(rfm22b_dev);
+
 	// Add the error correcting code.
-	p->header.source_id = rfm22b_dev->deviceID;
 	encode_data((unsigned char*)p, PHPacketSize(p), (unsigned char*)p);
 
 	rfm22b_dev->tx_packet = p;
@@ -1438,10 +1487,6 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_write(rfm22b_dev, RFM22_modulation_mode_control2, fd_bit | RFM22_mmc2_dtmod_fifo |
 		    RFM22_mmc2_modtyp_gfsk);
 
-	// set the tx power
-	rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_1 |
-		    RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
-
 	// clear FIFOs
 	rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, RFM22_opfc2_ffclrrx | RFM22_opfc2_ffclrtx);
 	rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
@@ -1476,20 +1521,23 @@ static enum pios_rfm22b_event rfm22_txStart(struct pios_rfm22b_dev *rfm22b_dev)
 
 static void rfm22_sendStatus(struct pios_rfm22b_dev *rfm22b_dev)
 {
-	// Only send status if we're connected
+	// The coordinator doesn't send status.
-	if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
+	if (rfm22b_dev->coordinator)
 		return;
 
 	// Update the link quality metric.
 	rfm22_calculateLinkQuality(rfm22b_dev);
 
 	// Queue the status message
-	if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
+	if (rfm22_isConnected(rfm22b_dev))
 		rfm22b_dev->status_packet.header.destination_id = rfm22b_dev->destination_id;
+	else if (rfm22b_dev->coordinator)
+		return;
 	else
 		rfm22b_dev->status_packet.header.destination_id = 0xffffffff; // Broadcast
 	rfm22b_dev->status_packet.header.type = PACKET_TYPE_STATUS;
 	rfm22b_dev->status_packet.header.data_size = PH_STATUS_DATA_SIZE(&(rfm22b_dev->status_packet));
+        rfm22b_dev->status_packet.source_id = rfm22b_dev->deviceID;
 	rfm22b_dev->status_packet.link_quality = rfm22b_dev->stats.link_quality;
 	rfm22b_dev->status_packet.received_rssi = rfm22b_dev->rssi_dBm;
 	rfm22b_dev->send_status = true;
@@ -1501,12 +1549,14 @@ static void rfm22_sendPPM(struct pios_rfm22b_dev *rfm22b_dev)
 {
 #ifdef PIOS_PPM_RECEIVER
 	// Only send PPM if we're connected
-	if (rfm22b_dev->stats.link_state != OPLINKSTATUS_LINKSTATE_CONNECTED)
+	if (!rfm22_isConnected(rfm22b_dev)) {
 		return;
+	}
 
 	// Just return if the PPM receiver is not configured.
-	if (PIOS_PPM_RECEIVER == 0)
+	if (PIOS_PPM_RECEIVER == 0) {
 		return;
+	}
 
 	// See if we have any valid channels.
 	bool valid_input_detected = false;
@@ -1589,10 +1639,6 @@ static enum pios_rfm22b_event rfm22_detectPreamble(struct pios_rfm22b_dev *rfm22
 		if (rfm22b_dev->packet_start_ticks == 0)
 			rfm22b_dev->packet_start_ticks = 1;
 		RX_LED_ON;
-
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
-		D3_LED_TOGGLE;
-#endif
 		return RFM22B_EVENT_PREAMBLE_DETECTED;
 	}
 
@@ -1653,8 +1699,7 @@ static bool rfm22_receivePacket(struct pios_rfm22b_dev *rfm22b_dev, PHPacketHand
 	if (!ack_nack_packet && (good_packet || corrected_packet))
 	{
 		uint16_t seq_num = p->header.seq_num;
-		if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
+		if (rfm22_isConnected(rfm22b_dev)) {
-		{
 			static bool first_time = true;
 			uint16_t missed_packets = 0;
 			if (first_time)
@@ -1771,6 +1816,16 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
 					bool rx_need_yield;
 					if (rfm22b_dev->rx_in_cb)
 						(rfm22b_dev->rx_in_cb)(rfm22b_dev->rx_in_context, rfm22b_dev->rx_packet.data, rfm22b_dev->rx_packet.header.data_size, NULL, &rx_need_yield);
+#ifdef RFM22B_TEST_DROPPED_PACKETS
+					// Inject radnom missed ACKs
+					{
+						static uint8_t crc = 0;
+						static uint8_t cntr = 0;
+						crc = PIOS_CRC_updateByte(crc, cntr++);
+					        if ((crc & 0x7) == 0)
+							ret_event = RFM22B_EVENT_RX_MODE;
+					}
+#endif
 					break;
 				}
 				case PACKET_TYPE_DUPLICATE_DATA:
@@ -1784,20 +1839,41 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
 					break;
 				case PACKET_TYPE_PPM:
 				{
+#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)) || defined(PIOS_INCLUDE_RFM22B_RCVR)
 					PHPpmPacketHandle ppmp = (PHPpmPacketHandle)&(rfm22b_dev->rx_packet);
+#if defined(PIOS_INCLUDE_GCSRCVR) || (defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT))
+					bool ppm_output = false;
+#endif
+#endif
+#if defined(PIOS_INCLUDE_RFM22B_RCVR)
+					ppm_output = true;
 					for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
 						rfm22b_dev->ppm_channel[i] = ppmp->channels[i];
-#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
-						if (PIOS_PPM_OUTPUT)
-							PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
-#endif /* PIOS_INCLUDE_PPM_OUT && PIOS_PPM_OUTPUT */
 					}
-					rfm22b_dev->ppm_fresh = true;
+#endif					
+#if defined(PIOS_INCLUDE_PPM_OUT) && defined(PIOS_PPM_OUTPUT)
+					if (PIOS_PPM_OUTPUT) {
+						ppm_output = true;
+						for (uint8_t i = 0; i < PIOS_RFM22B_RCVR_MAX_CHANNELS; ++i) {
+							PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, ppmp->channels[i]);
+						}
+					}
+#endif
+#if defined(PIOS_INCLUDE_GCSRCVR)
+					if (!ppm_output) {
+						GCSReceiverData gcsRcvr;
+						for (uint8_t i = 0; (i < PIOS_RFM22B_RCVR_MAX_CHANNELS) && (i < GCSRECEIVER_CHANNEL_NUMELEM); ++i) {
+							gcsRcvr.Channel[i] = ppmp->channels[i];
+						}
+						GCSReceiverSet(&gcsRcvr);                                        
+					}
+#endif
 					break;
 				}
 				default:
 					break;
 				}
+
 			}
 			else
 				ret_event = RFM22B_EVENT_RX_ERROR;
@@ -1805,9 +1881,8 @@ static enum pios_rfm22b_event rfm22_rxData(struct pios_rfm22b_dev *rfm22b_dev)
 			rfm22b_dev->rx_complete_ticks = xTaskGetTickCount();
 			if (rfm22b_dev->rx_complete_ticks == 0)
 				rfm22b_dev->rx_complete_ticks = 1;
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 			D2_LED_OFF;
-			D3_LED_TOGGLE;
 #endif
 		}
 
@@ -1841,10 +1916,6 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
 	if (!rfm22_readStatus(rfm22b_dev))
 		return RFM22B_EVENT_FAILURE;
 
-	// FIFO under/over flow error.
-	//if (rfm22b_dev->int_status1 & RFM22_is1_ifferr)
-	//return RFM22B_EVENT_FAILURE;
-
 	// TX FIFO almost empty, it needs filling up
 	if (rfm22b_dev->int_status1 & RFM22_is1_ixtffaem)
 	{
@@ -1865,28 +1936,47 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
 	// Packet has been sent
 	else if (rfm22b_dev->int_status1 & RFM22_is1_ipksent)
 	{
+		portTickType curTicks = xTaskGetTickCount();
 		rfm22b_dev->stats.tx_byte_count += PH_PACKET_SIZE(rfm22b_dev->tx_packet);
 
 		// Is this an ACK?
 		bool is_ack = ((rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK) || (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS));
-		//ret_event = is_ack ? RFM22B_EVENT_TX_START : RFM22B_EVENT_RX_MODE;
 		ret_event = RFM22B_EVENT_RX_MODE;
-		if (is_ack)
+		if (is_ack) {
-		{
+
 			// If this is an ACK for a connection request message we need to
 			// configure this modem from the connection request message.
-			if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST)
+			if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
+
 				rfm22_setConnectionParameters(rfm22b_dev);
 
-		}
+			} else if (rfm22b_dev->coordinator && !rfm22_isConnected(rfm22b_dev) && (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_STATUS)) {
-		else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK)
+
-		{
+				// Send a connection request message if we're not connected, and this is a status message from a modem that we're bound to.
+				PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
+				uint32_t source_id = status->source_id;
+				for (uint8_t i = 0; OPLINKSETTINGS_BINDINGS_NUMELEM; ++i) {
+					if (rfm22b_dev->bindings[i].pairID == source_id) {
+						rfm22b_dev->cur_binding = i;
+						ret_event = RFM22B_EVENT_REQUEST_CONNECTION;
+						break;
+					}
+				}
+			}
+
+			// Change the channel
+			// On the remote side, we initialize the time delta when we finish sending the ACK for the connection request message.
+			if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_CON_REQUEST) {
+				rfm22b_dev->time_delta = portMAX_DELAY - curTicks;
+			}
+
+		} else if (rfm22b_dev->tx_packet->header.type != PACKET_TYPE_NACK) {
+
 			// We need to wait for an ACK if this packet it not an ACK or NACK.
 			rfm22b_dev->prev_tx_packet = rfm22b_dev->tx_packet;
 			rfm22b_dev->tx_complete_ticks = xTaskGetTickCount();
 		}
 		// Set the Tx period
-		portTickType curTicks = xTaskGetTickCount();
 		if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK)
 			rfm22b_dev->time_to_send_offset = curTicks + 0x4;
 		else if (rfm22b_dev->tx_packet->header.type == PACKET_TYPE_ACK_RTS)
@@ -1896,9 +1986,8 @@ static enum pios_rfm22b_event rfm22_txData(struct pios_rfm22b_dev *rfm22b_dev)
 		// Start a new transaction
 		rfm22b_dev->packet_start_ticks = 0;
 
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 		D1_LED_OFF;
-		D3_LED_TOGGLE;
 #endif
 	}
 
@@ -1919,10 +2008,11 @@ static enum pios_rfm22b_event rfm22_txFailure(struct pios_rfm22b_dev *rfm22b_dev
 static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
 {
 	PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
-	aph->header.destination_id = rfm22b_dev->rx_packet.header.source_id;
+	aph->header.destination_id = rfm22b_dev->destination_id;
 	aph->header.type = rfm22_ready_to_send(rfm22b_dev) ? PACKET_TYPE_ACK_RTS : PACKET_TYPE_ACK;
 	aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
 	aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
+	aph->packet_recv_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->rx_complete_ticks);
 	rfm22b_dev->tx_packet = (PHPacketHandle)aph;
 	rfm22b_dev->time_to_send = true;
 	return RFM22B_EVENT_TX_START;
@@ -1935,7 +2025,7 @@ static enum pios_rfm22b_event rfm22_sendAck(struct pios_rfm22b_dev *rfm22b_dev)
 static enum pios_rfm22b_event rfm22_sendNack(struct pios_rfm22b_dev *rfm22b_dev)
 {
 	PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->ack_nack_packet));
-	aph->header.destination_id = rfm22b_dev->rx_packet.header.source_id;
+	aph->header.destination_id = rfm22b_dev->destination_id;
 	aph->header.type = PACKET_TYPE_NACK;
 	aph->header.data_size = PH_ACK_NACK_DATA_SIZE(aph);
 	aph->header.seq_num = rfm22b_dev->rx_packet.header.seq_num;
@@ -1957,8 +2047,7 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
 	rfm22b_dev->prev_tx_packet = NULL;
 
 	// Was this a connection request?
-	switch (prev->header.type)
+	switch (prev->header.type) {
-	{
 	case PACKET_TYPE_CON_REQUEST:
 		rfm22_setConnectionParameters(rfm22b_dev);
 		break;
@@ -1967,15 +2056,27 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
 		break;
 	}
 
+	// On the coordinator side, we initialize the time delta when we receive the ACK for the connection request message.
+	if (prev->header.type == PACKET_TYPE_CON_REQUEST) {
+		rfm22b_dev->time_delta = portMAX_DELAY - rfm22b_dev->rx_complete_ticks;
+	} else if (!rfm22b_dev->coordinator) {
+		PHAckNackPacketHandle aph = (PHAckNackPacketHandle)(&(rfm22b_dev->rx_packet));
+		portTickType local_tx_time = rfm22_coordinatorTime(rfm22b_dev, rfm22b_dev->tx_complete_ticks);
+		portTickType remote_rx_time = aph->packet_recv_time;
+		// Adjust the time delta based on the difference between our estimated time offset and the coordinator offset.
+		// This is not working yet
+		rfm22b_dev->time_delta += remote_rx_time - local_tx_time;
+	}
+
+	// Reset the resend count
+	rfm22b_dev->cur_resent_count = 0;
+
 	// Should we try to start another TX?
-	if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK)
+	if (rfm22b_dev->rx_packet.header.type == PACKET_TYPE_ACK) {
-	{
 		rfm22b_dev->time_to_send_offset = curTicks;
 		rfm22b_dev->time_to_send = true;
 		return RFM22B_EVENT_TX_START;
-	}
+	} else {
-	else
-	{
 		rfm22b_dev->time_to_send_offset = curTicks + 0x4;
 		return RFM22B_EVENT_RX_MODE;
 	}
@@ -1987,11 +2088,15 @@ static enum pios_rfm22b_event rfm22_receiveAck(struct pios_rfm22b_dev *rfm22b_de
  */
 static enum pios_rfm22b_event rfm22_receiveNack(struct pios_rfm22b_dev *rfm22b_dev)
 {
+
 	// Resend the previous TX packet.
 	rfm22b_dev->tx_packet = rfm22b_dev->prev_tx_packet;
 	rfm22b_dev->prev_tx_packet = NULL;
-	if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED)
+
+	// Increment the reset packet counter if we're connected.
+	if (rfm22_isConnected(rfm22b_dev)) {
 		rfm22b_add_rx_status(rfm22b_dev, RFM22B_RESENT_TX_PACKET);
+	}
 	rfm22b_dev->time_to_send = true;
 	return RFM22B_EVENT_TX_START;
 }
@@ -2005,9 +2110,10 @@ static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b
 	PHStatusPacketHandle status = (PHStatusPacketHandle)&(rfm22b_dev->rx_packet);
 	int8_t rssi = rfm22b_dev->rssi_dBm;
 	int8_t afc = rfm22b_dev->afc_correction_Hz;
-	uint32_t id = status->header.source_id;
+	uint32_t id = status->source_id;
-	bool found = false;
+
 	// Have we seen this device recently?
+	bool found = false;
 	uint8_t id_idx = 0;
 	for ( ; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
 		if(rfm22b_dev->pair_stats[id_idx].pairID == id)
@@ -2025,19 +2131,16 @@ static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b
 	}
 
 	// If we haven't seen it, find a slot to put it in.
-	if (!found)
+	else
 	{
 		uint8_t min_idx = 0;
-		if(id != rfm22b_dev->destination_id)
+		int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
+		for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
 		{
-			int8_t min_rssi = rfm22b_dev->pair_stats[0].rssi;
+			if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
-			for (id_idx = 1; id_idx < OPLINKSTATUS_PAIRIDS_NUMELEM; ++id_idx)
 			{
-				if(rfm22b_dev->pair_stats[id_idx].rssi < min_rssi)
+				min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
-				{
+				min_idx = id_idx;
-					min_rssi = rfm22b_dev->pair_stats[id_idx].rssi;
-					min_idx = id_idx;
-				}
 			}
 		}
 		rfm22b_dev->pair_stats[min_idx].pairID = id;
@@ -2049,14 +2152,6 @@ static enum pios_rfm22b_event rfm22_receiveStatus(struct pios_rfm22b_dev *rfm22b
 	return RFM22B_EVENT_RX_COMPLETE;
 }
 
-static enum pios_rfm22b_event rfm22_initConnection(struct pios_rfm22b_dev *rfm22b_dev)
-{
-	if (rfm22b_dev->coordinator)
-		return RFM22B_EVENT_REQUEST_CONNECTION;
-	else
-		return RFM22B_EVENT_WAIT_FOR_CONNECTION;
-}
-
 static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rfm22b_dev)
 {
 	PHConnectionPacketHandle cph = &(rfm22b_dev->con_packet);
@@ -2065,16 +2160,18 @@ static enum pios_rfm22b_event rfm22_requestConnection(struct pios_rfm22b_dev *rf
 	rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTING;
 
 	// Fill in the connection request
+	rfm22b_dev->destination_id = rfm22b_dev->bindings[rfm22b_dev->cur_binding].pairID;
 	cph->header.destination_id = rfm22b_dev->destination_id;
 	cph->header.type = PACKET_TYPE_CON_REQUEST;
 	cph->header.data_size = PH_CONNECTION_DATA_SIZE(&(rfm22b_dev->con_packet));
-	cph->datarate = rfm22b_dev->datarate;
+        cph->source_id = rfm22b_dev->deviceID;
-	cph->frequency_hz = rfm22b_dev->frequency_hz;
+	cph->main_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].main_port;
-	cph->min_frequency = rfm22b_dev->min_frequency;
+	cph->flexi_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].flexi_port;
-	cph->max_frequency = rfm22b_dev->max_frequency;
+	cph->vcp_port = rfm22b_dev->bindings[rfm22b_dev->cur_binding].vcp_port;
-	cph->max_tx_power = rfm22b_dev->tx_power;
+	cph->com_speed = rfm22b_dev->bindings[rfm22b_dev->cur_binding].com_speed;
 	rfm22b_dev->time_to_send = true;
 	rfm22b_dev->send_connection_request = true;
+	rfm22b_dev->prev_tx_packet = NULL;
 
 	return RFM22B_EVENT_TX_START;
 }
@@ -2086,16 +2183,45 @@ static void rfm22_setConnectionParameters(struct pios_rfm22b_dev *rfm22b_dev)
 	// Set our connection state to connected
 	rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
 
- 	// Configure this modem from the connection request message.
-	rfm22_setDatarate(rfm22b_dev, cph->datarate, true);
- 	PIOS_RFM22B_SetTxPower((uint32_t)rfm22b_dev, cph->max_tx_power);
- 	rfm22b_dev->min_frequency = cph->min_frequency;
- 	rfm22b_dev->max_frequency = cph->max_frequency;
- 	rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->frequency_hz);
-
 	// Call the com port configuration function
-	if (rfm22b_dev->com_config_cb && !rfm22b_dev->coordinator)
+	if (rfm22b_dev->com_config_cb)
-		rfm22b_dev->com_config_cb(cph->port, cph->com_speed);
+		rfm22b_dev->com_config_cb(cph->main_port, cph->flexi_port, cph->vcp_port, cph->com_speed,
+					  cph->min_frequency, cph->max_frequency, cph->channel_spacing);
+ 
+ 	// Configure this modem from the connection request message.
+	rfm22_setNominalCarrierFrequency(rfm22b_dev, cph->min_frequency, cph->max_frequency, cph->channel_spacing);
+	rfm22_setDatarate(rfm22b_dev, rfm22b_dev->datarate, true);
+}
+
+static portTickType rfm22_coordinatorTime(struct pios_rfm22b_dev *rfm22b_dev, portTickType ticks)
+{
+	return ticks + rfm22b_dev->time_delta;
+}
+
+static bool rfm22_inChannelBuffer(struct pios_rfm22b_dev *rfm22b_dev)
+{
+	portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
+	uint8_t window = (uint8_t)(time & 0x7e);
+	return ((window == 0x7f) || (window == 0));
+}
+
+static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev)
+{
+	portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
+	// We change channels every 128 ms.
+	uint16_t n = (time >> 7) & 0xffff;
+	// The channel is calculated using the 16 bit CRC as the pseudo random number generator.
+	n = PIOS_CRC16_updateByte(n, 0);
+	float num_channels = rfm22b_dev->num_channels;
+	return (uint8_t)(num_channels * (float)n / (float)0xffff);
+}
+
+static bool rfm22_changeChannel(struct pios_rfm22b_dev *rfm22b_dev)
+{
+	if (rfm22_isConnected(rfm22b_dev)) {
+		return rfm22_setFreqHopChannel(rfm22b_dev, rfm22_calcChannel(rfm22b_dev));
+	}
+	return false;
 }
 
 static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm22b_dev)
@@ -2109,9 +2235,9 @@ static enum pios_rfm22b_event rfm22_acceptConnection(struct pios_rfm22b_dev *rfm
 	memcpy((uint8_t*)lcph, (uint8_t*)cph, PH_PACKET_SIZE((PHPacketHandle)cph));
 
 	// Set the destination ID to the source of the connection request message.
-	PIOS_RFM22B_SetDestinationId((uint32_t)rfm22b_dev, cph->header.source_id);
+	rfm22b_dev->destination_id = cph->source_id;
 
-	return RFM22B_EVENT_CONNECTION_ACCEPTED;
+	return RFM22B_EVENT_DEFAULT;
 }
 
 // ************************************
@@ -2130,8 +2256,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_clearLEDs();
 
 	// Initialize the detected device statistics.
-	for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i)
+	for (uint8_t i = 0; i < OPLINKSTATUS_PAIRIDS_NUMELEM; ++i) {
-	{
 		rfm22b_dev->pair_stats[i].pairID = 0;
 		rfm22b_dev->pair_stats[i].rssi = -127;
 		rfm22b_dev->pair_stats[i].afc_correction = 0;
@@ -2144,37 +2269,41 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 
 	// Initialize the state
 	rfm22b_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_DISCONNECTED;
-	rfm22b_dev->tx_power = RFM22B_DEFAULT_TX_POWER;
 	rfm22b_dev->destination_id = 0xffffffff;
 	rfm22b_dev->time_to_send = false;
 	rfm22b_dev->time_to_send_offset = 0;
 	rfm22b_dev->send_status = false;
 	rfm22b_dev->send_connection_request = false;
+	rfm22b_dev->cur_resent_count = 0;
 
 	// Initialize the packets.
 	rfm22b_dev->rx_packet_len = 0;
 	rfm22b_dev->tx_packet = NULL;
 	rfm22b_dev->prev_tx_packet = NULL;
-	rfm22b_dev->stats.tx_seq = 0;
-	rfm22b_dev->stats.rx_seq = 0;
 	rfm22b_dev->data_packet.header.data_size = 0;
 	rfm22b_dev->in_rx_mode = false;
 
+	// Initialize the devide state
+	rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
+	rfm22b_dev->rx_buffer_wr = 0;
+	rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
+	rfm22b_dev->frequency_hop_channel = 0;
+	rfm22b_dev->afc_correction_Hz = 0;
+	rfm22b_dev->packet_start_ticks = 0;
+	rfm22b_dev->tx_complete_ticks = 0;
+	rfm22b_dev->rx_complete_ticks = 0;
+
 	// software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
 	rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
 
-	// wait 26ms
+	for (int i = 50; i > 0; i--) {
-	PIOS_DELAY_WaitmS(26);
-
-	for (int i = 50; i > 0; i--)
-	{
-		// wait 1ms
-		PIOS_DELAY_WaitmS(1);
-
 		// read the status registers
 		rfm22b_dev->int_status1 = rfm22_read(rfm22b_dev, RFM22_interrupt_status1);
 		rfm22b_dev->int_status2 = rfm22_read(rfm22b_dev, RFM22_interrupt_status2);
 		if (rfm22b_dev->int_status2 & RFM22_is2_ichiprdy) break;
+
+		// wait 1ms
+		PIOS_DELAY_WaitmS(1);
 	}
 
 	// ****************
@@ -2189,23 +2318,6 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_write(rfm22b_dev, RFM22_interrupt_enable1, 0x00);
 	rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
 
-	// ****************
-
-	rfm22b_dev->device_status = rfm22b_dev->int_status1 = rfm22b_dev->int_status2 = rfm22b_dev->ezmac_status = 0;
-
-	rfm22b_dev->rx_buffer_wr = 0;
-
-	rfm22b_dev->tx_data_rd = rfm22b_dev->tx_data_wr = 0;
-
-	rfm22b_dev->frequency_hop_channel = 0;
-
-	rfm22b_dev->afc_correction_Hz = 0;
-
-	rfm22b_dev->packet_start_ticks = 0;
-	rfm22b_dev->tx_complete_ticks = 0;
-	rfm22b_dev->rx_complete_ticks = 0;
-
-	// ****************
 	// read the RF chip ID bytes
 
 	// read the device type
@@ -2235,18 +2347,9 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 		return RFM22B_EVENT_FATAL_ERROR;
 	}
 
-	// ****************
-	// set the minimum and maximum carrier frequency allowed
-	rfm22b_dev->min_frequency = RFM22B_DEFAULT_MIN_FREQUENCY;
-	rfm22b_dev->max_frequency = RFM22B_DEFAULT_MAX_FREQUENCY;
-	rfm22b_dev->frequency_hz = RFM22B_DEFAULT_FREQUENCY;
-
-	// ****************
 	// calibrate our RF module to be exactly on frequency .. different for every module
 	rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, OSC_LOAD_CAP);
 
-	// ****************
-
 	// disable Low Duty Cycle Mode
 	rfm22_write(rfm22b_dev, RFM22_op_and_func_ctrl2, 0x00);
 
@@ -2260,21 +2363,18 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	// GPIO port use default value
 	rfm22_write(rfm22b_dev, RFM22_io_port_config, RFM22_io_port_default);
 	if (rfm22b_dev->cfg.gpio_direction == GPIO0_TX_GPIO1_RX) {
-		rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);	// GPIO0 = TX State (to control RF Switch)
+		// GPIO0 = TX State (to control RF Switch)
-		rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);	// GPIO1 = RX State (to control RF Switch)
+		rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_txstate);
+		// GPIO1 = RX State (to control RF Switch)
+		rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_rxstate);
 	} else {
-		rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);	// GPIO0 = TX State (to control RF Switch)
+		// GPIO0 = TX State (to control RF Switch)
-		rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);	// GPIO1 = RX State (to control RF Switch)		
+		rfm22_write(rfm22b_dev, RFM22_gpio0_config, RFM22_gpio0_config_drv3 | RFM22_gpio0_config_rxstate);
+		// GPIO1 = RX State (to control RF Switch)		
+		rfm22_write(rfm22b_dev, RFM22_gpio1_config, RFM22_gpio1_config_drv3 | RFM22_gpio1_config_txstate);
 	}
-	rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);		// GPIO2 = Clear Channel Assessment
+	// GPIO2 = Clear Channel Assessment
-
+	rfm22_write(rfm22b_dev, RFM22_gpio2_config, RFM22_gpio2_config_drv3 | RFM22_gpio2_config_cca);
-	// ****************
-
-	// initialize the frequency hopping step size
-	uint32_t freq_hop_step_size = 50000;
-	freq_hop_step_size /= 10000;	// in 10kHz increments
-	if (freq_hop_step_size > 255) freq_hop_step_size = 255;
-	rfm22b_dev->frequency_hop_step_size_reg = freq_hop_step_size;
 
 	// FIFO mode, GFSK modulation
 	uint8_t fd_bit = rfm22_read(rfm22b_dev, RFM22_modulation_mode_control2) & RFM22_mmc2_fd;
@@ -2315,18 +2415,18 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 
 	// no header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
 	rfm22_write(rfm22b_dev, RFM22_header_control2, RFM22_header_cntl2_hdlen_none |
-							RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
+		    RFM22_header_cntl2_synclen_3210 | ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
 #else
 	// header control - using a 4 by header with broadcast of 0xffffffff
 	rfm22_write(rfm22b_dev, RFM22_header_control1,
-							RFM22_header_cntl1_bcen_0 |
+		    RFM22_header_cntl1_bcen_0 |
-							RFM22_header_cntl1_bcen_1 |
+		    RFM22_header_cntl1_bcen_1 |
-							RFM22_header_cntl1_bcen_2 |
+		    RFM22_header_cntl1_bcen_2 |
-							RFM22_header_cntl1_bcen_3 |
+		    RFM22_header_cntl1_bcen_3 |
-							RFM22_header_cntl1_hdch_0 |
+		    RFM22_header_cntl1_hdch_0 |
-							RFM22_header_cntl1_hdch_1 |
+		    RFM22_header_cntl1_hdch_1 |
-							RFM22_header_cntl1_hdch_2 |
+		    RFM22_header_cntl1_hdch_2 |
-							RFM22_header_cntl1_hdch_3);
+		    RFM22_header_cntl1_hdch_3);
 	// Check all bit of all bytes of the header
 	rfm22_write(rfm22b_dev, RFM22_header_enable0, 0xff);
 	rfm22_write(rfm22b_dev, RFM22_header_enable1, 0xff);
@@ -2340,9 +2440,9 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_write(rfm22b_dev, RFM22_check_header3, (id >> 24) & 0xff);
 	// 4 header bytes, synchronization word length 3, 2, 1 & 0 used, packet length included in header.
 	rfm22_write(rfm22b_dev, RFM22_header_control2,
-							RFM22_header_cntl2_hdlen_3210 |
+		    RFM22_header_cntl2_hdlen_3210 |
-							RFM22_header_cntl2_synclen_3210 |
+		    RFM22_header_cntl2_synclen_3210 |
-							((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
+		    ((TX_PREAMBLE_NIBBLES >> 8) & 0x01));
 #endif
 
 	// sync word
@@ -2351,13 +2451,8 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_write(rfm22b_dev, RFM22_sync_word1, SYNC_BYTE_3);
 	rfm22_write(rfm22b_dev, RFM22_sync_word0, SYNC_BYTE_4);
 
-	rfm22_write(rfm22b_dev, RFM22_agc_override1, RFM22_agc_ovr1_agcen);
-
-	// set frequency hopping channel step size (multiples of 10kHz)
-	rfm22_write(rfm22b_dev, RFM22_frequency_hopping_step_size, rfm22b_dev->frequency_hop_step_size_reg);
-
 	// set the tx power
-	rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_papeaken | RFM22_tx_pwr_papeaklvl_0 | RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
+	rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
 
 	// TX FIFO Almost Full Threshold (0 - 63)
 	rfm22_write(rfm22b_dev, RFM22_tx_fifo_control1, TX_FIFO_HI_WATERMARK);
@@ -2372,7 +2467,7 @@ static enum pios_rfm22b_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22_write(rfm22b_dev, RFM22_xtal_osc_load_cap, rfm22b_dev->cfg.RFXtalCap);
 
 	// Initialize the frequency and datarate to te default.
-	rfm22_setNominalCarrierFrequency(rfm22b_dev, RFM22B_DEFAULT_FREQUENCY);
+	rfm22_setNominalCarrierFrequency(rfm22b_dev, rfm22b_dev->init_frequency, rfm22b_dev->init_frequency, RFM22B_FREQUENCY_HOP_STEP_SIZE);
 	rfm22_setDatarate(rfm22b_dev, RFM22B_DEFAULT_RX_DATARATE, true);
 
 	return RFM22B_EVENT_INITIALIZED;
@@ -2382,7 +2477,7 @@ static void rfm22_clearLEDs() {
 	LINK_LED_OFF;
 	RX_LED_OFF;
 	TX_LED_OFF;
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 	D1_LED_OFF;
 	D2_LED_OFF;
 	D3_LED_OFF;
@@ -2402,7 +2497,7 @@ static enum pios_rfm22b_event rfm22_timeout(struct pios_rfm22b_dev *rfm22b_dev)
 	rfm22b_dev->rx_buffer_wr = 0;
 	TX_LED_OFF;
 	RX_LED_OFF;
-#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
+#if defined(PIOS_RFM22B_DEBUG_ON_TELEM) || defined(PIOS_RFM22B_DEBUG_ON_RCVR)
 	D1_LED_OFF;
 	D2_LED_OFF;
 	D3_LED_OFF;

flight/PiOS/Common/pios_rfm22b_com.c

@@ -62,9 +62,6 @@ static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
 	struct pios_rfm22b_dev *rfm22b_dev = (struct pios_rfm22b_dev *)rfm22b_id;
 	if (!PIOS_RFM22B_validate(rfm22b_dev))
 		return;
-	// This is only allowed for coordinators.
-	if (!rfm22b_dev->coordinator)
-		return;
 	// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
 	enum rfm22b_datarate datarate = RFM22_datarate_64000;
 	if (baud <= 1024)
@@ -78,12 +75,12 @@ static void PIOS_RFM22B_COM_ChangeBaud(uint32_t rfm22b_id, uint32_t baud)
 	else if (baud <= 19200)
 		datarate = RFM22_datarate_32000;
 	else if (baud <= 38400)
-		datarate = RFM22_datarate_64000;
+		datarate = RFM22_datarate_57600;
 	else if (baud <= 57600)
 		datarate = RFM22_datarate_128000;
 	else if (baud <= 115200)
 		datarate = RFM22_datarate_192000;
-	PIOS_RFM22B_SetDatarate(rfm22b_id, datarate, true);
+	rfm22b_dev->datarate = datarate;
 }
 
 static void PIOS_RFM22B_COM_RxStart(uint32_t rfm22b_id, uint16_t rx_bytes_avail)

flight/PiOS/inc/pios_rfm22b.h

@@ -34,6 +34,7 @@
 #include <packet_handler.h>
 #include <oplinksettings.h>
 
+/* Constant definitions */
 enum gpio_direction {GPIO0_TX_GPIO1_RX, GPIO0_RX_GPIO1_TX};
 
 /* Global Types */
@@ -67,10 +68,11 @@ enum rfm22b_datarate {
 	RFM22_datarate_19200 = 7,
 	RFM22_datarate_24000 = 8,
 	RFM22_datarate_32000 = 9,
-	RFM22_datarate_64000 = 10,
+	RFM22_datarate_57600 = 10,
-	RFM22_datarate_128000 = 11,
+	RFM22_datarate_64000 = 11,
-	RFM22_datarate_192000 = 12,
+	RFM22_datarate_128000 = 12,
-	RFM22_datarate_256000 = 13,
+	RFM22_datarate_192000 = 13,
+	RFM22_datarate_256000 = 14,
 };
 
 struct rfm22b_stats {
@@ -96,18 +98,22 @@ struct rfm22b_stats {
 };
 
 /* Callback function prototypes */
-typedef void (*PIOS_RFM22B_ComConfigCallback)(OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
+typedef void (*PIOS_RFM22B_ComConfigCallback)(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
+					      OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
+					      uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing);
 
 /* Public Functions */
 extern int32_t PIOS_RFM22B_Init(uint32_t *rfb22b_id, uint32_t spi_id, uint32_t slave_num, const struct pios_rfm22b_cfg *cfg);
-extern void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_frequency, uint32_t max_frequency);
+extern void PIOS_RFM22B_Reinit(uint32_t rfb22b_id);
 extern void PIOS_RFM22B_SetTxPower(uint32_t rfm22b_id, enum rfm22b_tx_power tx_pwr);
-extern void PIOS_RFM22B_SetDatarate(uint32_t rfm22b_id, enum rfm22b_datarate datarate, bool data_whitening);
+extern void PIOS_RFM22B_SetFrequencyRange(uint32_t rfm22b_id, uint32_t min_freq, uint32_t max_freq, uint32_t step_size);
+extern void PIOS_RFM22B_SetInitialFrequency(uint32_t rfm22b_id, uint32_t init_freq);
 extern void PIOS_RFM22B_SetDestinationId(uint32_t rfm22b_id, uint32_t dest_id);
-extern void PIOS_RFM22B_SetCoordinator(uint32_t rfm22b_id, bool coordinator);
-extern void PIOS_RFM22B_SetRemoteComConfig(uint32_t rfm22b_id, OPLinkSettingsOutputConnectionOptions com_port, OPLinkSettingsComSpeedOptions com_speed);
 extern void PIOS_RFM22B_SetComConfigCallback(uint32_t rfm22b_id, PIOS_RFM22B_ComConfigCallback cb);
+extern void PIOS_RFM22B_SetBindings(uint32_t rfm22b_id, const uint32_t bindingPairIDs[], const uint8_t mainPortSettings[],
+				    const uint8_t flexiPortSettings[], const uint8_t vcpPortSettings[], const uint8_t comSpeeds[]);
 extern uint32_t PIOS_RFM22B_DeviceID(uint32_t rfb22b_id);
+extern bool PIOS_RFM22B_IsCoordinator(uint32_t rfb22b_id);
 extern void PIOS_RFM22B_GetStats(uint32_t rfm22b_id, struct rfm22b_stats *stats);
 extern uint8_t PIOS_RFM2B_GetPairStats(uint32_t rfm22b_id, uint32_t *device_ids, int8_t *RSSIs, uint8_t max_pairs);
 extern bool PIOS_RFM22B_LinkStatus(uint32_t rfm22b_id);

flight/PiOS/inc/pios_rfm22b_priv.h

@@ -1,17 +1,17 @@
 /**
- ******************************************************************************
+******************************************************************************
- * @addtogroup PIOS PIOS Core hardware abstraction layer
+* @addtogroup PIOS PIOS Core hardware abstraction layer
- * @{
+* @{
- * @addtogroup   PIOS_RFM22B Radio Functions
+* @addtogroup   PIOS_RFM22B Radio Functions
- * @brief PIOS interface for RFM22B Radio
+* @brief PIOS interface for RFM22B Radio
- * @{
+* @{
- *
+*
- * @file       pios_rfm22b_priv.h
+* @file       pios_rfm22b_priv.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      RFM22B private definitions.
+* @brief      RFM22B private definitions.
- * @see        The GNU Public License (GPL) Version 3
+* @see        The GNU Public License (GPL) Version 3
- *
+*
- *****************************************************************************/
+*****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
@@ -444,28 +444,28 @@
 
 #define RFM22_adc8_control							0x4F	// R/W
 /*
-#define RFM22_analog_test_bus						0x50	// R/W
+  #define RFM22_analog_test_bus						0x50	// R/W
-#define RFM22_digital_test_bus						0x51	// R/W
+  #define RFM22_digital_test_bus						0x51	// R/W
-#define RFM22_tx_ramp_control						0x52	// R/W
+  #define RFM22_tx_ramp_control						0x52	// R/W
-#define RFM22_pll_tune_time							0x53	// R/W
+  #define RFM22_pll_tune_time							0x53	// R/W
 
-#define RFM22_calibration_control					0x55	// R/W
+  #define RFM22_calibration_control					0x55	// R/W
 
-#define RFM22_modem_test							0x56	// R/W
+  #define RFM22_modem_test							0x56	// R/W
 
-#define RFM22_chargepump_test						0x57	// R/W
+  #define RFM22_chargepump_test						0x57	// R/W
-#define RFM22_chargepump_current_trimming_override	0x58	// R/W
+  #define RFM22_chargepump_current_trimming_override	0x58	// R/W
 
-#define RFM22_divider_current_trimming				0x59	// R/W
+  #define RFM22_divider_current_trimming				0x59	// R/W
 
-#define RFM22_vco_current_trimming					0x5A	// R/W
+  #define RFM22_vco_current_trimming					0x5A	// R/W
-#define RFM22_vco_calibration_override				0x5B	// R/W
+  #define RFM22_vco_calibration_override				0x5B	// R/W
 
-#define RFM22_synthersizer_test						0x5C	// R/W
+  #define RFM22_synthersizer_test						0x5C	// R/W
 
-#define RFM22_block_enable_override1				0x5D	// R/W
+  #define RFM22_block_enable_override1				0x5D	// R/W
-#define RFM22_block_enable_override2				0x5E	// R/W
+  #define RFM22_block_enable_override2				0x5E	// R/W
-#define RFM22_block_enable_override3				0x5F	// R/W
+  #define RFM22_block_enable_override3				0x5F	// R/W
 */
 #define RFM22_channel_filter_coeff_addr				0x60	// R/W
 #define RFM22_ch_fil_coeff_ad_inv_pre_th_mask	0xF0		//
@@ -482,14 +482,14 @@
 #define RFM22_xtal_osc_por_ctrl_bufovr			0x02		// Output Buffer Enable Override.
 #define RFM22_xtal_osc_por_ctrl_enbuf			0x01		// Output Buffer Enable.
 /*
-#define RFM22_rc_osc_coarse_calbration_override		0x63	// R/W
+  #define RFM22_rc_osc_coarse_calbration_override		0x63	// R/W
-#define RFM22_rc_osc_fine_calbration_override		0x64	// R/W
+  #define RFM22_rc_osc_fine_calbration_override		0x64	// R/W
 
-#define RFM22_ldo_control_override					0x65	// R/W
+  #define RFM22_ldo_control_override					0x65	// R/W
-#define RFM22_ldo_level_setting						0x66	// R/W
+  #define RFM22_ldo_level_setting						0x66	// R/W
 
-#define RFM22_deltasigma_adc_tuning1				0x67	// R/W
+  #define RFM22_deltasigma_adc_tuning1				0x67	// R/W
-#define RFM22_deltasigma_adc_tuning2				0x68	// R/W
+  #define RFM22_deltasigma_adc_tuning2				0x68	// R/W
 */
 #define RFM22_agc_override1					0x69	// R/W
 #define RFM22_agc_ovr1_sgi					0x40		// AGC Loop, Set Gain Increase. If set to 0 then gain increasing will not be allowed. If set to 1 then gain increasing is allowed, default is 0.
@@ -504,10 +504,6 @@
 
 #define RFM22_tx_power						0x6D	// R/W
 #define RFM22_tx_pwr_lna_sw					0x08		// LNA Switch Controller. If set, lna_sw control from the digital will go high during TX modes, and low during other times. If reset, the digital control signal is low at all times.
-#define RFM22_tx_pwr_papeaklvl_0				0x10		//      "                   "
-#define RFM22_tx_pwr_papeaklvl_1				0x20		// PA Peak Detect Level (direct from register). 00 = 6.5, 01 = 7, 10 = 7.5, 11 = 8, 00 = default
-#define RFM22_tx_pwr_papeaken					0x40		// PA Peak Detector Enable.
-#define RFM22_tx_pwr_papeakval					0x80		// PA Peak Detector Value Read Register. Reading a 1 in this register when the papeaken=1 then the PA drain voltage is too high and the match network needs adjusting for optimal efficiency.
 
 #define RFM22_tx_data_rate1					0x6E	// R/W
 #define RFM22_tx_data_rate0					0x6F	// R/W
@@ -578,12 +574,8 @@ enum pios_rfm22b_dev_magic {
 enum pios_rfm22b_state {
 	RFM22B_STATE_UNINITIALIZED,
 	RFM22B_STATE_INITIALIZING,
-	RFM22B_STATE_INITIALIZED,
-	RFM22B_STATE_INITIATING_CONNECTION,
-	RFM22B_STATE_WAIT_FOR_CONNECTION,
 	RFM22B_STATE_REQUESTING_CONNECTION,
 	RFM22B_STATE_ACCEPTING_CONNECTION,
-	RFM22B_STATE_CONNECTION_ACCEPTED,
 	RFM22B_STATE_RX_MODE,
 	RFM22B_STATE_WAIT_PREAMBLE,
 	RFM22B_STATE_WAIT_SYNC,
@@ -605,13 +597,12 @@ enum pios_rfm22b_state {
 };
 
 enum pios_rfm22b_event {
+	RFM22B_EVENT_DEFAULT,
 	RFM22B_EVENT_INT_RECEIVED,
 	RFM22B_EVENT_INITIALIZE,
 	RFM22B_EVENT_INITIALIZED,
 	RFM22B_EVENT_REQUEST_CONNECTION,
-	RFM22B_EVENT_WAIT_FOR_CONNECTION,
 	RFM22B_EVENT_CONNECTION_REQUESTED,
-	RFM22B_EVENT_CONNECTION_ACCEPTED,
 	RFM22B_EVENT_PACKET_ACKED,
 	RFM22B_EVENT_PACKET_NACKED,
 	RFM22B_EVENT_ACK_TIMEOUT,
@@ -645,6 +636,14 @@ typedef struct {
 	uint8_t lastContact;
 } rfm22b_pair_stats;
 
+typedef struct {
+	uint32_t pairID;
+	OPLinkSettingsRemoteMainPortOptions main_port;
+	OPLinkSettingsRemoteFlexiPortOptions flexi_port;
+	OPLinkSettingsRemoteVCPPortOptions vcp_port;
+	OPLinkSettingsComSpeedOptions com_speed;
+} rfm22b_binding;
+
 struct pios_rfm22b_dev {
 	enum pios_rfm22b_dev_magic magic;
 	struct pios_rfm22b_cfg cfg;
@@ -659,6 +658,10 @@ struct pios_rfm22b_dev {
 	// The destination ID
 	uint32_t destination_id;
 
+	// The list of bound radios.
+	rfm22b_binding bindings[OPLINKSETTINGS_BINDINGS_NUMELEM];
+	uint8_t cur_binding;
+
 	// Is this device a coordinator?
 	bool coordinator;
 
@@ -714,9 +717,6 @@ struct pios_rfm22b_dev {
 	// RSSI in dBm
 	int8_t rssi_dBm;
 
-	// The packet queue handle
-	xQueueHandle packetQueue;
-
 	// The tx data packet
 	PHPacket data_packet;
 	// The current tx packet
@@ -758,14 +758,17 @@ struct pios_rfm22b_dev {
 	bool send_ppm;
 	bool send_connection_request;
 	bool time_to_send;
-	uint8_t time_to_send_offset;
 
-	// The minimum frequency
+	// The offset between our clock and the global send clock
-	uint32_t min_frequency;
+	uint8_t time_to_send_offset;
-	// The maximum frequency
+	// The number of times that the current packet has been resent.
-	uint32_t max_frequency;
+	uint8_t cur_resent_count;
-	// The current nominal frequency
+
-	uint32_t frequency_hz;
+	// The initial frequency
+	uint32_t init_frequency;
+	// The number of frequency hopping channels.
+	uint16_t num_channels;
+
 	// The frequency hopping step size
 	float frequency_step_size;
 	// current frequency hop channel
@@ -775,17 +778,24 @@ struct pios_rfm22b_dev {
 	// afc correction reading (in Hz)
 	int8_t afc_correction_Hz;
 
-	// The maximum time (ms) that it should take to transmit / receive a packet.
+	// The packet timers.
-	uint32_t max_packet_time;
 	portTickType packet_start_ticks;
 	portTickType tx_complete_ticks;
 	portTickType rx_complete_ticks;
+	portTickType time_delta;
+
+	// The maximum time (ms) that it should take to transmit / receive a packet.
+	uint32_t max_packet_time;
+
+	// The maximum time to wait for an ACK.
 	uint8_t max_ack_delay;
 
+#ifdef PIOS_INCLUDE_RFM22B_RCVR
 	// The PPM channel values
 	uint16_t ppm_channel[PIOS_RFM22B_RCVR_MAX_CHANNELS];
 	uint8_t ppm_supv_timer;
 	bool ppm_fresh;
+#endif
 };
 
 
@@ -803,6 +813,6 @@ extern const struct pios_com_driver pios_rfm22b_com_driver;
 #endif /* PIOS_RFM22B_PRIV_H */
 
 /**
-  * @}
+ * @}
-  * @}
+ * @}
-  */
+ */

flight/targets/CopterControl/Makefile

@@ -58,7 +58,7 @@ endif
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/System/systemmod.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/coptercontrol.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

flight/targets/OSD/Makefile

@@ -44,7 +44,7 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/System/systemmod.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/osd.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

flight/targets/PipXtreme/Makefile

@@ -36,7 +36,7 @@ OPTMODULES =
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/PipXtreme/pipxtrememod.c
+    SRC += $(OPMODULEDIR)/PipXtreme/pipxtrememod.c
     SRC += $(OPSYSTEM)/pipxtreme.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

flight/targets/PipXtreme/System/inc/pios_config.h

@@ -90,7 +90,7 @@
 /* #define PIOS_INCLUDE_PPM_FLEXI */
 /* #define PIOS_INCLUDE_DSM */
 /* #define PIOS_INCLUDE_SBUS */
-/* #define PIOS_INCLUDE_GCSRCVR */
+#define PIOS_INCLUDE_GCSRCVR
 
 /* PIOS abstract receiver interface */
 #define PIOS_INCLUDE_RCVR

flight/targets/PipXtreme/System/pios_board.c

@@ -1,17 +1,16 @@
-/* -*- Mode: c; c-basic-offset: 2; tab-width: 2; indent-tabs-mode: t -*- */
 /**
- ******************************************************************************
+******************************************************************************
- * @addtogroup OpenPilotSystem OpenPilot System
+* @addtogroup OpenPilotSystem OpenPilot System
- * @{
+* @{
- * @addtogroup OpenPilotCore OpenPilot Core
+* @addtogroup OpenPilotCore OpenPilot Core
- * @{
+* @{
- *
+*
- * @file       pios_board.c
+* @file       pios_board.c
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+* @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
+* @brief      Defines board specific static initializers for hardware for the OpenPilot board.
- * @see        The GNU Public License (GPL) Version 3
+* @see        The GNU Public License (GPL) Version 3
- *
+*
- *****************************************************************************/
+*****************************************************************************/
 /* 
  * This program is free software; you can redistribute it and/or modify 
  * it under the terms of the GNU General Public License as published by 
@@ -33,9 +32,6 @@
 #include <oplinksettings.h>
 #include <board_hw_defs.c>
 
-#define PIOS_COM_TELEM_RX_BUF_LEN 256
-#define PIOS_COM_TELEM_TX_BUF_LEN 256
-
 #define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
 #define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
 
@@ -45,9 +41,12 @@
 #define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
 #define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
 
+#define PIOS_COM_TELEM_RX_BUF_LEN 256
+#define PIOS_COM_TELEM_TX_BUF_LEN 256
+
 uint32_t pios_com_telem_usb_id = 0;
 uint32_t pios_com_telem_vcp_id = 0;
-uint32_t pios_com_telem_uart_telem_id = 0;
+uint32_t pios_com_telem_uart_main_id = 0;
 uint32_t pios_com_telem_uart_flexi_id = 0;
 uint32_t pios_com_telemetry_id = 0;
 #if defined(PIOS_INCLUDE_PPM)
@@ -61,6 +60,8 @@ uint32_t pios_rfm22b_id = 0;
 uint32_t pios_com_rfm22b_id = 0;
 uint32_t pios_com_radio_id = 0;
 #endif
+uint8_t *pios_uart_rx_buffer;
+uint8_t *pios_uart_tx_buffer;
 
 /**
  * PIOS_Board_Init()
@@ -154,8 +155,8 @@ void PIOS_Board_Init(void) {
 		PIOS_Assert(rx_buffer);
 		PIOS_Assert(tx_buffer);
 		if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
-											rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+				  rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+				  tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
 			PIOS_Assert(0);
 		}
 	}
@@ -173,70 +174,13 @@ void PIOS_Board_Init(void) {
 		PIOS_Assert(rx_buffer);
 		PIOS_Assert(tx_buffer);
 		if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
-											rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
+				  rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
+				  tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
 			PIOS_Assert(0);
 		}
 	}
 #endif
 
-	/* Configure the telemetry serial port */
-#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
-	{
-		uint32_t pios_usart1_id;
-		if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
-			PIOS_Assert(0);
-		}
-		uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
-		uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
-		PIOS_Assert(rx_buffer);
-		PIOS_Assert(tx_buffer);
-		if (PIOS_COM_Init(&pios_com_telem_uart_telem_id, &pios_usart_com_driver, pios_usart1_id,
-											rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
-			PIOS_Assert(0);
-		}
-	}
-#endif
-
-	/* Configure PPM input */
-	switch (oplinkSettings.PPM)	{
-#if defined(PIOS_INCLUDE_PPM)
-	case OPLINKSETTINGS_PPM_INPUT:
-	{
-		uint32_t pios_ppm_id;
-		PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
-
-		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id))
-			PIOS_Assert(0);
-		break;
-	}
-#endif	/* PIOS_INCLUDE_PPM */
-
-#if defined(PIOS_INCLUDE_PPM_OUT)
-	case OPLINKSETTINGS_PPM_OUTPUT:
-		PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg);
-		break;
-#endif	/* PIOS_INCLUDE_PPM_OUT */
-
-	default:
-	{
-		/* Configure the flexi serial port if PPM not selected */
-		uint32_t pios_usart3_id;
-		if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
-			PIOS_Assert(0);
-		}
-		uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
-		uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
-		PIOS_Assert(rx_buffer);
-		PIOS_Assert(tx_buffer);
-		if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
-											rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
-			PIOS_Assert(0);
-		}
-	}
-	}
 
 	/* Initalize the RFM22B radio COM device. */
 #if defined(PIOS_INCLUDE_RFM22B)
@@ -253,13 +197,21 @@ void PIOS_Board_Init(void) {
 		PIOS_Assert(rx_buffer);
 		PIOS_Assert(tx_buffer);
 		if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
-											rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
+				  rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
-											tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
+				  tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
 			PIOS_Assert(0);
 		}
+
+		/* Set the RFM22B bindings. */
+		PIOS_RFM22B_SetBindings(pios_rfm22b_id, oplinkSettings.Bindings, oplinkSettings.RemoteMainPort,
+					oplinkSettings.RemoteFlexiPort, oplinkSettings.RemoteVCPPort, oplinkSettings.ComSpeed);
 	}
 #endif /* PIOS_INCLUDE_RFM22B */
 
+	/* Allocate the uart buffers. */
+	pios_uart_rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RX_BUF_LEN);
+	pios_uart_tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_TX_BUF_LEN);
+
 	/* Remap AFIO pin */
 	GPIO_PinRemapConfig( GPIO_Remap_SWJ_NoJTRST, ENABLE);
 
@@ -269,6 +221,75 @@ void PIOS_Board_Init(void) {
  	PIOS_GPIO_Init();
 }
 
+void PIOS_InitUartMainPort()
+{
+#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
+	uint32_t pios_usart1_id;
+	if (PIOS_USART_Init(&pios_usart1_id, &pios_usart_serial_cfg)) {
+		PIOS_Assert(0);
+	}
+	PIOS_Assert(pios_uart_rx_buffer);
+	PIOS_Assert(pios_uart_tx_buffer);
+	if (PIOS_COM_Init(&pios_com_telem_uart_main_id, &pios_usart_com_driver, pios_usart1_id,
+			  pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
+			  pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
+		PIOS_Assert(0);
+	}
+#endif
+}
+
+void PIOS_InitUartFlexiPort()
+{
+	uint32_t pios_usart3_id;
+	if (PIOS_USART_Init(&pios_usart3_id, &pios_usart_telem_flexi_cfg)) {
+		PIOS_Assert(0);
+	}
+	PIOS_Assert(pios_uart_rx_buffer);
+	PIOS_Assert(pios_uart_tx_buffer);
+	if (PIOS_COM_Init(&pios_com_telem_uart_flexi_id, &pios_usart_com_driver, pios_usart3_id,
+			  pios_uart_rx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
+			  pios_uart_tx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
+		PIOS_Assert(0);
+	}
+}
+
+void PIOS_InitPPMMainPort(bool input)
+{
+#if defined(PIOS_INCLUDE_PPM)
+	/* PPM input is configured on the coordinator modem and output on the remote modem. */
+	if (input)
+	{
+		uint32_t pios_ppm_id;
+		PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_main_cfg);
+
+		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id))
+			PIOS_Assert(0);
+	}
+	// For some reason, PPM output on the main port doesn't work.
+#endif	/* PIOS_INCLUDE_PPM */
+}
+
+void PIOS_InitPPMFlexiPort(bool input)
+{
+#if defined(PIOS_INCLUDE_PPM)
+	/* PPM input is configured on the coordinator modem and output on the remote modem. */
+	if (input)
+	{
+		uint32_t pios_ppm_id;
+		PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
+
+		if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id))
+			PIOS_Assert(0);
+	}
+#if defined(PIOS_INCLUDE_PPM_OUT)
+	else
+	{
+		PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_ppm_out_cfg);
+	}
+#endif	/* PIOS_INCLUDE_PPM_OUT */
+#endif	/* PIOS_INCLUDE_PPM */
+}
+
 /**
  * @}
  */

flight/targets/RevoMini/Makefile

@@ -63,7 +63,7 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/System/systemmod.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

flight/targets/RevoMini/System/pios_board.c

@@ -40,6 +40,13 @@
 #include "hwsettings.h"
 #include "manualcontrolsettings.h"
 
+#if defined(PIOS_INCLUDE_RFM22B)
+// Forward declarations
+static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
+				 OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
+				 uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing);
+#endif
+
 /**
  * Sensor configurations 
  */
@@ -634,6 +641,10 @@ void PIOS_Board_Init(void) {
 #if defined(PIOS_INCLUDE_RFM22B)
 	uint8_t hwsettings_radioport;
 	HwSettingsRadioPortGet(&hwsettings_radioport);
+	uint8_t hwsettings_maxrfpower;
+	HwSettingsMaxRFPowerGet(&hwsettings_maxrfpower);
+	uint32_t hwsettings_deffreq;
+	HwSettingsDefaultFrequencyGet(&hwsettings_deffreq);
 	switch (hwsettings_radioport) {
 		case HWSETTINGS_RADIOPORT_DISABLED:
 			break;
@@ -645,6 +656,41 @@ void PIOS_Board_Init(void) {
 			if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, pios_rfm22b_cfg->slave_num, pios_rfm22b_cfg)) {
 				PIOS_Assert(0);
 			}
+
+			// Set the modem parameters and reinitilize the modem.
+			PIOS_RFM22B_SetInitialFrequency(pios_rfm22b_id, hwsettings_deffreq);
+			switch (hwsettings_maxrfpower)
+			{
+			case OPLINKSETTINGS_MAXRFPOWER_125:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_16:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_316:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_63:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_126:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_25:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_50:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6);
+				break;
+			case OPLINKSETTINGS_MAXRFPOWER_100:
+				PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7);
+				break;
+			default:
+				// do nothing
+				break;
+			}
+			PIOS_RFM22B_Reinit(pios_rfm22b_id);
+
 #ifdef PIOS_INCLUDE_RFM22B_COM
 			uint8_t *rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN);
 			uint8_t *tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
@@ -663,6 +709,10 @@ void PIOS_Board_Init(void) {
 				PIOS_Assert(0);
 			pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_rfm22b_rcvr_id;
 #endif
+
+                        // Set the com port configuration callback.
+                        PIOS_RFM22B_SetComConfigCallback(pios_rfm22b_id, &configureComCallback);
+
 			break;
 		}
 	}
@@ -758,6 +808,52 @@ void PIOS_Board_Init(void) {
 
 }
 
+#if defined(PIOS_INCLUDE_RFM22B)
+/**
+ * Configure the radio com port based on a configuration event from the remote coordinator.
+ * \param[in] main_port  The main com port options
+ * \param[in] flexi_port The flexi com port options
+ * \param[in] vcp_port   The USB virtual com port options
+ * \param[in] com_speed  The com port speed
+ */
+static void configureComCallback(OPLinkSettingsRemoteMainPortOptions main_port, OPLinkSettingsRemoteFlexiPortOptions flexi_port,
+				 OPLinkSettingsRemoteVCPPortOptions vcp_port, OPLinkSettingsComSpeedOptions com_speed,
+				 uint32_t min_frequency, uint32_t max_frequency, uint32_t channel_spacing)
+{
+    uint32_t comBaud = 9600;
+    switch (com_speed) {
+    case OPLINKSETTINGS_COMSPEED_2400:
+        comBaud = 2400;
+        break;
+    case OPLINKSETTINGS_COMSPEED_4800:
+        comBaud = 4800;
+        break;
+    case OPLINKSETTINGS_COMSPEED_9600:
+        comBaud = 9600;
+        break;
+    case OPLINKSETTINGS_COMSPEED_19200:
+        comBaud = 19200;
+        break;
+    case OPLINKSETTINGS_COMSPEED_38400:
+        comBaud = 38400;
+        break;
+    case OPLINKSETTINGS_COMSPEED_57600:
+        comBaud = 57600;
+        break;
+    case OPLINKSETTINGS_COMSPEED_115200:
+        comBaud = 115200;
+        break;
+    }
+    if (PIOS_COM_TELEM_RF) {
+        PIOS_COM_ChangeBaud(PIOS_COM_TELEM_RF, comBaud);
+    }
+
+    // Set the frequency range.
+    PIOS_RFM22B_SetFrequencyRange(pios_rfm22b_id, min_frequency, max_frequency, channel_spacing);
+}
+
+#endif
+
 /**
  * @}
  * @}

flight/targets/Revolution/Makefile

@@ -62,7 +62,7 @@ CFLAGS += -ffast-math
 # Use file-extension c for "c-only"-files
 ifndef TESTAPP
     ## Application Core
-    SRC += ${OPMODULEDIR}/System/systemmod.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
     SRC += $(OPSYSTEM)/revolution.c
     SRC += $(OPSYSTEM)/pios_board.c
     SRC += $(OPSYSTEM)/pios_usb_board_data.c

flight/targets/board_hw_defs/pipxtreme/board_hw_defs.c

@@ -410,6 +410,19 @@ static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
 	.remap = GPIO_PartialRemap2_TIM2,
 };
 
+static const struct pios_tim_channel pios_tim_ppm_main_port = {
+	.timer = TIM1,
+	.timer_chan = TIM_Channel_2,
+	.pin = {
+		.gpio = GPIOA,
+		.init = {
+			.GPIO_Pin   = GPIO_Pin_9,
+			.GPIO_Mode  = GPIO_Mode_IPD,
+			.GPIO_Speed = GPIO_Speed_2MHz,
+		},
+	},
+};
+
 #endif	/* PIOS_INCLUDE_TIM */
 
 #if defined(PIOS_INCLUDE_USART)
@@ -541,7 +554,7 @@ void PIOS_RTC_IRQ_Handler (void)
 #if defined(PIOS_INCLUDE_PPM)
 #include <pios_ppm_priv.h>
 
-const struct pios_ppm_cfg pios_ppm_cfg = {
+const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
 	.tim_ic_init = {
 		.TIM_ICPolarity = TIM_ICPolarity_Rising,
 		.TIM_ICSelection = TIM_ICSelection_DirectTI,
@@ -552,6 +565,17 @@ const struct pios_ppm_cfg pios_ppm_cfg = {
 	.num_channels = 1,
 };
 
+const struct pios_ppm_cfg pios_ppm_main_cfg = {
+	.tim_ic_init = {
+		.TIM_ICPolarity = TIM_ICPolarity_Rising,
+		.TIM_ICSelection = TIM_ICSelection_DirectTI,
+		.TIM_ICPrescaler = TIM_ICPSC_DIV1,
+		.TIM_ICFilter = 0x0,
+	},
+	.channels = &pios_tim_ppm_main_port,
+	.num_channels = 1,
+};
+
 #endif	/* PIOS_INCLUDE_PPM */
 
 /*

flight/targets/board_hw_defs/revomini/board_hw_defs.c

@@ -75,6 +75,56 @@ static const struct pios_led pios_leds_v2[] = {
 			},
 		},
 	},
+#ifdef PIOS_RFM22B_DEBUG_ON_SERVO
+	[PIOS_LED_D1] = {
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_13,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+	[PIOS_LED_D2] = {
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_14,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+	[PIOS_LED_D3] = {
+		.pin = {
+			.gpio = GPIOB,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_15,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+	[PIOS_LED_D4] = {
+		.pin = {
+			.gpio = GPIOC,
+			.init = {
+				.GPIO_Pin   = GPIO_Pin_6,
+				.GPIO_Speed = GPIO_Speed_50MHz,
+				.GPIO_Mode  = GPIO_Mode_OUT,
+				.GPIO_OType = GPIO_OType_PP,
+				.GPIO_PuPd = GPIO_PuPd_UP
+			},
+		},
+	},
+#endif
 };
 
 static const struct pios_led_cfg pios_led_v2_cfg = {

ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml

@@ -16,7 +16,7 @@
   <IPconnection>
     <Current>
       <arr_1>
-        <Port>1</Port>
+        <Port>9000</Port>
         <UseTCP>0</UseTCP>
       </arr_1>
       <size>1</size>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml

@@ -13,6 +13,15 @@
     <StyleSheet>default</StyleSheet>
     <UDPMirror>false</UDPMirror>
   </General>
+  <IPconnection>
+    <Current>
+      <arr_1>
+        <Port>9000</Port>
+        <UseTCP>0</UseTCP>
+      </arr_1>
+      <size>1</size>
+    </Current>
+  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>

ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml

@@ -13,6 +13,15 @@
     <StyleSheet>default</StyleSheet>
     <UDPMirror>false</UDPMirror>
   </General>
+  <IPconnection>
+    <Current>
+      <arr_1>
+        <Port>9000</Port>
+        <UseTCP>0</UseTCP>
+      </arr_1>
+      <size>1</size>
+    </Current>
+  </IPconnection>
   <KeyBindings>
     <size>0</size>
   </KeyBindings>

ground/openpilotgcs/src/libs/opmapcontrol/src/internals/projections/lks94projection.h

@@ -28,7 +28,7 @@
 #define LKS94PROJECTION_H
 #include <QVector>
 #include "cmath"
-#include "../pureprojection.h"
+#include <opmapcontrol/src/internals/pureprojection.h>
 
 
 namespace projections {

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

@@ -27,6 +27,7 @@
 
 #include "configpipxtremewidget.h"
 
+#include <coreplugin/generalsettings.h>
 #include <oplinksettings.h>
 #include <oplinkstatus.h>
 
@@ -46,28 +47,28 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	}
 
 	// Connect to the OPLinkSettings object updates
-	oplinkSettingsObj = dynamic_cast<UAVDataObject*>(objManager->getObject("OPLinkSettings"));
+	oplinkSettingsObj = dynamic_cast<OPLinkSettings*>(objManager->getObject("OPLinkSettings"));
 	if (oplinkSettingsObj != NULL ) {
 		connect(oplinkSettingsObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(updateSettings(UAVObject*)));
 	} 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);
 	addApplySaveButtons(m_oplink->Apply, m_oplink->Save);
 
-	addUAVObjectToWidgetRelation("OPLinkSettings", "Coordinator", m_oplink->Coordinator);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "MainPort", m_oplink->MainPort);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "UAVTalk", m_oplink->UAVTalk);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "PPM", m_oplink->PPM);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "VCPPort", m_oplink->VCPPort);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "InputConnection", m_oplink->InputConnection);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "OutputConnection", m_oplink->OutputConnection);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
 	addUAVObjectToWidgetRelation("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "SendTimeout", m_oplink->SendTimeout);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "MinFrequency", m_oplink->MinimumFrequency);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "MinPacketSize", m_oplink->MinPacketSize);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "MaxFrequency", m_oplink->MaximumFrequency);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "FrequencyCalibration", m_oplink->FrequencyCalibration);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "InitFrequency", m_oplink->InitFrequency);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "MinFrequency", m_oplink->MinFrequency);
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ChannelSpacing", m_oplink->StepSize);
-	addUAVObjectToWidgetRelation("OPLinkSettings", "MaxFrequency", m_oplink->MaxFrequency);
 
+	addUAVObjectToWidgetRelation("OPLinkStatus", "DeviceID", m_oplink->DeviceID);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RxGood", m_oplink->Good);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RxCorrected", m_oplink->Corrected);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RxErrors", m_oplink->Errors);
@@ -80,19 +81,89 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 	addUAVObjectToWidgetRelation("OPLinkStatus", "Resets", m_oplink->Resets);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "Timeouts", m_oplink->Timeouts);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RSSI", m_oplink->RSSI);
-	addUAVObjectToWidgetRelation("OPLinkStatus", "AFCCorrection", m_oplink->AFCCorrection);
+	addUAVObjectToWidgetRelation("OPLinkStatus", "HeapRemaining", m_oplink->FreeHeap);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "LinkQuality", m_oplink->LinkQuality);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RXSeq", m_oplink->RXSeq);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "TXSeq", m_oplink->TXSeq);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "RXRate", m_oplink->RXRate);
 	addUAVObjectToWidgetRelation("OPLinkStatus", "TXRate", m_oplink->TXRate);
 
-	// Connect to the pair ID radio buttons.
+        signalMapperAddBinding = new QSignalMapper(this);
-	connect(m_oplink->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
+        signalMapperRemBinding = new QSignalMapper(this);
-	connect(m_oplink->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
+        connect(m_oplink->BindingAdd_1, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
-	connect(m_oplink->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_1, (QWidget*)(m_oplink->BindingID_1));
-	connect(m_oplink->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
+        connect(m_oplink->BindingRemove_1, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
-	connect(m_oplink->PairSelect4, SIGNAL(toggled(bool)), this, SLOT(pair4Toggled(bool)));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_1, (QWidget*)(m_oplink->BindingID_1));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_1, "0");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_1, "0");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_1, "0");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_1, "0");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_1, "0");
+        connect(m_oplink->BindingAdd_2, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_2, (QWidget*)(m_oplink->BindingID_2));
+        connect(m_oplink->BindingRemove_2, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_2, (QWidget*)(m_oplink->BindingID_2));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_2, "1");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_2, "1");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_2, "1");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_2, "1");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_2, "1");
+        connect(m_oplink->BindingAdd_3, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_3, (QWidget*)(m_oplink->BindingID_3));
+        connect(m_oplink->BindingRemove_3, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_3, (QWidget*)(m_oplink->BindingID_3));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_3, "2");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_3, "2");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_3, "2");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_3, "2");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_3, "2");
+        connect(m_oplink->BindingAdd_4, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_4, (QWidget*)(m_oplink->BindingID_4));
+        connect(m_oplink->BindingRemove_4, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_4, (QWidget*)(m_oplink->BindingID_4));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_4, "3");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_4, "3");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_4, "3");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_4, "3");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_4, "3");
+        connect(m_oplink->BindingAdd_5, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_5, (QWidget*)(m_oplink->BindingID_5));
+        connect(m_oplink->BindingRemove_5, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_5, (QWidget*)(m_oplink->BindingID_5));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_5, "4");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_5, "4");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_5, "4");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_5, "4");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_5, "4");
+        connect(m_oplink->BindingAdd_6, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_6, (QWidget*)(m_oplink->BindingID_6));
+        connect(m_oplink->BindingRemove_6, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_6, (QWidget*)(m_oplink->BindingID_6));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_6, "5");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_6, "5");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_6, "5");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_6, "5");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_6, "5");
+        connect(m_oplink->BindingAdd_7, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_7, (QWidget*)(m_oplink->BindingID_7));
+        connect(m_oplink->BindingRemove_7, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_7, (QWidget*)(m_oplink->BindingID_7));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_7, "6");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_7, "6");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_7, "6");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_7, "6");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_7, "6");
+        connect(m_oplink->BindingAdd_8, SIGNAL(clicked()), signalMapperAddBinding, SLOT(map()));
+	signalMapperAddBinding->setMapping(m_oplink->BindingAdd_8, (QWidget*)(m_oplink->BindingID_8));
+        connect(m_oplink->BindingRemove_8, SIGNAL(clicked()), signalMapperRemBinding, SLOT(map()));
+	signalMapperRemBinding->setMapping(m_oplink->BindingRemove_8, (QWidget*)(m_oplink->BindingID_8));
+	addUAVObjectToWidgetRelation("OPLinkSettings", "Bindings", m_oplink->BindingID_8, "7");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteMainPort", m_oplink->RemoteMainPort_8, "7");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteFlexiPort", m_oplink->RemoteFlexiPort_8, "7");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "RemoteVCPPort", m_oplink->RemoteVCPPort_8, "7");
+	addUAVObjectToWidgetRelation("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed_8, "7");
+        connect(signalMapperAddBinding, SIGNAL(mapped(QWidget *)), this, SLOT(addBinding(QWidget *)));
+        connect(signalMapperRemBinding, SIGNAL(mapped(QWidget *)), this, SLOT(removeBinding(QWidget *)));
 
 	//Add scroll bar when necessary
 	QScrollArea *scroll = new QScrollArea;
@@ -108,38 +179,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
 
 ConfigPipXtremeWidget::~ConfigPipXtremeWidget()
 {
-	// Do nothing
+    delete signalMapperAddBinding;
-}
+    delete signalMapperRemBinding;
-
-void ConfigPipXtremeWidget::refreshValues()
-{
-}
-
-void ConfigPipXtremeWidget::applySettings()
-{
-	OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
-	OPLinkSettings::DataFields oplinkSettingsData = oplinkSettings->getData();
-
-	// Get the pair ID.
-	quint32 pairID = 0;
-	bool okay;
-	if (m_oplink->PairSelect1->isChecked())
-		pairID = m_oplink->PairID1->text().toUInt(&okay, 16);
-	else if (m_oplink->PairSelect2->isChecked())
-		pairID = m_oplink->PairID2->text().toUInt(&okay, 16);
-	else if (m_oplink->PairSelect3->isChecked())
-		pairID = m_oplink->PairID3->text().toUInt(&okay, 16);
-	else if (m_oplink->PairSelect4->isChecked())
-		pairID = m_oplink->PairID4->text().toUInt(&okay, 16);
-	oplinkSettingsData.PairID = pairID;
-	oplinkSettings->setData(oplinkSettingsData);
-}
-
-void ConfigPipXtremeWidget::saveSettings()
-{
-	//applySettings();
-	UAVObject *obj = OPLinkSettings::GetInstance(getObjectManager());
-	saveObjectToSD(obj);
 }
 
 /*!
@@ -152,34 +193,24 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
 	if (!settingsUpdated)
 		oplinkSettingsObj->requestUpdate();
 
-	// Get the current pairID
-	OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
-	quint32 pairID = 0;
-	if (oplinkSettings)
-		pairID = oplinkSettings->getPairID();
-
 	// Update the detected devices.
 	UAVObjectField* pairIdField = object->getField("PairIDs");
 	if (pairIdField) {
 		quint32 pairid1 = pairIdField->getValue(0).toUInt();
 		m_oplink->PairID1->setText(QString::number(pairid1, 16).toUpper());
 		m_oplink->PairID1->setEnabled(false);
-		m_oplink->PairSelect1->setChecked(pairID && (pairID == pairid1));
 		m_oplink->PairSelect1->setEnabled(pairid1);
 		quint32 pairid2 = pairIdField->getValue(1).toUInt();
 		m_oplink->PairID2->setText(QString::number(pairIdField->getValue(1).toUInt(), 16).toUpper());
 		m_oplink->PairID2->setEnabled(false);
-		m_oplink->PairSelect2->setChecked(pairID && (pairID == pairid2));
 		m_oplink->PairSelect2->setEnabled(pairid2);
 		quint32 pairid3 = pairIdField->getValue(2).toUInt();
 		m_oplink->PairID3->setText(QString::number(pairIdField->getValue(2).toUInt(), 16).toUpper());
 		m_oplink->PairID3->setEnabled(false);
-		m_oplink->PairSelect3->setChecked(pairID && (pairID == pairid3));
 		m_oplink->PairSelect3->setEnabled(pairid3);
 		quint32 pairid4 = pairIdField->getValue(3).toUInt();
 		m_oplink->PairID4->setText(QString::number(pairIdField->getValue(3).toUInt(), 16).toUpper());
 		m_oplink->PairID4->setEnabled(false);
-		m_oplink->PairSelect4->setChecked(pairID && (pairID == pairid4));
 		m_oplink->PairSelect4->setEnabled(pairid4);
 	} else {
 		qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
@@ -245,17 +276,6 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
  		qDebug() << "PipXtremeGadgetWidget: Count not read Description field.";
  	}
 
-	// Update the DeviceID field
-	UAVObjectField* idField = object->getField("DeviceID");
-	if (idField) {
-		m_oplink->DeviceID->setText(QString::number(idField->getValue().toUInt(), 16).toUpper());
-	} else {
-		qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field.";
-	}
-
-	// Update the PairID field
-	m_oplink->PairID->setText(QString::number(pairID, 16).toUpper());
-
  	// Update the link state
  	UAVObjectField* linkField = object->getField("LinkState");
  	if (linkField) {
@@ -270,13 +290,13 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
   */
 void ConfigPipXtremeWidget::updateSettings(UAVObject *object)
 {
-    Q_UNUSED(object);
+	Q_UNUSED(object);
 
-    if (!settingsUpdated)
+	if (!settingsUpdated)
-    {
+	{
-	    settingsUpdated = true;
+		settingsUpdated = true;
-	    enableControls(true);
+		enableControls(true);
-    }
+	}
 }
 
 void ConfigPipXtremeWidget::disconnected()
@@ -288,52 +308,32 @@ void ConfigPipXtremeWidget::disconnected()
 	}
 }
 
-void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
+void ConfigPipXtremeWidget::addBinding(QWidget *w)
 {
-	if(checked)
+    if(QLineEdit *le = qobject_cast<QLineEdit *>(w)) {
-	{
-		OPLinkStatus *oplinkStatus = OPLinkStatus::GetInstance(getObjectManager());
-		OPLinkSettings *oplinkSettings = OPLinkSettings::GetInstance(getObjectManager());
 
-		if (oplinkStatus && oplinkSettings)
+        // Get the pair ID out of the selection widget
-		{
+        quint32 pairID = 0;
-			if (idx == 4)
+        bool okay;
-			{
+        if (m_oplink->PairSelect1->isChecked())
-				oplinkSettings->setPairID(0);
+            pairID = m_oplink->PairID1->text().toUInt(&okay, 16);
-			}
+        else if (m_oplink->PairSelect2->isChecked())
-			else
+            pairID = m_oplink->PairID2->text().toUInt(&okay, 16);
-			{
+        else if (m_oplink->PairSelect3->isChecked())
-				quint32 pairID = oplinkStatus->getPairIDs(idx);
+            pairID = m_oplink->PairID3->text().toUInt(&okay, 16);
-				if (pairID)
+        else if (m_oplink->PairSelect4->isChecked())
-					oplinkSettings->setPairID(pairID);
+            pairID = m_oplink->PairID4->text().toUInt(&okay, 16);
-			}
+
-		}
+        // Store the ID in the first open slot (or the last slot if all are full).
-	}
+        le->setText(QString::number(pairID, 16).toUpper());
+    }
 }
 
-void ConfigPipXtremeWidget::pair1Toggled(bool checked)
+void ConfigPipXtremeWidget::removeBinding(QWidget *w)
 {
-	pairIDToggled(checked, 0);
+    if(QLineEdit *le = qobject_cast<QLineEdit *>(w)) {
-}
+        le->setText(QString::number(0, 16).toUpper());
-
+    }
-void ConfigPipXtremeWidget::pair2Toggled(bool checked)
-{
-	pairIDToggled(checked, 1);
-}
-
-void ConfigPipXtremeWidget::pair3Toggled(bool checked)
-{
-	pairIDToggled(checked, 2);
-}
-
-void ConfigPipXtremeWidget::pair4Toggled(bool checked)
-{
-	pairIDToggled(checked, 3);
-}
-
-void ConfigPipXtremeWidget::pairBToggled(bool checked)
-{
-	pairIDToggled(checked, 4);
 }
 
 /**

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

@@ -27,6 +27,8 @@
 #ifndef CONFIGPIPXTREMEWIDGET_H
 #define CONFIGPIPXTREMEWIDGET_H
 
+#include <oplinksettings.h>
+
 #include "ui_pipxtreme.h"
 #include "configtaskwidget.h"
 
@@ -46,24 +48,22 @@ private:
 	Ui_PipXtremeWidget *m_oplink;
 
 	// The OPLink status UAVObject
-	UAVDataObject* oplinkStatusObj;
+	UAVDataObject *oplinkStatusObj;
 
 	// The OPLink ssettins UAVObject
-	UAVDataObject* oplinkSettingsObj;
+	OPLinkSettings* oplinkSettingsObj;
 
+	// Are the settings current?
 	bool settingsUpdated;
 
+	// Signal mappers to add arguments to signals.
+	QSignalMapper *signalMapperAddBinding;
+	QSignalMapper *signalMapperRemBinding;
+
 private slots:
-	void refreshValues();
-	void applySettings();
-	void saveSettings();
 	void disconnected();
-	void pairIDToggled(bool checked, quint8 idx);
+	void addBinding(QWidget *w);
-	void pair1Toggled(bool checked);
+	void removeBinding(QWidget *w);
-	void pair2Toggled(bool checked);
-	void pair3Toggled(bool checked);
-	void pair4Toggled(bool checked);
-	void pairBToggled(bool checked);
 };
 
 #endif // CONFIGTXPIDWIDGET_H

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

@@ -64,7 +64,9 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
     addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_ui->cbMainGPSSpeed);
     addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbMainComSpeed);
 
-    addUAVObjectToWidgetRelation("HwSettings","RadioPort",m_ui->cbModem);
+    addUAVObjectToWidgetRelation("HwSettings", "RadioPort", m_ui->cbModem);
+    addUAVObjectToWidgetRelation("HwSettings", "MaxRFPower", m_ui->cbTxPower);
+    addUAVObjectToWidgetRelation("HwSettings", "DefaultFrequency", m_ui->leInitFreq);
 
     connect(m_ui->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
 
@@ -101,6 +103,7 @@ void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj)
     usbVCPPortChanged(0);
     mainPortChanged(0);
     flexiPortChanged(0);
+    modemPortChanged(0);
 }
 
 void ConfigRevoHWWidget::updateObjectsFromWidgets()
@@ -288,6 +291,15 @@ void ConfigRevoHWWidget::modemPortChanged(int index)
         if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
             m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
         }
+        m_ui->lblTxPower->setVisible(true);
+        m_ui->cbTxPower->setVisible(true);
+        m_ui->lblInitFreq->setVisible(true);
+        m_ui->leInitFreq->setVisible(true);
+    } else {
+        m_ui->lblTxPower->setVisible(false);
+        m_ui->cbTxPower->setVisible(false);
+        m_ui->lblInitFreq->setVisible(false);
+        m_ui->leInitFreq->setVisible(false);
     }
 }
 

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

@@ -169,9 +169,6 @@
                </property>
               </widget>
              </item>
-             <item row="13" column="2">
-              <widget class="QComboBox" name="cbModem"/>
-             </item>
              <item row="3" column="0">
               <widget class="QComboBox" name="cbRcvr"/>
              </item>
@@ -375,6 +372,39 @@
                </property>
               </widget>
              </item>
+             <item row="13" column="2">
+              <widget class="QComboBox" name="cbModem"/>
+             </item>
+             <item row="14" column="2">
+              <widget class="QLabel" name="lblTxPower">
+               <property name="text">
+                <string>Max Tx Power (mW)</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="15" column="2">
+              <widget class="QComboBox" name="cbTxPower"/>
+             </item>
+             <item row="16" column="2">
+              <widget class="QLabel" name="lblInitFreq">
+               <property name="text">
+                <string>Initial Frequency (Hz)</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="17" column="2">
+               <widget class="QLineEdit" name="leInitFreq">
+                 <property name="toolTip">
+                   <string extracomment="The initial connection frequency (Hz)"/>
+                 </property>
+               </widget>
+             </item>
              <item row="14" column="1">
               <widget class="QLabel" name="lblFlexiSpeed">
                <property name="text">

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

@@ -23,36 +23,10 @@
       <enum>QFrame::Raised</enum>
      </property>
      <layout class="QGridLayout" name="gridLayout">
-      <item row="1" column="0" colspan="2">
+      <item row="4" column="0" colspan="2">
-       <layout class="QHBoxLayout" name="horizontalLayout_12">
+       <layout class="QHBoxLayout" name="horizontalLayout_12"/>
-        <item>
-         <widget class="QGraphicsView" name="graphicsView_Spectrum">
-          <property name="backgroundBrush">
-           <brush brushstyle="NoBrush">
-            <color alpha="255">
-             <red>0</red>
-             <green>0</green>
-             <blue>0</blue>
-            </color>
-           </brush>
-          </property>
-          <property name="foregroundBrush">
-           <brush brushstyle="NoBrush">
-            <color alpha="255">
-             <red>0</red>
-             <green>0</green>
-             <blue>0</blue>
-            </color>
-           </brush>
-          </property>
-          <property name="interactive">
-           <bool>true</bool>
-          </property>
-         </widget>
-        </item>
-       </layout>
       </item>
-      <item row="2" column="0" colspan="2">
+      <item row="5" column="0" colspan="2">
        <layout class="QVBoxLayout" name="verticalLayout">
         <item>
          <widget class="QLabel" name="message">
@@ -139,235 +113,15 @@
         </item>
        </layout>
       </item>
-      <item row="0" column="0">
+      <item row="2" column="0" colspan="2">
-       <widget class="QFrame" name="frame_2">
+       <widget class="QFrame" name="frame_4">
         <property name="frameShape">
          <enum>QFrame::StyledPanel</enum>
         </property>
         <property name="frameShadow">
          <enum>QFrame::Raised</enum>
         </property>
-        <layout class="QVBoxLayout" name="verticalLayout_2">
+        <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QGroupBox" name="groupBox_2">
-           <property name="font">
-            <font>
-             <weight>75</weight>
-             <bold>true</bold>
-            </font>
-           </property>
-           <property name="title">
-            <string>Pairing</string>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_3">
-            <item row="0" column="0">
-             <widget class="QRadioButton" name="PairSelectB">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <widget class="QLineEdit" name="PairIDB">
-              <property name="enabled">
-               <bool>false</bool>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>100</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="text">
-               <string>Broadcast</string>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="2">
-             <widget class="QLabel" name="PaidIDBLabel">
-              <property name="text">
-               <string>Broadcast Address</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="0">
-             <widget class="QRadioButton" name="PairSelect1">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <widget class="QLineEdit" name="PairID1">
-              <property name="maximumSize">
-               <size>
-                <width>100</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="placeholderText">
-               <string>12345678</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="2">
-             <widget class="QProgressBar" name="PairSignalStrengthBar1">
-              <property name="minimum">
-               <number>-127</number>
-              </property>
-              <property name="maximum">
-               <number>0</number>
-              </property>
-              <property name="value">
-               <number>-127</number>
-              </property>
-              <property name="textVisible">
-               <bool>false</bool>
-              </property>
-              <property name="format">
-               <string>%v dBm</string>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="3">
-             <widget class="QLabel" name="PairSignalStrengthLabel1">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QRadioButton" name="PairSelect2">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QLineEdit" name="PairID2">
-              <property name="maximumSize">
-               <size>
-                <width>100</width>
-                <height>16777215</height>
-               </size>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="2">
-             <widget class="QProgressBar" name="PairSignalStrengthBar2">
-              <property name="minimum">
-               <number>-127</number>
-              </property>
-              <property name="maximum">
-               <number>0</number>
-              </property>
-              <property name="value">
-               <number>0</number>
-              </property>
-              <property name="textVisible">
-               <bool>false</bool>
-              </property>
-              <property name="format">
-               <string>%v dBm</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="3">
-             <widget class="QLabel" name="PairSignalStrengthLabel2">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="0">
-             <widget class="QRadioButton" name="PairSelect3">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QLineEdit" name="PairID3">
-              <property name="maximumSize">
-               <size>
-                <width>100</width>
-                <height>16777215</height>
-               </size>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="2">
-             <widget class="QProgressBar" name="PairSignalStrengthBar3">
-              <property name="minimum">
-               <number>-127</number>
-              </property>
-              <property name="maximum">
-               <number>0</number>
-              </property>
-              <property name="value">
-               <number>0</number>
-              </property>
-              <property name="textVisible">
-               <bool>false</bool>
-              </property>
-              <property name="format">
-               <string>%v dBm</string>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="3">
-             <widget class="QLabel" name="PairSignalStrengthLabel3">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
-             <widget class="QRadioButton" name="PairSelect4">
-              <property name="text">
-               <string/>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="1">
-             <widget class="QLineEdit" name="PairID4">
-              <property name="maximumSize">
-               <size>
-                <width>100</width>
-                <height>16777215</height>
-               </size>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="2">
-             <widget class="QProgressBar" name="PairSignalStrengthBar4">
-              <property name="minimum">
-               <number>-127</number>
-              </property>
-              <property name="maximum">
-               <number>0</number>
-              </property>
-              <property name="value">
-               <number>0</number>
-              </property>
-              <property name="textVisible">
-               <bool>false</bool>
-              </property>
-              <property name="format">
-               <string>%v dBm</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="3">
-             <widget class="QLabel" name="PairSignalStrengthLabel4">
-              <property name="text">
-               <string>-100dB</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
          <item>
           <widget class="QGroupBox" name="groupBox_3">
            <property name="minimumSize">
@@ -418,13 +172,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -479,13 +233,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>true</bool>
@@ -498,7 +252,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="0">
+            <item row="0" column="4">
              <widget class="QLabel" name="DeviceIDLabel">
               <property name="text">
                <string>Device ID</string>
@@ -508,7 +262,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="1">
+            <item row="0" column="5">
              <widget class="QLineEdit" name="DeviceID">
               <property name="minimumSize">
                <size>
@@ -530,13 +284,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -552,55 +306,7 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="0">
+            <item row="0" column="6">
-             <widget class="QLabel" name="PairIDLabel">
-              <property name="text">
-               <string>Pair ID</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="3" column="1">
-             <widget class="QLineEdit" name="PairID">
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-              <property name="placeholderText">
-               <string>90ABCDEF</string>
-              </property>
-             </widget>
-            </item>
-            <item row="4" column="0">
              <widget class="QLabel" name="label_11">
               <property name="text">
                <string>Link State</string>
@@ -610,7 +316,7 @@
               </property>
              </widget>
             </item>
-            <item row="4" column="1">
+            <item row="0" column="7">
              <widget class="QLineEdit" name="LinkState">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
@@ -641,13 +347,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 3px;
+			      padding: 0 3px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -660,7 +366,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="0">
+            <item row="1" column="4">
              <widget class="QLabel" name="LinkQualityLabel">
               <property name="text">
                <string>Link Quality</string>
@@ -670,7 +376,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="1">
+            <item row="1" column="5">
              <widget class="QLineEdit" name="LinkQuality">
               <property name="maximumSize">
                <size>
@@ -686,13 +392,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -702,7 +408,7 @@
               </property>
              </widget>
             </item>
-            <item row="6" column="0">
+            <item row="1" column="6">
              <widget class="QLabel" name="RSSILabel">
               <property name="text">
                <string>RSSI</string>
@@ -712,7 +418,7 @@
               </property>
              </widget>
             </item>
-            <item row="6" column="1">
+            <item row="1" column="7">
              <widget class="QLineEdit" name="RSSI">
               <property name="minimumSize">
                <size>
@@ -734,59 +440,20 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="readOnly">
                <bool>true</bool>
               </property>
              </widget>
             </item>
-            <item row="7" column="0">
+            <item row="2" column="4">
-             <widget class="QLabel" name="RxAFCLabel">
-              <property name="text">
-               <string>AFC Corr.</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="7" column="1">
-             <widget class="QLineEdit" name="AFCCorrection">
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="0">
              <widget class="QLabel" name="TXSeqLabel">
               <property name="text">
                <string>TX Seq. No.</string>
@@ -796,7 +463,7 @@
               </property>
              </widget>
             </item>
-            <item row="8" column="1">
+            <item row="2" column="5">
              <widget class="QLineEdit" name="TXSeq">
               <property name="minimumSize">
                <size>
@@ -818,13 +485,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -834,7 +501,7 @@
               </property>
              </widget>
             </item>
-            <item row="9" column="0">
+            <item row="2" column="6">
              <widget class="QLabel" name="TXRateLabel">
               <property name="text">
                <string>TX Rate (B/s)</string>
@@ -844,7 +511,7 @@
               </property>
              </widget>
             </item>
-            <item row="9" column="1">
+            <item row="2" column="7">
              <widget class="QLineEdit" name="TXRate">
               <property name="minimumSize">
                <size>
@@ -866,13 +533,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -882,7 +549,7 @@
               </property>
              </widget>
             </item>
-            <item row="10" column="0">
+            <item row="3" column="4">
              <widget class="QLabel" name="RXSeqLabel">
               <property name="text">
                <string>RX Seq. No.</string>
@@ -892,7 +559,7 @@
               </property>
              </widget>
             </item>
-            <item row="10" column="1">
+            <item row="3" column="5">
              <widget class="QLineEdit" name="RXSeq">
               <property name="minimumSize">
                <size>
@@ -914,13 +581,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -930,7 +597,7 @@
               </property>
              </widget>
             </item>
-            <item row="11" column="0">
+            <item row="3" column="6">
              <widget class="QLabel" name="RXRateLabel">
               <property name="text">
                <string>RX Rate (B/s)</string>
@@ -940,7 +607,7 @@
               </property>
              </widget>
             </item>
-            <item row="11" column="1">
+            <item row="3" column="7">
              <widget class="QLineEdit" name="RXRate">
               <property name="maximumSize">
                <size>
@@ -956,13 +623,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="frame">
                <bool>false</bool>
@@ -972,7 +639,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="2">
+            <item row="2" column="0">
              <widget class="QLabel" name="GoodLabel">
               <property name="text">
                <string>RX Good</string>
@@ -982,7 +649,7 @@
               </property>
              </widget>
             </item>
-            <item row="2" column="3">
+            <item row="2" column="1">
              <widget class="QLineEdit" name="Good">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -1013,13 +680,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -1029,7 +696,7 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="2">
+            <item row="3" column="0">
              <widget class="QLabel" name="CorrectedLabel">
               <property name="text">
                <string>RX Corrected</string>
@@ -1039,7 +706,7 @@
               </property>
              </widget>
             </item>
-            <item row="3" column="3">
+            <item row="3" column="1">
              <widget class="QLineEdit" name="Corrected">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -1070,13 +737,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -1086,7 +753,7 @@
               </property>
              </widget>
             </item>
-            <item row="4" column="2">
+            <item row="5" column="0">
              <widget class="QLabel" name="ErrorsLabel">
               <property name="text">
                <string>RX Errors</string>
@@ -1096,7 +763,7 @@
               </property>
              </widget>
             </item>
-            <item row="4" column="3">
+            <item row="5" column="1">
              <widget class="QLineEdit" name="Errors">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -1121,13 +788,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -1137,7 +804,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="2">
+            <item row="6" column="0">
              <widget class="QLabel" name="MissedPacketsLabel">
               <property name="text">
                <string>RX Missed</string>
@@ -1147,7 +814,7 @@
               </property>
              </widget>
             </item>
-            <item row="5" column="3">
+            <item row="6" column="1">
              <widget class="QLineEdit" name="Missed">
               <property name="sizePolicy">
                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@@ -1178,13 +845,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -1194,6 +861,321 @@
               </property>
              </widget>
             </item>
+            <item row="2" column="2">
+             <widget class="QLabel" name="DroppedLabel">
+              <property name="text">
+               <string>TX Dropped</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="3">
+             <widget class="QLineEdit" name="Dropped">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="toolTip">
+               <string>The number of packets that were unable to be transmitted</string>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QLabel" name="ResentLabel">
+              <property name="text">
+               <string>TX Resent</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="3">
+             <widget class="QLineEdit" name="Resent">
+              <property name="sizePolicy">
+               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                <horstretch>0</horstretch>
+                <verstretch>0</verstretch>
+               </sizepolicy>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="toolTip">
+               <string>The number of packets that were unable to be transmitted</string>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="2">
+             <widget class="QLabel" name="TxFailureLabel">
+              <property name="text">
+               <string>Tx Failure</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="3">
+             <widget class="QLineEdit" name="TxFailure">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="4">
+             <widget class="QLabel" name="FreeHeapLabel">
+              <property name="text">
+               <string>Free Heap</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="5">
+             <widget class="QLineEdit" name="FreeHeap">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="6">
+             <widget class="QLabel" name="UAVTalkErrorsLabel">
+              <property name="text">
+               <string>UAVTalk Errors</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="5" column="7">
+             <widget class="QLineEdit" name="UAVTalkErrors">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="7">
+             <widget class="QLineEdit" name="Resets">
+              <property name="minimumSize">
+               <size>
+                <width>0</width>
+                <height>0</height>
+               </size>
+              </property>
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="6">
+             <widget class="QLabel" name="ResetsLabel">
+              <property name="text">
+               <string>Resets</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="5">
+             <widget class="QLineEdit" name="Timeouts">
+              <property name="maximumSize">
+               <size>
+                <width>101</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="font">
+               <font>
+                <weight>75</weight>
+                <bold>true</bold>
+               </font>
+              </property>
+              <property name="styleSheet">
+               <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+              </property>
+              <property name="frame">
+               <bool>false</bool>
+              </property>
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="6" column="4">
+             <widget class="QLabel" name="TimeoutsLabel">
+              <property name="text">
+               <string>Timeouts</string>
+              </property>
+              <property name="alignment">
+               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+              </property>
+             </widget>
+            </item>
             <item row="6" column="2">
              <widget class="QLabel" name="RxFailureLabel">
               <property name="text">
@@ -1235,13 +1217,13 @@
               </property>
               <property name="styleSheet">
                <string notr="true">QLineEdit {
-  border: none;
+			      border: none;
-  border-radius: 1px;
+			      border-radius: 1px;
-  padding: 0 4px;
+			      padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
+			      background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
+			      /*  background: transparent; */
-/*     selection-background-color: darkgray;*/
+			      /*     selection-background-color: darkgray;*/
-}</string>
+			      }</string>
               </property>
               <property name="alignment">
                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@@ -1251,288 +1233,1192 @@
               </property>
              </widget>
             </item>
-            <item row="7" column="2">
-             <widget class="QLabel" name="DroppedLabel">
-              <property name="text">
-               <string>TX Dropped</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="7" column="3">
-             <widget class="QLineEdit" name="Dropped">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="toolTip">
-               <string>The number of packets that were unable to be transmitted</string>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="2">
-             <widget class="QLabel" name="ResentLabel">
-              <property name="text">
-               <string>TX Resent</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="8" column="3">
-             <widget class="QLineEdit" name="Resent">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="toolTip">
-               <string>The number of packets that were unable to be transmitted</string>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="9" column="2">
-             <widget class="QLabel" name="TxFailureLabel">
-              <property name="text">
-               <string>Tx Failure</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="9" column="3">
-             <widget class="QLineEdit" name="TxFailure">
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="10" column="2">
-             <widget class="QLabel" name="UAVTalkErrorsLabel">
-              <property name="text">
-               <string>UAVTalk Errors</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="10" column="3">
-             <widget class="QLineEdit" name="UAVTalkErrors">
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="11" column="2">
-             <widget class="QLabel" name="ResetsLabel">
-              <property name="text">
-               <string>Resets</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="11" column="3">
-             <widget class="QLineEdit" name="Resets">
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
-            <item row="12" column="2">
-             <widget class="QLabel" name="TimeoutsLabel">
-              <property name="text">
-               <string>Timeouts</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="12" column="3">
-             <widget class="QLineEdit" name="Timeouts">
-              <property name="maximumSize">
-               <size>
-                <width>101</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">QLineEdit {
-  border: none;
-  border-radius: 1px;
-  padding: 0 4px;
-  background: rgba(0, 0, 0, 16);
-/*  background: transparent; */
-/*     selection-background-color: darkgray;*/
-}</string>
-              </property>
-              <property name="frame">
-               <bool>false</bool>
-              </property>
-              <property name="readOnly">
-               <bool>true</bool>
-              </property>
-             </widget>
-            </item>
            </layout>
           </widget>
          </item>
         </layout>
        </widget>
       </item>
+      <item row="0" column="0">
+       <widget class="QGroupBox" name="groupBox_2">
+        <property name="font">
+         <font>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="title">
+         <string>Remote Modems</string>
+        </property>
+        <layout class="QHBoxLayout" name="horizontalLayout_2">
+         <item>
+          <widget class="QFrame" name="PairingFrame">
+           <layout class="QGridLayout" name="gridLayout_3">
+            <item row="0" column="0">
+             <widget class="QRadioButton" name="PairSelect1">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel4">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="2">
+             <widget class="QProgressBar" name="PairSignalStrengthBar4">
+              <property name="minimum">
+               <number>-127</number>
+              </property>
+              <property name="maximum">
+               <number>0</number>
+              </property>
+              <property name="value">
+               <number>0</number>
+              </property>
+              <property name="textVisible">
+               <bool>false</bool>
+              </property>
+              <property name="format">
+               <string>%v dBm</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel2">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="1">
+             <widget class="QLineEdit" name="PairID2">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="2">
+             <widget class="QProgressBar" name="PairSignalStrengthBar2">
+              <property name="minimum">
+               <number>-127</number>
+              </property>
+              <property name="maximum">
+               <number>0</number>
+              </property>
+              <property name="value">
+               <number>0</number>
+              </property>
+              <property name="textVisible">
+               <bool>false</bool>
+              </property>
+              <property name="format">
+               <string>%v dBm</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel1">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QProgressBar" name="PairSignalStrengthBar1">
+              <property name="minimum">
+               <number>-127</number>
+              </property>
+              <property name="maximum">
+               <number>0</number>
+              </property>
+              <property name="value">
+               <number>-127</number>
+              </property>
+              <property name="textVisible">
+               <bool>false</bool>
+              </property>
+              <property name="format">
+               <string>%v dBm</string>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="1">
+             <widget class="QLineEdit" name="PairID4">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="3">
+             <widget class="QLabel" name="PairSignalStrengthLabel3">
+              <property name="text">
+               <string>-100dB</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLineEdit" name="PairID1">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+              <property name="placeholderText">
+               <string>12345678</string>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="0">
+             <widget class="QRadioButton" name="PairSelect3">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="2">
+             <widget class="QProgressBar" name="PairSignalStrengthBar3">
+              <property name="minimum">
+               <number>-127</number>
+              </property>
+              <property name="maximum">
+               <number>0</number>
+              </property>
+              <property name="value">
+               <number>0</number>
+              </property>
+              <property name="textVisible">
+               <bool>false</bool>
+              </property>
+              <property name="format">
+               <string>%v dBm</string>
+              </property>
+             </widget>
+            </item>
+            <item row="1" column="0">
+             <widget class="QRadioButton" name="PairSelect2">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+            <item row="2" column="1">
+             <widget class="QLineEdit" name="PairID3">
+              <property name="maximumSize">
+               <size>
+                <width>100</width>
+                <height>16777215</height>
+               </size>
+              </property>
+             </widget>
+            </item>
+            <item row="3" column="0">
+             <widget class="QRadioButton" name="PairSelect4">
+              <property name="text">
+               <string/>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
+      <item row="1" column="0" colspan="2">
+       <widget class="QGroupBox" name="groupBox_4">
+        <property name="font">
+         <font>
+          <weight>75</weight>
+          <bold>true</bold>
+         </font>
+        </property>
+        <property name="title">
+         <string>Bindings</string>
+        </property>
+        <layout class="QGridLayout" name="gridLayout_6">
+         <item row="0" column="0">
+          <widget class="QLabel" name="DeviceIDLabel_3">
+           <property name="text">
+            <string>Add</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QLabel" name="DeviceIDLabel_4">
+           <property name="text">
+            <string>Clear</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QLabel" name="DeviceIDLabel_2">
+           <property name="text">
+            <string>Device ID</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <widget class="QLabel" name="RemoteMainPortLabel">
+           <property name="text">
+            <string>Main Port</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="4">
+          <widget class="QLabel" name="RemoteFlexiPortLabel">
+           <property name="text">
+            <string>Flexi Port</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="5">
+          <widget class="QLabel" name="RemoteVCPPortLabel">
+           <property name="text">
+            <string>VCP Port</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="6">
+          <widget class="QLabel" name="ComSpeedLabel">
+           <property name="text">
+            <string>COM Speed</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0" colspan="7">
+          <widget class="QScrollArea" name="scrollArea">
+           <property name="widgetResizable">
+            <bool>true</bool>
+           </property>
+           <widget class="QWidget" name="scrollAreaWidgetContents">
+            <property name="geometry">
+             <rect>
+              <x>0</x>
+              <y>0</y>
+              <width>757</width>
+              <height>244</height>
+             </rect>
+            </property>
+            <layout class="QGridLayout" name="gridLayout_7">
+             <item row="0" column="0">
+              <widget class="QPushButton" name="BindingAdd_1">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QPushButton" name="BindingRemove_1">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QLineEdit" name="BindingID_1">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_1">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_1">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_1">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="6">
+              <widget class="QComboBox" name="ComSpeed_1">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="0">
+              <widget class="QPushButton" name="BindingAdd_2">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="1">
+              <widget class="QPushButton" name="BindingRemove_2">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="2">
+              <widget class="QLineEdit" name="BindingID_2">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_2">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_2">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_2">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="6">
+              <widget class="QComboBox" name="ComSpeed_2">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="0">
+              <widget class="QPushButton" name="BindingAdd_3">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="1">
+              <widget class="QPushButton" name="BindingRemove_3">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="2">
+              <widget class="QLineEdit" name="BindingID_3">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_3">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_3">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_3">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="2" column="6">
+              <widget class="QComboBox" name="ComSpeed_3">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="0">
+              <widget class="QPushButton" name="BindingAdd_4">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="1">
+              <widget class="QPushButton" name="BindingRemove_4">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="2">
+              <widget class="QLineEdit" name="BindingID_4">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_4">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_4">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_4">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="6">
+              <widget class="QComboBox" name="ComSpeed_4">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="0">
+              <widget class="QPushButton" name="BindingAdd_5">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="1">
+              <widget class="QPushButton" name="BindingRemove_5">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="2">
+              <widget class="QLineEdit" name="BindingID_5">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_5">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_5">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_5">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="6">
+              <widget class="QComboBox" name="ComSpeed_5">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="0">
+              <widget class="QPushButton" name="BindingAdd_6">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="1">
+              <widget class="QPushButton" name="BindingRemove_6">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="2">
+              <widget class="QLineEdit" name="BindingID_6">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_6">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_6">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_6">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="6">
+              <widget class="QComboBox" name="ComSpeed_6">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="0">
+              <widget class="QPushButton" name="BindingAdd_7">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="1">
+              <widget class="QPushButton" name="BindingRemove_7">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="2">
+              <widget class="QLineEdit" name="BindingID_7">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_7">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_7">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_7">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="6">
+              <widget class="QComboBox" name="ComSpeed_7">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="0">
+              <widget class="QPushButton" name="BindingAdd_8">
+               <property name="text">
+                <string>Add &gt;&gt;</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="1">
+              <widget class="QPushButton" name="BindingRemove_8">
+               <property name="text">
+                <string>Clear</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="2">
+              <widget class="QLineEdit" name="BindingID_8">
+               <property name="minimumSize">
+                <size>
+                 <width>0</width>
+                 <height>0</height>
+                </size>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>101</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="font">
+                <font>
+                 <weight>75</weight>
+                 <bold>true</bold>
+                </font>
+               </property>
+               <property name="styleSheet">
+                <string notr="true">QLineEdit {
+			      border: none;
+			      border-radius: 1px;
+			      padding: 0 4px;
+			      background: rgba(0, 0, 0, 16);
+			      /*  background: transparent; */
+			      /*     selection-background-color: darkgray;*/
+			      }</string>
+               </property>
+               <property name="frame">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+               </property>
+               <property name="readOnly">
+                <bool>true</bool>
+               </property>
+               <property name="placeholderText">
+                <string>12345678</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="3">
+              <widget class="QComboBox" name="RemoteMainPort_8">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote main port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="4">
+              <widget class="QComboBox" name="RemoteFlexiPort_8">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote flexi port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="5">
+              <widget class="QComboBox" name="RemoteVCPPort_8">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Choose the function for the remote USB virtual com port</string>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="6">
+              <widget class="QComboBox" name="ComSpeed_8">
+               <property name="maximumSize">
+                <size>
+                 <width>16777215</width>
+                 <height>16777215</height>
+                </size>
+               </property>
+               <property name="toolTip">
+                <string>Set the telemetry port speed</string>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </widget>
+          </widget>
+         </item>
+        </layout>
+       </widget>
+      </item>
       <item row="0" column="1">
        <widget class="QGroupBox" name="groupBox">
         <property name="sizePolicy">
@@ -1551,24 +2437,90 @@
          <string>Configuration</string>
         </property>
         <layout class="QGridLayout" name="gridLayout_2">
-	 <item row="0" column="1">
+         <item row="0" column="0">
-	  <widget class="QCheckBox" name="Coordinator">
+          <widget class="QLabel" name="MainPortLabel">
-	   <property name="text">
-	    <string>Coordinator</string>
-	   </property>
-	  </widget>
-	 </item>
-	 <item row="1" column="1">
-	  <widget class="QCheckBox" name="UAVTalk">
-	   <property name="text">
-	    <string>UAVTalk</string>
-	   </property>
-	  </widget>
-	 </item>
-         <item row="2" column="0">
-          <widget class="QLabel" name="PPMLabel">
            <property name="text">
-            <string>PPM</string>
+            <string>Main Port</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="1">
+          <widget class="QComboBox" name="MainPort">
+           <property name="maximumSize">
+            <size>
+             <width>16777215</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="toolTip">
+            <string>Choose the function for the main port</string>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="2">
+          <widget class="QLabel" name="MinimumFrequencyLabel">
+           <property name="text">
+            <string>Min Freq</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="0" column="3">
+          <widget class="QLineEdit" name="MinimumFrequency">
+           <property name="toolTip">
+            <string extracomment="The minimum transmit frequency (Hz)"/>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="0">
+          <widget class="QLabel" name="FlexiPortLabel">
+           <property name="text">
+            <string>Flexi Port</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QComboBox" name="FlexiPort">
+           <property name="maximumSize">
+            <size>
+             <width>16777215</width>
+             <height>16777215</height>
+            </size>
+           </property>
+           <property name="toolTip">
+            <string>Choose the function for the flexi port</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="2">
+          <widget class="QLabel" name="MaximumFrequencyLabel">
+           <property name="text">
+            <string>Max Freq</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="3">
+          <widget class="QLineEdit" name="MaximumFrequency">
+           <property name="toolTip">
+            <string extracomment="The maximum transmit frequency (Hz)"/>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="VCPPortLabel">
+           <property name="text">
+            <string>VCP Port</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -1576,7 +2528,7 @@
           </widget>
          </item>
          <item row="2" column="1">
-          <widget class="QComboBox" name="PPM">
+          <widget class="QComboBox" name="VCPPort">
            <property name="maximumSize">
             <size>
              <width>16777215</width>
@@ -1584,14 +2536,31 @@
             </size>
            </property>
            <property name="toolTip">
-            <string>Choose the PPM function</string>
+            <string>Choose the function for the USB virtual com port</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="2">
+          <widget class="QLabel" name="InitFrequencyLabel">
+           <property name="text">
+            <string>Initial Freq</string>
+           </property>
+           <property name="alignment">
+            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="3">
+          <widget class="QLineEdit" name="InitFrequency">
+           <property name="toolTip">
+            <string extracomment="The initial transmit frequency (Hz)"/>
            </property>
           </widget>
          </item>
          <item row="3" column="0">
-          <widget class="QLabel" name="InputConnectionLabel">
+          <widget class="QLabel" name="MaxRFTxPowerLabel">
            <property name="text">
-            <string>Input Connection</string>
+            <string>Max Power</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@@ -1599,75 +2568,6 @@
           </widget>
          </item>
          <item row="3" column="1">
-          <widget class="QComboBox" name="InputConnection">
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Choose which port to communicate over on this modem</string>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="0">
-          <widget class="QLabel" name="OutputConnectionLabel">
-           <property name="text">
-            <string>Output Connection</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="4" column="1">
-          <widget class="QComboBox" name="OutputConnection">
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Choose which port to communicate over on the remote modem</string>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="0">
-          <widget class="QLabel" name="ComSpeedLabel">
-           <property name="text">
-            <string>COM Speed</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="5" column="1">
-          <widget class="QComboBox" name="ComSpeed">
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Set the telemetry port speed</string>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="0">
-          <widget class="QLabel" name="MaxRFTxPowerLabel">
-           <property name="text">
-            <string>Max RF Tx Power(mW)</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="6" column="1">
           <widget class="QComboBox" name="MaxRFTxPower">
            <property name="maximumSize">
             <size>
@@ -1676,7 +2576,7 @@
             </size>
            </property>
            <property name="toolTip">
-            <string>Set the maximum TX output power the modem will use</string>
+            <string>Set the maximum TX output power the modem will use (mW)</string>
            </property>
            <property name="layoutDirection">
             <enum>Qt::LeftToRight</enum>
@@ -1686,284 +2586,39 @@
            </property>
           </widget>
          </item>
-         <item row="7" column="0">
+         <item row="3" column="2">
-          <widget class="QLabel" name="SendTimeoutLabel">
+          <widget class="QLabel" name="StepSizeLabel">
            <property name="text">
-            <string>Send Timeout (ms)</string>
+            <string>Step Size</string>
            </property>
            <property name="alignment">
             <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
            </property>
           </widget>
          </item>
-         <item row="7" column="1">
+         <item row="3" column="3">
-          <widget class="QSpinBox" name="SendTimeout">
+          <widget class="QLineEdit" name="StepSize">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
            <property name="toolTip">
-            <string>Set the send timeout</string>
+            <string extracomment="The channel spacing (Hz)"/>
-           </property>
-           <property name="accelerated">
-            <bool>true</bool>
-           </property>
-           <property name="maximum">
-            <number>255</number>
            </property>
           </widget>
          </item>
-         <item row="8" column="0">
-          <widget class="QLabel" name="MinPacketSizeLabel">
-           <property name="text">
-            <string>Min Packet Size</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="8" column="1">
-          <widget class="QSpinBox" name="MinPacketSize">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Set the minimum packet size</string>
-           </property>
-           <property name="accelerated">
-            <bool>true</bool>
-           </property>
-           <property name="maximum">
-            <number>255</number>
-           </property>
-          </widget>
-         </item>
-         <item row="9" column="0">
-          <widget class="QLabel" name="FreqCalLabel">
-           <property name="text">
-            <string>Frequency Calibration</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="9" column="1">
-          <widget class="QSpinBox" name="FrequencyCalibration">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Calibrate the modems RF carrier frequency</string>
-           </property>
-           <property name="accelerated">
-            <bool>true</bool>
-           </property>
-           <property name="maximum">
-            <number>255</number>
-           </property>
-          </widget>
-         </item>
-         <item row="10" column="0">
-          <widget class="QLabel" name="label_5">
-           <property name="text">
-            <string>Min. Frequency (Hz)</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="10" column="1">
-          <widget class="QSpinBox" name="MinFrequency">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Set the modems minimum RF carrier frequency</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-           </property>
-           <property name="accelerated">
-            <bool>true</bool>
-           </property>
-           <property name="minimum">
-            <number>400000000</number>
-           </property>
-           <property name="maximum">
-            <number>1000000000</number>
-           </property>
-           <property name="singleStep">
-            <number>100000</number>
-           </property>
-          </widget>
-         </item>
-         <item row="11" column="0">
-          <widget class="QLabel" name="MaxFrequencyLabel">
-           <property name="text">
-            <string>Max. Frequency (Hz)</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="11" column="1">
-          <widget class="QSpinBox" name="MaxFrequency">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>16777215</width>
-             <height>16777215</height>
-            </size>
-           </property>
-           <property name="toolTip">
-            <string>Set the modems maximum RF carrier frequency</string>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-           </property>
-           <property name="accelerated">
-            <bool>true</bool>
-           </property>
-           <property name="minimum">
-            <number>400000000</number>
-           </property>
-           <property name="maximum">
-            <number>1000000000</number>
-           </property>
-           <property name="singleStep">
-            <number>100000</number>
-           </property>
-          </widget>
-         </item>
-         <item row="12" column="0" colspan="2">
-          <widget class="QGroupBox" name="groupBox_4">
-           <property name="title">
-            <string>AES Encryption</string>
-           </property>
-           <layout class="QGridLayout" name="gridLayout_5">
-            <item row="0" column="0" colspan="2">
-             <widget class="QLineEdit" name="AESKey">
-              <property name="font">
-               <font>
-                <family>Courier New</family>
-                <pointsize>9</pointsize>
-               </font>
-              </property>
-              <property name="toolTip">
-               <string>The AES encryption key - has to be the same key on the remote modem.</string>
-              </property>
-              <property name="styleSheet">
-               <string notr="true"/>
-              </property>
-              <property name="maxLength">
-               <number>32</number>
-              </property>
-              <property name="frame">
-               <bool>true</bool>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="0">
-             <widget class="QPushButton" name="AESKeyRandom">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="toolTip">
-               <string>Radomise the AES encryption key</string>
-              </property>
-              <property name="text">
-               <string> Rand</string>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <widget class="QCheckBox" name="AESEnable">
-              <property name="font">
-               <font>
-                <weight>75</weight>
-                <bold>true</bold>
-               </font>
-              </property>
-              <property name="toolTip">
-               <string>Enable/Disable AES encryption</string>
-              </property>
-              <property name="layoutDirection">
-               <enum>Qt::RightToLeft</enum>
-              </property>
-              <property name="text">
-               <string>Enable</string>
-              </property>
-             </widget>
-            </item>
-           </layout>
-          </widget>
-         </item>
-         <item row="13" column="0">
-          <spacer name="verticalSpacer">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>40</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
         </layout>
        </widget>
       </item>
+      <item row="3" column="0">
+       <spacer name="verticalSpacer">
+        <property name="orientation">
+         <enum>Qt::Vertical</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>20</width>
+          <height>40</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
      </layout>
     </widget>
    </item>
@@ -1980,32 +2635,7 @@
   <tabstop>PairID4</tabstop>
   <tabstop>FirmwareVersion</tabstop>
   <tabstop>SerialNumber</tabstop>
-  <tabstop>DeviceID</tabstop>
-  <tabstop>LinkState</tabstop>
-  <tabstop>RxAFC</tabstop>
-  <tabstop>Retries</tabstop>
-  <tabstop>Errors</tabstop>
-  <tabstop>UAVTalkErrors</tabstop>
-  <tabstop>Resets</tabstop>
-  <tabstop>TXRate</tabstop>
-  <tabstop>RXRate</tabstop>
-  <tabstop>TelemPortConfig</tabstop>
-  <tabstop>TelemPortSpeed</tabstop>
-  <tabstop>FlexiPortConfig</tabstop>
-  <tabstop>FlexiPortSpeed</tabstop>
-  <tabstop>VCPConfig</tabstop>
-  <tabstop>VCPSpeed</tabstop>
-  <tabstop>MaxRFDatarate</tabstop>
   <tabstop>MaxRFTxPower</tabstop>
-  <tabstop>SendTimeout</tabstop>
-  <tabstop>MinPacketSize</tabstop>
-  <tabstop>FrequencyCalibration</tabstop>
-  <tabstop>Frequency</tabstop>
-  <tabstop>ScanSpectrum</tabstop>
-  <tabstop>AESKey</tabstop>
-  <tabstop>AESKeyRandom</tabstop>
-  <tabstop>AESEnable</tabstop>
-  <tabstop>graphicsView_Spectrum</tabstop>
   <tabstop>Apply</tabstop>
   <tabstop>Save</tabstop>
  </tabstops>

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

@@ -886,10 +886,9 @@ QVariant UAVObjectField::getValue(quint32 index)
     {
         quint8 tmpenum;
         memcpy(&tmpenum, &data[offset + numBytesPerElement*index], numBytesPerElement);
-        //            Q_ASSERT((tmpenum < options.length()) && (tmpenum >= 0)); // catch bad enum settings
         if(tmpenum >= options.length()) {
             qDebug() << "Invalid value for" << name;
-            return QVariant( QString("Bad Value") );
+            tmpenum = 0;
         }
         return QVariant( options[tmpenum] );
         break;
@@ -1015,7 +1014,10 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
         case ENUM:
         {
             qint8 tmpenum = options.indexOf( value.toString() );
-            Q_ASSERT(tmpenum >= 0); // To catch any programming errors where we set invalid values
+            // Default to 0 on invalid values.
+            if(tmpenum < 0) {
+                tmpenum = 0;
+            }
             memcpy(&data[offset + numBytesPerElement*index], &tmpenum, numBytesPerElement);
             break;
         }

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

@@ -457,11 +457,11 @@ void ConfigTaskWidget::forceShadowUpdates()
     {
         foreach (shadow * sh, oTw->shadowsList)
         {
-            disconnectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
+            disconnectWidgetUpdatesToSlot((QWidget*)sh->widget, SLOT(widgetsContentsChanged()));
-            checkWidgetsLimits(sh->widget,oTw->field,oTw->index,sh->isLimited,getVariantFromWidget(oTw->widget,oTw->scale),sh->scale);
+            checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
-            setWidgetFromVariant(sh->widget,getVariantFromWidget(oTw->widget,oTw->scale),sh->scale);
+            setWidgetFromVariant(sh->widget, getVariantFromWidget(oTw->widget, oTw->scale, oTw->getUnits()), sh->scale);
             emit widgetContentsChanged((QWidget*)sh->widget);
-            connectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
+            connectWidgetUpdatesToSlot((QWidget*)sh->widget, SLOT(widgetsContentsChanged()));
 
         }
     }
@@ -480,7 +480,7 @@ void ConfigTaskWidget::widgetsContentsChanged()
         if(oTw->widget==(QWidget*)sender())
         {
             scale=oTw->scale;
-            checkWidgetsLimits((QWidget*)sender(),oTw->field,oTw->index,oTw->isLimited,getVariantFromWidget((QWidget*)sender(),oTw->scale),oTw->scale);
+            checkWidgetsLimits((QWidget*)sender(), oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget*)sender(), oTw->scale, oTw->getUnits()), oTw->scale);
         }
         else
         {
@@ -489,25 +489,25 @@ void ConfigTaskWidget::widgetsContentsChanged()
                 if(sh->widget==(QWidget*)sender())
                 {
                     scale=sh->scale;
-                    checkWidgetsLimits((QWidget*)sender(),oTw->field,oTw->index,sh->isLimited,getVariantFromWidget((QWidget*)sender(),scale),scale);
+                    checkWidgetsLimits((QWidget*)sender(), oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), scale);
                 }
             }
         }
         if(oTw->widget!=(QWidget *)sender())
         {
-            disconnectWidgetUpdatesToSlot((QWidget*)oTw->widget,SLOT(widgetsContentsChanged()));
+            disconnectWidgetUpdatesToSlot((QWidget*)oTw->widget, SLOT(widgetsContentsChanged()));
-            checkWidgetsLimits(oTw->widget,oTw->field,oTw->index,oTw->isLimited,getVariantFromWidget((QWidget*)sender(),scale),oTw->scale);
+            checkWidgetsLimits(oTw->widget, oTw->field, oTw->index, oTw->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), oTw->scale);
-            setWidgetFromVariant(oTw->widget,getVariantFromWidget((QWidget*)sender(),scale),oTw->scale);
+            setWidgetFromVariant(oTw->widget, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), oTw->scale);
             emit widgetContentsChanged((QWidget*)oTw->widget);
-            connectWidgetUpdatesToSlot((QWidget*)oTw->widget,SLOT(widgetsContentsChanged()));
+            connectWidgetUpdatesToSlot((QWidget*)oTw->widget, SLOT(widgetsContentsChanged()));
         }
         foreach (shadow * sh, oTw->shadowsList)
         {
             if(sh->widget!=(QWidget*)sender())
             {
                 disconnectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
-                checkWidgetsLimits(sh->widget,oTw->field,oTw->index,sh->isLimited,getVariantFromWidget((QWidget*)sender(),scale),sh->scale);
+                checkWidgetsLimits(sh->widget, oTw->field, oTw->index, sh->isLimited, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), sh->scale);
-                setWidgetFromVariant(sh->widget,getVariantFromWidget((QWidget*)sender(),scale),sh->scale);
+                setWidgetFromVariant(sh->widget, getVariantFromWidget((QWidget*)sender(), scale, oTw->getUnits()), sh->scale);
                 emit widgetContentsChanged((QWidget*)sh->widget);
                 connectWidgetUpdatesToSlot((QWidget*)sh->widget,SLOT(widgetsContentsChanged()));
             }
@@ -1034,7 +1034,7 @@ bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * fiel
 {
     if(!widget || !field)
         return false;
-    QVariant ret=getVariantFromWidget(widget,scale);
+    QVariant ret = getVariantFromWidget(widget, scale, field->getUnits());
     if(ret.isValid())
     {
         field->setValue(ret,index);
@@ -1051,7 +1051,7 @@ bool ConfigTaskWidget::setFieldFromWidget(QWidget * widget,UAVObjectField * fiel
  * @param scale scale to be used on the assignement
  * @return returns the value of the widget times the scale
  */
-QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,double scale)
+QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, double scale, QString units)
 {
     if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
     {
@@ -1075,7 +1075,13 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,double scale)
     }
     else if(QLineEdit * cb=qobject_cast<QLineEdit *>(widget))
     {
-        return (QString)cb->displayText();
+        QString value = (QString)cb->displayText();
+        if(units == "hex") {
+            bool ok;
+            return value.toUInt(&ok, 16);
+        } else {
+            return value;
+        }
     }
     else
         return QVariant();
@@ -1083,13 +1089,14 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget * widget,double scale)
 /**
  * Sets a widget from a variant
  * @param widget pointer for the widget to set
- * @param scale scale to be used on the assignement
  * @param value value to be used on the assignement
+ * @param scale scale to be used on the assignement
+ * @param units the units for the value
  * @return returns true if the assignement was successfull
  */
-bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale)
+bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units)
 {
-    if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
+   if(QComboBox * cb=qobject_cast<QComboBox *>(widget))
     {
         cb->setCurrentIndex(cb->findText(value.toString()));
         return true;
@@ -1125,15 +1132,33 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, dou
     }
     else if(QLineEdit * cb=qobject_cast<QLineEdit *>(widget))
     {
-        if(scale==0)
+	if ((scale== 0) || (scale == 1)) {
-            cb->setText(value.toString());
+            if(units == "hex") {
-        else
+                cb->setText(QString::number(value.toUInt(), 16).toUpper());
+            } else {
+                cb->setText(value.toString());
+            }
+        } else {
             cb->setText(QString::number((value.toDouble()/scale)));
+        }
         return true;
     }
     else
         return false;
 }
+
+/**
+ * Sets a widget from a variant
+ * @param widget pointer for the widget to set
+ * @param value value to be used on the assignement
+ * @param scale scale to be used on the assignement
+ * @return returns true if the assignement was successfull
+ */
+bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, double scale)
+{
+    return setWidgetFromVariant(widget, value, scale, QString(""));
+}
+
 /**
  * Sets a widget from a UAVObject field
  * @param widget pointer to the widget to set
@@ -1154,7 +1179,7 @@ bool ConfigTaskWidget::setWidgetFromField(QWidget * widget,UAVObjectField * fiel
     }
     QVariant var=field->getValue(index);
     checkWidgetsLimits(widget,field,index,hasLimits,var,scale);
-    bool ret=setWidgetFromVariant(widget,var,scale);
+    bool ret = setWidgetFromVariant(widget, var, scale, field->getUnits());
     if(ret)
         return true;
     else

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

@@ -68,6 +68,12 @@ public:
         double scale;
         bool isLimited;
         QList<shadow *> shadowsList;
+        QString getUnits() const {
+            if (field) {
+                return field->getUnits();
+            }
+	    return QString("");
+        }
     };
 
     struct temphelper
@@ -181,8 +187,9 @@ private:
     bool dirty;
     bool setFieldFromWidget(QWidget *widget, UAVObjectField *field, int index, double scale);
     bool setWidgetFromField(QWidget *widget, UAVObjectField *field, int index, double scale, bool hasLimits);
-    QVariant getVariantFromWidget(QWidget *widget, double scale);
+    QVariant getVariantFromWidget(QWidget *widget, double scale, QString units);
-    bool setWidgetFromVariant(QWidget *widget,QVariant value,double scale);
+    bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale, QString units);
+    bool setWidgetFromVariant(QWidget *widget, QVariant value, double scale);
     void connectWidgetUpdatesToSlot(QWidget *widget, const char *function);
     void disconnectWidgetUpdatesToSlot(QWidget *widget, const char *function);
     void loadWidgetLimits(QWidget *widget, UAVObjectField *field, int index, bool hasLimits, double sclale);

shared/uavobjectdefinition/hwsettings.xml

@@ -17,6 +17,8 @@
 		<field name="RM_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
 
 		<field name="RadioPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Disabled"/>
+		<field name="MaxRFPower" units="mW" type="enum" elements="1" options="1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="100"/>
+		<field name="DefaultFrequency" units="Hz" type="uint32" elements="1" defaultvalue="433000000"/>
 		  
 		<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
 		<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>

shared/uavobjectdefinition/oplinksettings.xml

@@ -1,20 +1,19 @@
 <xml>
 	<object name="OPLinkSettings" singleinstance="true" settings="true">
 		<description>OPLink configurations options.</description>
-		<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
+		<field name="Bindings" units="hex" type="uint32" elements="8" defaultvalue="0"/>
-		<field name="Coordinator" units="binary" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+		<field name="RemoteMainPort" units="" type="enum" elements="8" options="Disabled,Serial,PPM" defaultvalue="Telemetry"/>
-		<field name="UAVTalk" units="binary" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
+		<field name="RemoteFlexiPort" units="" type="enum" elements="8" options="Disabled,Serial,PPM" defaultvalue="Disabled"/>
-		<field name="PPM" units="" type="enum" elements="1" options="Disabled,Input,Output" defaultvalue="Disabled"/>
+		<field name="RemoteVCPPort" units="" type="enum" elements="8" options="Disabled,Serial" defaultvalue="Disabled"/>
-		<field name="InputConnection" units="function" type="enum" elements="1" options="HID,VCP,Telemetry,Flexi" defaultvalue="HID"/>
+		<field name="ComSpeed" units="bps" type="enum" elements="8" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
-		<field name="OutputConnection" units="function" type="enum" elements="1" options="RemoteHID,RemoteVCP,RemoteTelemetry,RemoteFlexi,Telemetry,Flexi" defaultvalue="RemoteTelemetry"/>
+		<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Telemetry"/>
-		<field name="ComSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
+		<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM" defaultvalue="Disabled"/>
+		<field name="VCPPort" units="" type="enum" elements="1" options="Disabled,Serial" defaultvalue="Disabled"/>
 		<field name="MaxRFPower" units="mW" type="enum" elements="1" options="1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="100"/>
-		<field name="SendTimeout" units="ms" type="uint16" elements="1" defaultvalue="50"/>
+		<field name="MinFrequency" units="Hz" type="uint32" elements="1" defaultvalue="430000000"/>
-		<field name="MinPacketSize" units="bytes" type="uint8" elements="1" defaultvalue="50"/>
+		<field name="MaxFrequency" units="Hz" type="uint32" elements="1" defaultvalue="440000000"/>
-		<field name="FrequencyCalibration" units="" type="uint8" elements="1" defaultvalue="127"/>
+		<field name="InitFrequency" units="Hz" type="uint32" elements="1" defaultvalue="433000000"/>
-		<field name="MinFrequency" units="" type="uint32" elements="1" defaultvalue="432000000"/>
+		<field name="ChannelSpacing" units="Hz" type="uint32" elements="1" defaultvalue="75000"/>
-		<field name="MaxFrequency" units="" type="uint32" elements="1" defaultvalue="436000000"/>
-		<field name="AESKey" units="" type="uint8" elements="32" defaultvalue="0123456789abcdef0123456789abcdef"/>
 
 		<access gcs="readwrite" flight="readwrite"/>
 		<telemetrygcs acked="true" updatemode="onchange" period="0"/>

shared/uavobjectdefinition/oplinkstatus.xml

@@ -2,10 +2,11 @@
 	<object name="OPLinkStatus" singleinstance="true" settings="false">
 		<description>OPLink device status.</description>
 		<field name="Description" units="" type="uint8" elements="40"/> 
-		<field name="CPUSerial" units="" type="uint8" elements="12" /> 
+		<field name="CPUSerial" units="hex" type="uint8" elements="12" /> 
 		<field name="BoardRevision" units="" type="uint16" elements="1"/> 
 		<field name="BoardType" units="" type="uint8" elements="1"/> 
-		<field name="DeviceID" units="" type="uint32" elements="1" defaultvalue="0"/>
+		<field name="DeviceID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
+                <field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
 		<field name="RxGood" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="RxCorrected" units="%" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="RxErrors" units="%" type="uint8" elements="1" defaultvalue="0"/>
@@ -18,14 +19,13 @@
 		<field name="Resets" units="" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="Timeouts" units="" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="RSSI" units="dBm" type="int8" elements="1" defaultvalue="0"/>
-		<field name="AFCCorrection" units="Hz" type="int8" elements="1" defaultvalue="0"/>
 		<field name="LinkQuality" units="" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="TXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="RXRate" units="Bps" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="TXSeq" units="" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="RXSeq" units="" type="uint16" elements="1" defaultvalue="0"/>
 		<field name="LinkState" units="function" type="enum" elements="1" options="Disconnected,Connecting,Connected" defaultvalue="Disconnected"/>
-		<field name="PairIDs" units="" type="uint32" elements="4" defaultvalue="0"/>
+		<field name="PairIDs" units="hex" type="uint32" elements="4" defaultvalue="0"/>
 		<field name="PairSignalStrengths" units="dBm" type="int8" elements="4" defaultvalue="-127"/>
 
 		<access gcs="readonly" flight="readwrite"/>