Merge branch 'next' into thread/OP-816_Setup_Wizard_Revo_Support

flight/Bootloaders/BootloaderUpdater/main.c

@@ -34,7 +34,7 @@
 /* Prototype of PIOS_Board_Init() function */
 extern void PIOS_Board_Init(void);
 extern void FLASH_Download();
-void error(int);
+void error(int, int);
 
 /* The ADDRESSES of the _binary_* symbols are the important
  * data.  This is non-intuitive for _binary_size where you
@@ -47,7 +47,8 @@ const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
 const uint32_t * embedded_image_end   = (uint32_t *) &(_binary_end);
 const uint32_t   embedded_image_size  = (uint32_t)   &(_binary_size);
 
-int main() {
+int main()
+{
 
 	PIOS_SYS_Init();
 	PIOS_Board_Init();
@@ -58,7 +59,7 @@ int main() {
 	/// Self overwrite check
 	uint32_t base_address = SCB->VTOR;
 	if ((0x08000000 + embedded_image_size) > base_address)
-		error(PIOS_LED_HEARTBEAT);
+		error(PIOS_LED_HEARTBEAT, 1);
 	///
 
 	/*
@@ -70,7 +71,7 @@ int main() {
 	 */
 
 	/* Calculate how far the board_info_blob is from the beginning of the bootloader */
-	uint32_t board_info_blob_offset = (uint32_t)&pios_board_info_blob - (uint32_t)0x08000000;
+	uint32_t board_info_blob_offset = (uint32_t) &pios_board_info_blob - (uint32_t)0x08000000;
 
 	/* Use the same offset into our embedded bootloader image */
 	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
@@ -80,7 +81,7 @@ int main() {
 	if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
 		(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
 		(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
-		error(PIOS_LED_HEARTBEAT);
+		error(PIOS_LED_HEARTBEAT, 2);
 	}
 
 	/* Embedded bootloader looks like it's the right one for this HW, proceed... */
@@ -108,13 +109,13 @@ int main() {
 	}
 
 	if (fail == true)
-		error(PIOS_LED_HEARTBEAT);
+		error(PIOS_LED_HEARTBEAT, 3);
 
 
 	///
 
 	/// Bootloader programing
-	for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
+	for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
 		bool result = false;
 		PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
 		for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
@@ -124,7 +125,7 @@ int main() {
 			}
 		}
 		if (result == false)
-			error(PIOS_LED_HEARTBEAT);
+			error(PIOS_LED_HEARTBEAT, 4);
 	}
 	///
 	for (uint8_t x = 0; x < 3; ++x) {
@@ -145,11 +146,22 @@ int main() {
 
 }
 
-void error(int led) {
+void error(int led, int code)
+{
 	for (;;) {
+		PIOS_DELAY_WaitmS(1000);
+		for (int x = 0; x < code; x++) {
 			PIOS_LED_On(led);
-		PIOS_DELAY_WaitmS(500);
+			PIOS_DELAY_WaitmS(200);
 			PIOS_LED_Off(led);
-		PIOS_DELAY_WaitmS(500);
+			PIOS_DELAY_WaitmS(1000);
+		}
+		PIOS_DELAY_WaitmS(1000);
+		for (int x = 0; x < 10; x++) {
+			PIOS_LED_On(led);
+			PIOS_DELAY_WaitmS(200);
+			PIOS_LED_Off(led);
+			PIOS_DELAY_WaitmS(200);
+		}
 	}
 }

flight/CopterControl/Makefile

@@ -233,6 +233,7 @@ SRC += $(OPUAVSYNTHDIR)/ratedesired.c
 SRC += $(OPUAVSYNTHDIR)/baroaltitude.c
 SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
 SRC += $(OPUAVSYNTHDIR)/airspeedactual.c
+SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
 
 endif
 

flight/CopterControl/System/pios_board.c

@@ -79,6 +79,7 @@ uint32_t pios_usb_rctx_id;
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line3,
@@ -112,13 +113,15 @@ static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.exti_cfg = &pios_exti_mpu6000_cfg,
 	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
 	// Clock at 8 khz, downsampled by 16 for 500 Hz
-	.Smpl_rate_div = 15,
+	.Smpl_rate_div_no_dlp = 15,
+	// Clock at 1 khz, downsampled by 2 for 500 Hz
+	.Smpl_rate_div_dlp = 1,
 	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
 	.accel_range = PIOS_MPU6000_ACCEL_8G,
-	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
 	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_180DEG
 };
@@ -817,6 +820,7 @@ void PIOS_Board_Init(void) {
 				PIOS_Assert(0);
 			}
 			PIOS_MPU6000_Init(pios_spi_gyro_id,0,&pios_mpu6000_cfg);
+			PIOS_MPU6000_CONFIG_Configure();
 			init_test = PIOS_MPU6000_Test();
 #endif /* PIOS_INCLUDE_MPU6000 */
 

flight/Libraries/PyMite/pymite.mk

@@ -0,0 +1,41 @@
+#
+# Rules to add PYMite to a PiOS target
+#
+
+PYMITE = $(FLIGHTLIB)/PyMite
+PYMITELIB = $(PYMITE)/lib
+PYMITEPLAT = $(PYMITE)/platform/openpilot
+PYMITETOOLS = $(PYMITE)/tools
+PYMITEVM = $(PYMITE)/vm
+PYMITEINC = $(PYMITEVM)
+PYMITEINC += $(PYMITEPLAT)
+PYMITEINC += $(OUTDIR)
+
+# List C source files here. (C dependencies are automatically generated.)
+# use file-extension c for "c-only"-files
+
+## PyMite files and modules
+SRC += $(OUTDIR)/pmlib_img.c
+SRC += $(OUTDIR)/pmlib_nat.c
+SRC += $(OUTDIR)/pmlibusr_img.c
+SRC += $(OUTDIR)/pmlibusr_nat.c
+PYSRC += $(wildcard ${PYMITEVM}/*.c)
+PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
+PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
+SRC += $(PYSRC)
+
+EXTRAINCDIRS  += $(PYMITEINC)
+
+# Generate intermediate code
+gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
+
+$(PYSRC): gencode
+
+PYTHON = python
+
+# Generate code for PyMite
+${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
+	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
+	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
+	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py

flight/PiOS/Common/pios_mpu6000.c

@@ -31,7 +31,6 @@
 
 /* Project Includes */
 #include "pios.h"
-
 #if defined(PIOS_INCLUDE_MPU6000)
 
 #include "fifo_buffer.h"
@@ -48,6 +47,9 @@ struct mpu6000_dev {
 	uint32_t slave_num;
 	xQueueHandle queue;
 	const struct pios_mpu6000_cfg * cfg;
+	enum pios_mpu6000_range gyro_range;
+	enum pios_mpu6000_accel_range accel_range;
+	enum pios_mpu6000_filter filter;
 	enum pios_mpu6000_dev_magic magic;
 };
 
@@ -130,51 +132,45 @@ int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios
  * @brief Initialize the MPU6000 3-axis gyro sensor
  * \return none
  * \param[in] PIOS_MPU6000_ConfigTypeDef struct to be used to configure sensor.
-*
+ *
-*/
+ */
 static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 {
 
 	PIOS_MPU6000_Test();
 
 	// Reset chip
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, 0x80) != 0);
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, PIOS_MPU6000_PWRMGMT_IMU_RST) != 0);
 	PIOS_DELAY_WaitmS(300);
 
 	// Reset chip and fifo
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, 0x80 | 0x01 | 0x02 | 0x04) != 0);
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG,
+		PIOS_MPU6000_USERCTL_GYRO_RST |
+		PIOS_MPU6000_USERCTL_SIG_COND |
+		PIOS_MPU6000_USERCTL_FIFO_RST) != 0);
 
 	// Wait for reset to finish
-	while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) & 0x07);
+	while (PIOS_MPU6000_GetReg(PIOS_MPU6000_USER_CTRL_REG) &
+		(PIOS_MPU6000_USERCTL_GYRO_RST |
+		PIOS_MPU6000_USERCTL_SIG_COND |
+		PIOS_MPU6000_USERCTL_FIFO_RST));
 
 	//Power management configuration
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0) ;
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_PWR_MGMT_REG, cfg->Pwr_mgmt_clk) != 0);
 
 	// Interrupt configuration
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0) ;
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_CFG_REG, cfg->interrupt_cfg) != 0);
 
 	// Interrupt configuration
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0) ;
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_INT_EN_REG, cfg->interrupt_en) != 0);
 
 	// FIFO storage
 #if defined(PIOS_MPU6000_ACCEL)
-	// Set the accel scale
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, cfg->accel_range) != 0);
-	
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store | PIOS_MPU6000_ACCEL_OUT) != 0);
 #else
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_FIFO_EN_REG, cfg->Fifo_store) != 0);
 #endif
-	
+	PIOS_MPU6000_ConfigureRanges(cfg->gyro_range, cfg->accel_range, cfg->filter);
-	// Sample rate divider
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, cfg->Smpl_rate_div) != 0) ;
-	
-	// Digital low-pass filter and scale
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, cfg->filter) != 0) ;
-	
-	// Digital low-pass filter and scale
-	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, cfg->gyro_range) != 0) ;
-	
 	// Interrupt configuration
 	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_USER_CTRL_REG, cfg->User_ctl) != 0) ;
 	
@@ -191,6 +187,42 @@ static void PIOS_MPU6000_Config(struct pios_mpu6000_cfg const * cfg)
 	
 	mpu6000_configured = true;
 }
+/**
+ * @brief Configures Gyro, accel and Filter ranges/setings
+ * @return 0 if successful, -1 if device has not been initialized
+ */
+int32_t PIOS_MPU6000_ConfigureRanges(
+	enum pios_mpu6000_range gyroRange, 
+	enum pios_mpu6000_accel_range accelRange,
+	enum pios_mpu6000_filter filterSetting
+	)
+{
+	if(dev == NULL)
+		return -1;
+	PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_256);
+	// update filter settings
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_DLPF_CFG_REG, filterSetting) != 0);
+	
+	// Sample rate divider, chosen upon digital filtering settings
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_SMPLRT_DIV_REG, 
+		filterSetting == PIOS_MPU6000_LOWPASS_256_HZ ? 
+		dev->cfg->Smpl_rate_div_no_dlp : dev->cfg->Smpl_rate_div_dlp) != 0);	
+	
+	dev->filter = filterSetting;
+	
+	// Gyro range
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_GYRO_CFG_REG, gyroRange) != 0);
+	
+	dev->gyro_range = gyroRange;
+#if defined(PIOS_MPU6000_ACCEL)
+	// Set the accel range
+	while (PIOS_MPU6000_SetReg(PIOS_MPU6000_ACCEL_CFG_REG, accelRange) != 0);
+	
+	dev->accel_range = accelRange;
+#endif
+	PIOS_SPI_SetClockSpeed(dev->spi_id, PIOS_SPI_PRESCALER_16);
+	return 0;
+}
 
 /**
  * @brief Claim the SPI bus for the accel communications and select this chip
@@ -322,7 +354,7 @@ xQueueHandle PIOS_MPU6000_GetQueue()
 
 float PIOS_MPU6000_GetScale() 
 {
-	switch (dev->cfg->gyro_range) {
+	switch (dev->gyro_range) {
 		case PIOS_MPU6000_SCALE_250_DEG:
 			return 1.0f / 131.0f;
 		case PIOS_MPU6000_SCALE_500_DEG:
@@ -337,7 +369,7 @@ float PIOS_MPU6000_GetScale()
 
 float PIOS_MPU6000_GetAccelScale()
 {
-	switch (dev->cfg->accel_range) {
+	switch (dev->accel_range) {
 		case PIOS_MPU6000_ACCEL_2G:
 			return GRAV / 16384.0f;
 		case PIOS_MPU6000_ACCEL_4G:
@@ -411,20 +443,20 @@ bool PIOS_MPU6000_IRQHandler(void)
 	mpu6000_interval_us = PIOS_DELAY_DiffuS(timeval);
 	timeval = PIOS_DELAY_GetRaw();
 
-	if(!mpu6000_configured)
+	if (!mpu6000_configured)
 		return false;
 
 	mpu6000_count = PIOS_MPU6000_FifoDepth();
-	if(mpu6000_count < sizeof(struct pios_mpu6000_data))
+	if (mpu6000_count < sizeof(struct pios_mpu6000_data))
 		return false;
 
-	if(PIOS_MPU6000_ClaimBus() != 0)
+	if (PIOS_MPU6000_ClaimBus() != 0)
 		return false;
 
-	uint8_t mpu6000_send_buf[1+sizeof(struct pios_mpu6000_data)] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
+	uint8_t mpu6000_send_buf[1 + sizeof(struct pios_mpu6000_data) ] = {PIOS_MPU6000_FIFO_REG | 0x80, 0, 0, 0, 0, 0, 0, 0, 0};
-	uint8_t mpu6000_rec_buf[1+sizeof(struct pios_mpu6000_data)];
+	uint8_t mpu6000_rec_buf[1 + sizeof(struct pios_mpu6000_data) ];
 
-	if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
+	if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 		PIOS_MPU6000_ReleaseBus();
 		mpu6000_fails++;
 		return false;
@@ -437,10 +469,10 @@ bool PIOS_MPU6000_IRQHandler(void)
 	// In the case where extras samples backed up grabbed an extra
 	if (mpu6000_count >= (sizeof(data) * 2)) {
 		mpu6000_fifo_backup++;
-		if(PIOS_MPU6000_ClaimBus() != 0)
+		if (PIOS_MPU6000_ClaimBus() != 0)
 			return false;
 
-		if(PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
+		if (PIOS_SPI_TransferBlock(dev->spi_id, &mpu6000_send_buf[0], &mpu6000_rec_buf[0], sizeof(mpu6000_send_buf), NULL) < 0) {
 			PIOS_MPU6000_ReleaseBus();
 			mpu6000_fails++;
 			return false;
@@ -454,7 +486,7 @@ bool PIOS_MPU6000_IRQHandler(void)
 	// to our convention
 #if defined(PIOS_MPU6000_ACCEL)
 	// Currently we only support rotations on top so switch X/Y accordingly
-	switch(dev->cfg->orientation) {
+	switch (dev->cfg->orientation) {
 	case PIOS_MPU6000_TOP_0DEG:
 		data.accel_y = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
 		data.accel_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
@@ -462,49 +494,50 @@ bool PIOS_MPU6000_IRQHandler(void)
 		data.gyro_x = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
 		break;
 	case PIOS_MPU6000_TOP_90DEG:
-			data.accel_y = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);   // chip Y
+		// -1 to bring it back to -32768 +32767 range
+		data.accel_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
 		data.accel_x = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]; // chip X
-			data.gyro_y  = -(mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
+		data.gyro_y = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
 		data.gyro_x = mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]; // chip X
 		break;
 	case PIOS_MPU6000_TOP_180DEG:
-			data.accel_y = -(mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]);   // chip X
+		data.accel_y = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
-			data.accel_x = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);   // chip Y
+		data.accel_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip Y
-			data.gyro_y  = -(mpu6000_rec_buf[9] << 8  | mpu6000_rec_buf[10]); // chip X
+		data.gyro_y = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
-			data.gyro_x  = -(mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
+		data.gyro_x = -1 - (mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]); // chip Y
 		break;
 	case PIOS_MPU6000_TOP_270DEG:
 		data.accel_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip Y
-			data.accel_x = -(mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]);   // chip X
+		data.accel_x = -1 - (mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2]); // chip X
 		data.gyro_y = mpu6000_rec_buf[11] << 8 | mpu6000_rec_buf[12]; // chip Y
-			data.gyro_x  = -(mpu6000_rec_buf[9] << 8  | mpu6000_rec_buf[10]); // chip X
+		data.gyro_x = -1 - (mpu6000_rec_buf[9] << 8 | mpu6000_rec_buf[10]); // chip X
 		break;
 	}
-	data.gyro_z  = -(mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
+	data.gyro_z = -1 - (mpu6000_rec_buf[13] << 8 | mpu6000_rec_buf[14]);
-	data.accel_z = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
+	data.accel_z = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
 	data.temperature = mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8];
 #else
 	data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
 	data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
-	switch(dev->cfg->orientation) {
+	switch (dev->cfg->orientation) {
 	case PIOS_MPU6000_TOP_0DEG:
 		data.gyro_y = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4];
 		data.gyro_x = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6];
 		break;
 	case PIOS_MPU6000_TOP_90DEG:
-			data.gyro_y  = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
+		data.gyro_y = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]); // chip Y
 		data.gyro_x = mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]; // chip X
 		break;
 	case PIOS_MPU6000_TOP_180DEG:
-			data.gyro_y  = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
+		data.gyro_y = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]);
-			data.gyro_x  = -(mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
+		data.gyro_x = -1 - (mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]);
 		break;
 	case PIOS_MPU6000_TOP_270DEG:
 		data.gyro_y = mpu6000_rec_buf[5] << 8 | mpu6000_rec_buf[6]; // chip Y
-			data.gyro_x  = -(mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
+		data.gyro_x = -1 - (mpu6000_rec_buf[3] << 8 | mpu6000_rec_buf[4]); // chip X
 		break;
 	}
-	data.gyro_z = -(mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
+	data.gyro_z = -1 - (mpu6000_rec_buf[7] << 8 | mpu6000_rec_buf[8]);
 	data.temperature = mpu6000_rec_buf[1] << 8 | mpu6000_rec_buf[2];
 #endif
 

flight/PiOS/inc/pios_mpu6000.h

@@ -8,7 +8,7 @@
  *
  * @file       PIOS_MPU6000.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
- * @brief      MPU6000 3-axis gyor function headers
+ * @brief      MPU6000 3-axis gyro function headers
  * @see        The GNU Public License (GPL) Version 3
  *
  ******************************************************************************
@@ -87,8 +87,10 @@
 
 /* User control functionality */
 #define PIOS_MPU6000_USERCTL_FIFO_EN      0X40
+#define PIOS_MPU6000_USERCTL_I2C_MST_EN   0x20
 #define PIOS_MPU6000_USERCTL_DIS_I2C      0X10
-#define PIOS_MPU6000_USERCTL_FIFO_RST     0X02
+#define PIOS_MPU6000_USERCTL_FIFO_RST     0X04
+#define PIOS_MPU6000_USERCTL_SIG_COND     0X02
 #define PIOS_MPU6000_USERCTL_GYRO_RST     0X01
 
 /* Power management and clock selection */
@@ -146,7 +148,10 @@ struct pios_mpu6000_cfg {
 	const struct pios_exti_cfg * exti_cfg; /* Pointer to the EXTI configuration */
 	
 	uint8_t Fifo_store;		/* FIFO storage of different readings (See datasheet page 31 for more details) */
-	uint8_t Smpl_rate_div;	/* Sample rate divider to use (See datasheet page 32 for more details) */
+                                        
+                                        /* Sample rate divider to use (See datasheet page 32 for more details).*/
+        uint8_t Smpl_rate_div_no_dlp;   /* used when no dlp is applied (fs=8KHz)*/
+	uint8_t Smpl_rate_div_dlp;	/* used when dlp is on (fs=1kHz)*/
         uint8_t interrupt_cfg;	/* Interrupt configuration (See datasheet page 35 for more details) */
 	uint8_t interrupt_en;	/* Interrupt configuration (See datasheet page 35 for more details) */
 	uint8_t User_ctl;		/* User control settings (See datasheet page 41 for more details)  */
@@ -159,6 +164,7 @@ struct pios_mpu6000_cfg {
 
 /* Public Functions */
 extern int32_t PIOS_MPU6000_Init(uint32_t spi_id, uint32_t slave_num, const struct pios_mpu6000_cfg * new_cfg);
+extern int32_t PIOS_MPU6000_ConfigureRanges(enum pios_mpu6000_range gyroRange, enum pios_mpu6000_accel_range accelRange,enum pios_mpu6000_filter filterSetting);
 extern xQueueHandle PIOS_MPU6000_GetQueue();
 extern int32_t PIOS_MPU6000_ReadGyros(struct pios_mpu6000_data * buffer);
 extern int32_t PIOS_MPU6000_ReadID();

flight/PiOS/inc/pios_mpu6000_config.h

@@ -0,0 +1,72 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_MPU6000 OpenPilot layer configuration utilities
+ * @brief provides mpu6000 configuration helpers function
+ * @{
+ *
+ * @file       PIOS_MPU6000_CONFIG.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
+ * @brief      MPU6000 UAVO-based configuration functions
+ * @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 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_MPU6000_CONFIG_H
+#define	PIOS_MPU6000_CONFIG_H
+
+#include "mpu6000settings.h"
+#include "pios_mpu6000.h"
+
+#define PIOS_MPU6000_CONFIG_MAP_GYROSCALE(x)  (x == MPU6000SETTINGS_GYROSCALE_SCALE_250 ? PIOS_MPU6000_SCALE_250_DEG : \
+                                     x == MPU6000SETTINGS_GYROSCALE_SCALE_500 ? PIOS_MPU6000_SCALE_500_DEG : \
+                                     x == MPU6000SETTINGS_GYROSCALE_SCALE_1000 ? PIOS_MPU6000_SCALE_1000_DEG : \
+                                     PIOS_MPU6000_SCALE_2000_DEG)
+
+#define PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(x)  (x == MPU6000SETTINGS_ACCELSCALE_SCALE_2G ? PIOS_MPU6000_ACCEL_2G : \
+                                    x == MPU6000SETTINGS_ACCELSCALE_SCALE_4G ? PIOS_MPU6000_ACCEL_4G : \
+                                    x == MPU6000SETTINGS_ACCELSCALE_SCALE_16G ? PIOS_MPU6000_ACCEL_16G : \
+                                    PIOS_MPU6000_ACCEL_8G)
+
+#define PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(x)  (x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_188_HZ ? PIOS_MPU6000_LOWPASS_188_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_98_HZ ? PIOS_MPU6000_LOWPASS_98_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_42_HZ ? PIOS_MPU6000_LOWPASS_42_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_20_HZ ? PIOS_MPU6000_LOWPASS_20_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_10_HZ ? PIOS_MPU6000_LOWPASS_10_HZ : \
+                                       x == MPU6000SETTINGS_FILTERSETTING_LOWPASS_5_HZ ? PIOS_MPU6000_LOWPASS_5_HZ : \
+                                       PIOS_MPU6000_LOWPASS_256_HZ)
+/**
+ * @brief Updates MPU6000 config based on Mpu6000Settings UAVO
+ * @returns 0 if succeed or -1 otherwise
+ */
+int32_t PIOS_MPU6000_CONFIG_Configure()
+{
+    Mpu6000SettingsInitialize();
+    Mpu6000SettingsData mpu6000settings;
+    Mpu6000SettingsGet(&mpu6000settings);
+    return PIOS_MPU6000_ConfigureRanges(
+            PIOS_MPU6000_CONFIG_MAP_GYROSCALE (mpu6000settings.GyroScale),
+            PIOS_MPU6000_CONFIG_MAP_ACCELSCALE(mpu6000settings.AccelScale),
+            PIOS_MPU6000_CONFIG_MAP_FILTERSETTING(mpu6000settings.FilterSetting)
+            );
+}
+
+#endif	/* PIOS_MPU6000_CONFIG_H */
+

flight/RevoMini/Makefile

@@ -94,14 +94,6 @@ STMSPDSRCDIR = $(STMSPDDIR)/src
 STMSPDINCDIR = $(STMSPDDIR)/inc
 OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
-PYMITE = $(FLIGHTLIB)/PyMite
-PYMITELIB = $(PYMITE)/lib
-PYMITEPLAT = $(PYMITE)/platform/openpilot
-PYMITETOOLS = $(PYMITE)/tools
-PYMITEVM = $(PYMITE)/vm
-PYMITEINC = $(PYMITEVM)
-PYMITEINC += $(PYMITEPLAT)
-PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
 HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
@@ -113,19 +105,8 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
 #include $(PIOSCOMMONLIB)/dosfs/library.mk
 include $(PIOSCOMMONLIB)/msheap/library.mk
 
-
+## PYMite support
-# List C source files here. (C dependencies are automatically generated.)
+#include $(FLIGHTLIB)/PyMite/pymite.mk
-# use file-extension c for "c-only"-files
-
-## PyMite files and modules
-SRC += $(OUTDIR)/pmlib_img.c
-SRC += $(OUTDIR)/pmlib_nat.c
-SRC += $(OUTDIR)/pmlibusr_img.c
-SRC += $(OUTDIR)/pmlibusr_nat.c
-PYSRC += $(wildcard ${PYMITEVM}/*.c)
-PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
-PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += $(PYSRC)
 
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
@@ -234,22 +215,8 @@ EXTRAINCDIRS  += $(STMSPDINCDIR)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
-EXTRAINCDIRS  += $(PYMITEINC)
 EXTRAINCDIRS  += $(HWDEFSINC)
 
-# Generate intermediate code
-gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
-
-$(PYSRC): gencode
-
-PYTHON = python
-
-# Generate code for PyMite
-${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
-	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
-	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 # List any extra directories to look for library files here.
@@ -390,7 +357,6 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-PYTHON  = python
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)

flight/RevoMini/System/pios_board.c

@@ -141,6 +141,7 @@ static const struct pios_ms5611_cfg pios_ms5611_cfg = {
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line4,
@@ -175,14 +176,16 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.exti_cfg = &pios_exti_mpu6000_cfg,
 	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-	// Clock at 8 khz, downsampled by 8 for 1khz
+	// Clock at 8 khz, downsampled by 12 for 666Hz
-	.Smpl_rate_div = 11,
+	.Smpl_rate_div_no_dlp = 11,
+	// with dlp on output rate is 500Hz
+	.Smpl_rate_div_dlp = 1,
 	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
 	.accel_range = PIOS_MPU6000_ACCEL_8G,
-	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
 	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_180DEG
 };
@@ -730,6 +733,7 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_MPU6000)
 	PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
+	PIOS_MPU6000_CONFIG_Configure();
 #endif
 
 }

flight/RevoMini/UAVObjects.inc

@@ -94,7 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
 UAVOBJSRCFILENAMES += altitudeholddesired
 UAVOBJSRCFILENAMES += waypoint
 UAVOBJSRCFILENAMES += waypointactive
-
+UAVOBJSRCFILENAMES += mpu6000settings
 UAVOBJSRCFILENAMES += txpidsettings
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )

flight/Revolution/Makefile

@@ -117,14 +117,6 @@ OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 BOOT = ../Bootloaders/INS
 BOOTINC = $(BOOT)/inc
-PYMITE = $(FLIGHTLIB)/PyMite
-PYMITELIB = $(PYMITE)/lib
-PYMITEPLAT = $(PYMITE)/platform/openpilot
-PYMITETOOLS = $(PYMITE)/tools
-PYMITEVM = $(PYMITE)/vm
-PYMITEINC = $(PYMITEVM)
-PYMITEINC += $(PYMITEPLAT)
-PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
 HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
@@ -136,20 +128,12 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
 #include $(PIOSCOMMONLIB)/dosfs/library.mk
 include $(PIOSCOMMONLIB)/msheap/library.mk
 
+## PYMite support
+#include $(FLIGHTLIB)/PyMite/pymite.mk
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-## PyMite files and modules
-SRC += $(OUTDIR)/pmlib_img.c
-SRC += $(OUTDIR)/pmlib_nat.c
-SRC += $(OUTDIR)/pmlibusr_img.c
-SRC += $(OUTDIR)/pmlibusr_nat.c
-PYSRC += $(wildcard ${PYMITEVM}/*.c)
-PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
-PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += $(PYSRC)
-
 ## MODULES
 SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
@@ -249,22 +233,8 @@ EXTRAINCDIRS  += $(STMSPDINCDIR)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
-EXTRAINCDIRS  += $(PYMITEINC)
 EXTRAINCDIRS  += $(HWDEFSINC)
 
-# Generate intermediate code
-gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
-
-$(PYSRC): gencode
-
-PYTHON = python
-
-# Generate code for PyMite
-${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
-	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
-	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 # List any extra directories to look for library files here.

flight/Revolution/System/pios_board.c

@@ -182,6 +182,7 @@ static const struct pios_bma180_cfg pios_bma180_cfg = {
  */
 #if defined(PIOS_INCLUDE_MPU6000)
 #include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
 static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 	.vector = PIOS_MPU6000_IRQHandler,
 	.line = EXTI_Line8,
@@ -216,14 +217,16 @@ static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
 static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
 	.exti_cfg = &pios_exti_mpu6000_cfg,
 	.Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
-	// Clock at 8 khz, downsampled by 8 for 1khz
+	// Clock at 8 khz, downsampled by 12 for 666Hz
-	.Smpl_rate_div = 11,
+	.Smpl_rate_div_no_dlp = 11,
+	// with dlp on output rate is 500Hz
+	.Smpl_rate_div_dlp = 1,
 	.interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD,
 	.interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY,
 	.User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C,
 	.Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
 	.accel_range = PIOS_MPU6000_ACCEL_8G,
-	.gyro_range = PIOS_MPU6000_SCALE_500_DEG,
+	.gyro_range = PIOS_MPU6000_SCALE_2000_DEG,
 	.filter = PIOS_MPU6000_LOWPASS_256_HZ,
 	.orientation = PIOS_MPU6000_TOP_0DEG
 };
@@ -872,6 +875,7 @@ void PIOS_Board_Init(void) {
 		case 0x02:
 #if defined(PIOS_INCLUDE_MPU6000)
 			PIOS_MPU6000_Init(pios_spi_gyro_id,0, &pios_mpu6000_cfg);
+			PIOS_MPU6000_CONFIG_Configure();
 #endif
 			break;
 		default:

flight/Revolution/UAVObjects.inc

@@ -94,6 +94,7 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
 UAVOBJSRCFILENAMES += altitudeholddesired
 UAVOBJSRCFILENAMES += waypoint
 UAVOBJSRCFILENAMES += waypointactive
+UAVOBJSRCFILENAMES += mpu6000settings
 
 UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(UAVOBJSYNTHDIR)/$(UAVOBJSRCFILE).c )
 UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

flight/SimPosix/Makefile

@@ -85,14 +85,6 @@ OPUAVOBJ = ../UAVObjects
 OPUAVOBJINC = $(OPUAVOBJ)/inc
 BOOT = 
 BOOTINC = 
-PYMITE = $(FLIGHTLIB)/PyMite
-PYMITELIB = $(PYMITE)/lib
-PYMITEPLAT = $(PYMITE)/platform/openpilot
-PYMITETOOLS = $(PYMITE)/tools
-PYMITEVM = $(PYMITE)/vm
-PYMITEINC = $(PYMITEVM)
-PYMITEINC += $(PYMITEPLAT)
-PYMITEINC += $(OUTDIR)
 FLIGHTPLANLIB = $(OPMODULEDIR)/FlightPlan/lib
 FLIGHTPLANS = $(OPMODULEDIR)/FlightPlan/flightplans
 HWDEFSINC = ../board_hw_defs/$(BOARD_NAME)
@@ -104,20 +96,12 @@ include $(PIOSCOMMONLIB)/FreeRTOS/library.mk
 #include $(PIOSCOMMONLIB)/dosfs/library.mk
 #include $(PIOSCOMMONLIB)/msheap/library.mk
 
+## PYMite support
+#include $(FLIGHTLIB)/PyMite/pymite.mk
 
 # List C source files here. (C dependencies are automatically generated.)
 # use file-extension c for "c-only"-files
 
-## PyMite files and modules
-SRC += $(OUTDIR)/pmlib_img.c
-SRC += $(OUTDIR)/pmlib_nat.c
-SRC += $(OUTDIR)/pmlibusr_img.c
-SRC += $(OUTDIR)/pmlibusr_nat.c
-PYSRC += $(wildcard ${PYMITEVM}/*.c)
-PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
-PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
-SRC += $(PYSRC)
-
 ## MODULES
 SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
 SRC += ${OUTDIR}/InitMods.c
@@ -207,22 +191,8 @@ EXTRAINCDIRS  += $(PIOSBOARDS)
 EXTRAINCDIRS  += $(CMSISDIR)
 EXTRAINCDIRS  += $(OPUAVSYNTHDIR)
 EXTRAINCDIRS  += $(BOOTINC)
-EXTRAINCDIRS  += $(PYMITEINC)
 EXTRAINCDIRS  += $(HWDEFSINC)
 
-# Generate intermediate code
-gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h 
-
-$(PYSRC): gencode
-
-PYTHON = python
-
-# Generate code for PyMite
-${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) 
-	@echo $(MSG_PYMITEINIT) $(call toprel, $@)
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
-	@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
-	@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
 EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
 
 # List any extra directories to look for library files here.
@@ -366,7 +336,6 @@ LDFLAGS += $(addprefix -T,$(LINKER_SCRIPTS_APP))
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-PYTHON  = python
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)

flight/board_hw_defs/revomini/board_hw_defs.c

@@ -1281,13 +1281,13 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
 		.pin = {
 			.gpio = GPIOA,
 			.init = {
-				.GPIO_Pin = GPIO_Pin_1,
+				.GPIO_Pin = GPIO_Pin_0,
 				.GPIO_Speed = GPIO_Speed_2MHz,
 				.GPIO_Mode  = GPIO_Mode_AF,
 				.GPIO_OType = GPIO_OType_PP,
 				.GPIO_PuPd  = GPIO_PuPd_UP
 			},
-			.pin_source = GPIO_PinSource1,
+			.pin_source = GPIO_PinSource0,
 		},
 		.remap = GPIO_AF_TIM5,
 	},

ground/openpilotgcs/src/plugins/config/config.pro

@@ -17,7 +17,6 @@ HEADERS += configplugin.h \
     configinputwidget.h \
     configoutputwidget.h \
     configvehicletypewidget.h \
-    config_pro_hw_widget.h \
     config_cc_hw_widget.h \
     configccattitudewidget.h \
     configpipxtremewidget.h \
@@ -39,7 +38,7 @@ HEADERS += configplugin.h \
     config_global.h \
     mixercurve.h \
     dblspindelegate.h \
-    configautotunewidget.h
+    configrevohwwidget.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -50,7 +49,6 @@ SOURCES += configplugin.cpp \
     configinputwidget.cpp \
     configoutputwidget.cpp \
     configvehicletypewidget.cpp \
-    config_pro_hw_widget.cpp \
     config_cc_hw_widget.cpp \
     configccattitudewidget.cpp \
     configstabilizationwidget.cpp \
@@ -73,10 +71,9 @@ SOURCES += configplugin.cpp \
     cfg_vehicletypes/vehicleconfig.cpp \
     mixercurve.cpp \
     dblspindelegate.cpp \
-    configautotunewidget.cpp
+    configrevohwwidget.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
-    pro_hw_settings.ui \
     ccpm.ui \
     stabilization.ui \
     input.ui \
@@ -91,7 +88,7 @@ FORMS += airframe.ui \
     txpid.ui \
     pipxtreme.ui \
     mixercurve.ui \
-    autotune.ui
+    configrevohwwidget.ui
 RESOURCES += configgadget.qrc
 
 

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

@@ -1,60 +0,0 @@
-/**
- ******************************************************************************
- *
- * @file       configtelemetrywidget.h
- * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
- * @addtogroup GCSPlugins GCS Plugins
- * @{
- * @addtogroup ConfigPlugin Config Plugin
- * @{
- * @brief The Configuration Gadget used to update settings in the firmware
- *****************************************************************************/
-/*
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
- * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
- * for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- */
-#include "config_pro_hw_widget.h"
-
-#include <QDebug>
-#include <QStringList>
-#include <QtGui/QWidget>
-#include <QtGui/QTextEdit>
-#include <QtGui/QVBoxLayout>
-#include <QtGui/QPushButton>
-
-
-ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
-{
-    m_telemetry = new Ui_PRO_HW_Widget();
-    m_telemetry->setupUi(this);
-
-    addApplySaveButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
-    addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
-    enableControls(false);
-    populateWidgets();
-    refreshWidgetsValues(NULL);
-}
-
-ConfigProHWWidget::~ConfigProHWWidget()
-{
-   // Do nothing
-}
-
-
-/**
-  Request telemetry settings from the board
-  */
-void ConfigProHWWidget::refreshValues()
-{
-}

ground/openpilotgcs/src/plugins/config/configgadget.qrc

@@ -30,5 +30,6 @@
         <file>images/camstab_normal.png</file>
         <file>images/pipx-selected.png</file>
         <file>images/pipx-normal.png</file>
+        <file>images/revolution_top.png</file>
     </qresource>
 </RCC>

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

@@ -32,10 +32,9 @@
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
-#include "configautotunewidget.h"
 #include "configcamerastabilizationwidget.h"
 #include "configtxpidwidget.h"
-#include "config_pro_hw_widget.h"
+#include "configrevohwwidget.h"
 #include "config_cc_hw_widget.h"
 #include "configpipxtremewidget.h"
 #include "configrevowidget.h"
@@ -103,12 +102,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
 
-    icon = new QIcon();
-    icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
-    icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigAutotuneWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::autotune, qwd, *icon, QString("Autotune"));
-
     icon = new QIcon();
     icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
@@ -136,7 +129,7 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     }
 
     help = 0;
-    connect(ftw,SIGNAL(currentAboutToShow(int,bool*)),this,SLOT(tabAboutToChange(int,bool*)));//,Qt::BlockingQueuedConnection);
+    connect(ftw,SIGNAL(currentAboutToShow(int,bool*)), this, SLOT(tabAboutToChange(int,bool*)));
 
     // Connect to the PipXStatus object updates
     UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
@@ -173,20 +166,21 @@ void ConfigGadgetWidget::resizeEvent(QResizeEvent *event)
 
 void ConfigGadgetWidget::onAutopilotDisconnect() {
     ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-    ftw->removeTab(ConfigGadgetWidget::sensors);
 
     QIcon *icon = new QIcon();
     icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     QWidget *qwd = new DefaultAttitudeWidget(this);
+    ftw->removeTab(ConfigGadgetWidget::sensors);
     ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
-    ftw->removeTab(ConfigGadgetWidget::hardware);
 
     icon = new QIcon();
     icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
     qwd = new DefaultHwSettingsWidget(this);
+    ftw->removeTab(ConfigGadgetWidget::hardware);
     ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
+
     ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
 
     emit autopilotDisconnected();
@@ -203,40 +197,39 @@ void ConfigGadgetWidget::onAutopilotConnect() {
         int board = utilMngr->getBoardModel();
         if ((board & 0xff00) == 1024) {
             // CopterControl family
-            // Delete the INS panel, replace with CC Panel:
-            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-            ftw->removeTab(ConfigGadgetWidget::sensors);
 
             QIcon *icon = new QIcon();
             icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigCCAttitudeWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("INS"));
+            ftw->removeTab(ConfigGadgetWidget::sensors);
-            ftw->removeTab(ConfigGadgetWidget::hardware);
+            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("CopterControl"));
 
             icon = new QIcon();
             icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             qwd = new ConfigCCHWWidget(this);
+            ftw->removeTab(ConfigGadgetWidget::hardware);
             ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
+
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
         } else if ((board & 0xff00) == 0x0900) {
-            // Revolution sensor calibration
+            // Revolution family
-            ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
-            ftw->removeTab(ConfigGadgetWidget::sensors);
 
             QIcon *icon = new QIcon();
             icon->addFile(":/configgadget/images/ins_normal.png", QSize(), QIcon::Normal, QIcon::Off);
             icon->addFile(":/configgadget/images/ins_selected.png", QSize(), QIcon::Selected, QIcon::Off);
             QWidget *qwd = new ConfigRevoWidget(this);
-            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Revo"));
+            ftw->removeTab(ConfigGadgetWidget::sensors);
-            ftw->removeTab(ConfigGadgetWidget::hardware);
+            ftw->insertTab(ConfigGadgetWidget::sensors, qwd, *icon, QString("Revolution"));
 
             icon = new QIcon();
             icon->addFile(":/configgadget/images/hardware_normal.png", QSize(), QIcon::Normal, QIcon::Off);
-            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Normal, QIcon::On);
+            icon->addFile(":/configgadget/images/hardware_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-            qwd = new ConfigProHWWidget(this);
+            qwd = new ConfigRevoHWWidget(this);
+            ftw->removeTab(ConfigGadgetWidget::hardware);
             ftw->insertTab(ConfigGadgetWidget::hardware, qwd, *icon, QString("Hardware"));
+
             ftw->setCurrentIndex(ConfigGadgetWidget::hardware);
         } else {
             //Unknown board

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

@@ -48,7 +48,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
-    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink, autotune};
+    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, oplink};
     void startInputWizard();
 
 public slots:

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

@@ -0,0 +1,297 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configrevohwwidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Revolution hardware configuration panel
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "configrevohwwidget.h"
+
+#include <QDebug>
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+#include "hwsettings.h"
+#include <QDesktopServices>
+#include <QUrl>
+
+
+ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
+{
+    m_ui = new Ui_RevoHWWidget();
+    m_ui->setupUi(this);
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
+    if(!settings->useExpertMode()) {
+        m_ui->saveTelemetryToRAM->setEnabled(false);
+        m_ui->saveTelemetryToRAM->setVisible(false);
+    }
+
+    addApplySaveButtons(m_ui->saveTelemetryToRAM, m_ui->saveTelemetryToSD);
+
+    addUAVObjectToWidgetRelation("HwSettings","RM_FlexiPort",m_ui->cbFlexi);
+    addUAVObjectToWidgetRelation("HwSettings","RM_MainPort",m_ui->cbMain);
+    addUAVObjectToWidgetRelation("HwSettings","RM_RcvrPort",m_ui->cbRcvr);
+
+    addUAVObjectToWidgetRelation("HwSettings","USB_HIDPort",m_ui->cbUSBHIDFunction);
+    addUAVObjectToWidgetRelation("HwSettings","USB_VCPPort",m_ui->cbUSBVCPFunction);
+    addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbUSBVCPSpeed);
+
+    addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_ui->cbFlexiTelemSpeed);
+    addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_ui->cbFlexiGPSSpeed);
+    addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbFlexiComSpeed);
+
+    addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_ui->cbMainTelemSpeed);
+    addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_ui->cbMainGPSSpeed);
+    addUAVObjectToWidgetRelation("HwSettings","ComUsbBridgeSpeed",m_ui->cbMainComSpeed);
+
+    addUAVObjectToWidgetRelation("HwSettings","RadioPort",m_ui->cbModem);
+
+    connect(m_ui->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
+
+    setupCustomCombos();
+    enableControls(true);
+    populateWidgets();
+    refreshWidgetsValues();
+    forceConnectedState();
+}
+
+ConfigRevoHWWidget::~ConfigRevoHWWidget()
+{
+    // Do nothing
+}
+
+void ConfigRevoHWWidget::setupCustomCombos()
+{
+    connect(m_ui->cbUSBHIDFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbHIDPortChanged(int)));
+    connect(m_ui->cbUSBVCPFunction, SIGNAL(currentIndexChanged(int)), this, SLOT(usbVCPPortChanged(int)));
+
+    m_ui->cbSonar->addItem(tr("Disabled"));
+    m_ui->cbSonar->setCurrentIndex(0);
+    m_ui->cbSonar->setEnabled(false);
+
+    connect(m_ui->cbFlexi, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged(int)));
+    connect(m_ui->cbMain, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged(int)));
+    connect(m_ui->cbModem, SIGNAL(currentIndexChanged(int)), this, SLOT(modemPortChanged(int)));
+
+}
+
+void ConfigRevoHWWidget::refreshWidgetsValues(UAVObject *obj)
+{
+    ConfigTaskWidget::refreshWidgetsValues(obj);
+    usbVCPPortChanged(0);
+    mainPortChanged(0);
+    flexiPortChanged(0);
+}
+
+void ConfigRevoHWWidget::updateObjectsFromWidgets()
+{
+    ConfigTaskWidget::updateObjectsFromWidgets();
+
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields data = hwSettings->getData();
+
+    // If any port is configured to be GPS port, enable GPS module if it is not enabled.
+    // Otherwise disable GPS module.
+    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_ENABLED;
+    }
+    else {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_GPS] = HwSettings::OPTIONALMODULES_DISABLED;
+    }
+
+    // If any port is configured to be ComBridge port, enable UsbComBridge module if it is not enabled.
+    // Otherwise disable UsbComBridge module.
+    if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE || m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE ||
+            m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE) {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_ENABLED;
+    }
+    else {
+        data.OptionalModules[HwSettings::OPTIONALMODULES_COMUSBBRIDGE] = HwSettings::OPTIONALMODULES_DISABLED;
+    }
+
+    hwSettings->setData(data);
+}
+
+void ConfigRevoHWWidget::usbVCPPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    bool vcpComBridgeEnabled = m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_COMBRIDGE;
+
+    m_ui->lblUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
+    m_ui->cbUSBVCPSpeed->setVisible(vcpComBridgeEnabled);
+
+    if(!vcpComBridgeEnabled && m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
+        m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+    }
+    m_ui->cbFlexi->model()->setData(m_ui->cbFlexi->model()->index(HwSettings::RM_FLEXIPORT_COMBRIDGE, 0),
+                                    !vcpComBridgeEnabled ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+
+    if(!vcpComBridgeEnabled && m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
+        m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+    }
+    m_ui->cbMain->model()->setData(m_ui->cbMain->model()->index(HwSettings::RM_MAINPORT_COMBRIDGE, 0),
+                                   !vcpComBridgeEnabled ? QVariant(0) : QVariant(1|32), Qt::UserRole - 1);
+
+    //_DEBUGCONSOLE modes are mutual exclusive
+    if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+        if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
+            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
+            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+    }
+
+    //_USBTELEMETRY modes are mutual exclusive
+    if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
+        if(m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
+            m_ui->cbUSBHIDFunction->setCurrentIndex(HwSettings::USB_HIDPORT_DISABLED);
+        }
+    }
+}
+
+void ConfigRevoHWWidget::usbHIDPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    //_USBTELEMETRY modes are mutual exclusive
+    if(m_ui->cbUSBHIDFunction->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) {
+        if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY) {
+            m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+        }
+    }
+}
+
+void ConfigRevoHWWidget::flexiPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    m_ui->cbFlexiTelemSpeed->setVisible(false);
+    m_ui->cbFlexiGPSSpeed->setVisible(false);
+    m_ui->cbFlexiComSpeed->setVisible(false);
+    m_ui->lblFlexiSpeed->setVisible(true);
+
+    switch(m_ui->cbFlexi->currentIndex())
+    {
+        case HwSettings::RM_FLEXIPORT_TELEMETRY:
+            m_ui->cbFlexiTelemSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            if(m_ui->cbModem->currentIndex() == HwSettings::RADIOPORT_TELEMETRY) {
+                m_ui->cbModem->setCurrentIndex(HwSettings::RADIOPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_FLEXIPORT_GPS:
+            m_ui->cbFlexiGPSSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_FLEXIPORT_COMBRIDGE:
+            m_ui->cbFlexiComSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_COMBRIDGE) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_FLEXIPORT_DEBUGCONSOLE:
+            m_ui->cbFlexiComSpeed->setVisible(true);
+            if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_DEBUGCONSOLE) {
+                m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+            }
+            if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+                m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+            }
+            break;
+        default:
+            m_ui->lblFlexiSpeed->setVisible(false);
+            break;
+        }
+}
+
+void ConfigRevoHWWidget::mainPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    m_ui->cbMainTelemSpeed->setVisible(false);
+    m_ui->cbMainGPSSpeed->setVisible(false);
+    m_ui->cbMainComSpeed->setVisible(false);
+    m_ui->lblMainSpeed->setVisible(true);
+
+    switch(m_ui->cbMain->currentIndex())
+    {
+        case HwSettings::RM_MAINPORT_TELEMETRY:
+            m_ui->cbMainTelemSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            if(m_ui->cbModem->currentIndex() == HwSettings::RADIOPORT_TELEMETRY) {
+                m_ui->cbModem->setCurrentIndex(HwSettings::RADIOPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_MAINPORT_GPS:
+            m_ui->cbMainGPSSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_MAINPORT_COMBRIDGE:
+            m_ui->cbMainComSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_COMBRIDGE) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            break;
+        case HwSettings::RM_MAINPORT_DEBUGCONSOLE:
+            m_ui->cbMainComSpeed->setVisible(true);
+            if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_DEBUGCONSOLE) {
+                m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+            }
+            if(m_ui->cbUSBVCPFunction->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) {
+                m_ui->cbUSBVCPFunction->setCurrentIndex(HwSettings::USB_VCPPORT_DISABLED);
+            }
+            break;
+        default:
+            m_ui->lblMainSpeed->setVisible(false);
+            break;
+    }
+}
+
+void ConfigRevoHWWidget::modemPortChanged(int index)
+{
+    Q_UNUSED(index);
+
+    if(m_ui->cbModem->currentIndex()== HwSettings::RADIOPORT_TELEMETRY) {
+        if(m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_TELEMETRY) {
+            m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
+        }
+        if(m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_TELEMETRY) {
+            m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);
+        }
+    }
+}
+
+void ConfigRevoHWWidget::openHelp()
+{
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/GgDBAQ", QUrl::StrictMode) );
+}

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

@@ -1,13 +1,13 @@
 /**
  ******************************************************************************
  *
- * @file       configtelemetrytwidget.h
+ * @file       configrevohwwidget.h
  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  * @addtogroup GCSPlugins GCS Plugins
  * @{
  * @addtogroup ConfigPlugin Config Plugin
  * @{
- * @brief Telemetry configuration panel
+ * @brief Revolution hardware configuration panel
  *****************************************************************************/
 /*
  * This program is free software; you can redistribute it and/or modify
@@ -24,10 +24,10 @@
  * with this program; if not, write to the Free Software Foundation, Inc.,
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
-#ifndef CONFIGPROHWWIDGET_H
+#ifndef CONFIGREVOHWWIDGET_H
-#define CONFIGPROHWWIDGET_H
+#define CONFIGREVOHWWIDGET_H
 
-#include "ui_pro_hw_settings.h"
+#include "ui_configrevohwwidget.h"
 #include "../uavobjectwidgetutils/configtaskwidget.h"
 #include "extensionsystem/pluginmanager.h"
 #include "uavobjectmanager.h"
@@ -36,20 +36,30 @@
 #include <QList>
 
 
-class ConfigProHWWidget: public ConfigTaskWidget
+class ConfigRevoHWWidget: public ConfigTaskWidget
 {
     Q_OBJECT
 
 public:
-    ConfigProHWWidget(QWidget *parent = 0);
+    ConfigRevoHWWidget(QWidget *parent = 0);
-    ~ConfigProHWWidget();
+    ~ConfigRevoHWWidget();
 
 private:
-    Ui_PRO_HW_Widget *m_telemetry;
+    Ui_RevoHWWidget *m_ui;
+    void setupCustomCombos();
+
+protected slots:
+    void refreshWidgetsValues(UAVObject * obj = NULL);
+    void updateObjectsFromWidgets();
 
 private slots:
-    virtual void refreshValues();
+    void usbVCPPortChanged(int index);
+    void usbHIDPortChanged(int index);
+    void flexiPortChanged(int index);
+    void mainPortChanged(int index);
+    void modemPortChanged(int index);
+    void openHelp();
 
 };
 
-#endif // CONFIGPROHWWIDGET_H
+#endif // CONFIGREVOHWWIDGET_H

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

@@ -0,0 +1,865 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>RevoHWWidget</class>
+ <widget class="QWidget" name="RevoHWWidget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>834</width>
+    <height>742</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>HW settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="margin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="styleSheet">
+          <string notr="true">border-color: rgb(255, 0, 0);</string>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>810</width>
+            <height>665</height>
+           </rect>
+          </property>
+          <layout class="QGridLayout" name="gridLayout_3">
+           <property name="margin">
+            <number>12</number>
+           </property>
+           <item row="2" column="2">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
+             <item row="7" column="0">
+              <widget class="QLabel" name="label_8">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>USB VCP Function</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="14" column="3">
+              <widget class="QLabel" name="lblMainSpeed">
+               <property name="text">
+                <string>Speed</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="5">
+              <widget class="QComboBox" name="cbSonar">
+               <property name="enabled">
+                <bool>false</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="9" column="0">
+              <widget class="QLabel" name="lblUSBVCPSpeed">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>Speed</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </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>
+             <item row="5" column="0">
+              <widget class="QLabel" name="label_4">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>USB HID Function</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="6" column="0">
+              <widget class="QComboBox" name="cbUSBHIDFunction"/>
+             </item>
+             <item row="10" column="0">
+              <widget class="QComboBox" name="cbUSBVCPSpeed">
+               <property name="enabled">
+                <bool>true</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="12" column="3">
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>Main Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="12" column="4">
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>50</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="12" column="5">
+              <spacer name="horizontalSpacer_6">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="1" column="1" rowspan="11" colspan="4" alignment="Qt::AlignHCenter|Qt::AlignVCenter">
+              <widget class="QLabel" name="label_2">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="maximumSize">
+                <size>
+                 <width>350</width>
+                 <height>350</height>
+                </size>
+               </property>
+               <property name="text">
+                <string/>
+               </property>
+               <property name="pixmap">
+                <pixmap resource="configgadget.qrc">:/configgadget/images/revolution_top.png</pixmap>
+               </property>
+               <property name="scaledContents">
+                <bool>false</bool>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignCenter</set>
+               </property>
+               <property name="textInteractionFlags">
+                <set>Qt::NoTextInteraction</set>
+               </property>
+              </widget>
+             </item>
+             <item row="8" column="0">
+              <widget class="QComboBox" name="cbUSBVCPFunction"/>
+             </item>
+             <item row="5" column="5">
+              <widget class="QLabel" name="label_9">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>Sonar Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="13" column="3">
+              <widget class="QComboBox" name="cbMain"/>
+             </item>
+             <item row="15" column="1">
+              <layout class="QVBoxLayout" name="verticalLayout_5">
+               <property name="spacing">
+                <number>0</number>
+               </property>
+               <item alignment="Qt::AlignTop">
+                <widget class="QComboBox" name="cbFlexiTelemSpeed">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item alignment="Qt::AlignTop">
+                <widget class="QComboBox" name="cbFlexiGPSSpeed"/>
+               </item>
+               <item alignment="Qt::AlignTop">
+                <widget class="QComboBox" name="cbFlexiComSpeed"/>
+               </item>
+              </layout>
+             </item>
+             <item row="12" column="0">
+              <spacer name="horizontalSpacer_3">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="12" column="1">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>Flexi Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="15" column="3">
+              <layout class="QVBoxLayout" name="verticalLayout_6">
+               <property name="spacing">
+                <number>0</number>
+               </property>
+               <item>
+                <widget class="QComboBox" name="cbMainTelemSpeed">
+                 <property name="enabled">
+                  <bool>true</bool>
+                 </property>
+                </widget>
+               </item>
+               <item>
+                <widget class="QComboBox" name="cbMainGPSSpeed"/>
+               </item>
+               <item>
+                <widget class="QComboBox" name="cbMainComSpeed"/>
+               </item>
+              </layout>
+             </item>
+             <item row="13" column="1">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
+             <item row="12" column="2">
+              <widget class="QLabel" name="label">
+               <property name="text">
+                <string>Radio</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="14" column="1">
+              <widget class="QLabel" name="lblFlexiSpeed">
+               <property name="text">
+                <string>Speed</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="16" column="1">
+              <spacer name="horizontalSpacer_7">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="2" column="0">
+              <widget class="QLabel" name="label_7">
+               <property name="sizePolicy">
+                <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+                 <horstretch>0</horstretch>
+                 <verstretch>0</verstretch>
+                </sizepolicy>
+               </property>
+               <property name="text">
+                <string>Receiver Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignHCenter</set>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="0">
+              <spacer name="verticalSpacer_3">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>25</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="1" column="0">
+              <spacer name="verticalSpacer_4">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>120</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="16" column="2">
+              <spacer name="horizontalSpacer_8">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="16" column="3">
+              <spacer name="horizontalSpacer_9">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Minimum</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>120</width>
+                 <height>10</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="7" column="5">
+              <spacer name="verticalSpacer_8">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="8" column="5">
+              <spacer name="verticalSpacer_7">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="9" column="5">
+              <spacer name="verticalSpacer_5">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="10" column="5">
+              <spacer name="verticalSpacer_6">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="11" column="5">
+              <spacer name="verticalSpacer_9">
+               <property name="orientation">
+                <enum>Qt::Vertical</enum>
+               </property>
+               <property name="sizeType">
+                <enum>QSizePolicy::Fixed</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>20</width>
+                 <height>13</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
+           </item>
+           <item row="0" column="2">
+            <widget class="QLabel" name="label_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>16777215</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Changes on this page only take effect after board reset or power cycle</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="2">
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="0">
+            <spacer name="horizontalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="3">
+            <spacer name="horizontalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="2">
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>40</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>369</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="cchwHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </active>
+         <inactive>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </inactive>
+         <disabled>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </disabled>
+        </palette>
+       </property>
+       <property name="toolTip">
+        <string>Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Applies and Saves all settings to SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>

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

@@ -1,126 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<ui version="4.0">
- <class>PRO_HW_Widget</class>
- <widget class="QWidget" name="PRO_HW_Widget">
-  <property name="geometry">
-   <rect>
-    <x>0</x>
-    <y>0</y>
-    <width>505</width>
-    <height>389</height>
-   </rect>
-  </property>
-  <property name="windowTitle">
-   <string>Form</string>
-  </property>
-  <layout class="QVBoxLayout" name="verticalLayout">
-   <item>
-    <widget class="QFrame" name="frame">
-     <property name="frameShape">
-      <enum>QFrame::StyledPanel</enum>
-     </property>
-     <property name="frameShadow">
-      <enum>QFrame::Raised</enum>
-     </property>
-     <layout class="QVBoxLayout" name="verticalLayout_2">
-      <item>
-       <widget class="QTextBrowser" name="textBrowser">
-        <property name="html">
-         <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
-&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
-p, li { white-space: pre-wrap; }
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Set the serial speed of your onboard telemetry modem here. It is the speed between the OpenPilot board and the onboard modem, and could be different from the radio link speed.&lt;/span&gt;&lt;/p&gt;
-&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Sans'; font-size:10pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
-&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Sans'; font-size:10pt;&quot;&gt;Beware of not locking yourself out! You should only modify this setting when the OpenPilot board is connected through the USB port.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-        </property>
-       </widget>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout">
-        <item>
-         <widget class="QLabel" name="label">
-          <property name="font">
-           <font>
-            <pointsize>11</pointsize>
-            <weight>75</weight>
-            <bold>true</bold>
-           </font>
-          </property>
-          <property name="text">
-           <string>Telemetry speed:</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QComboBox" name="telemetrySpeed">
-          <property name="toolTip">
-           <string>Select the speed here.</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-      <item>
-       <spacer name="verticalSpacer">
-        <property name="orientation">
-         <enum>Qt::Vertical</enum>
-        </property>
-        <property name="sizeHint" stdset="0">
-         <size>
-          <width>20</width>
-          <height>40</height>
-         </size>
-        </property>
-       </spacer>
-      </item>
-      <item>
-       <layout class="QHBoxLayout" name="horizontalLayout_2">
-        <property name="spacing">
-         <number>4</number>
-        </property>
-        <item>
-         <spacer name="horizontalSpacer">
-          <property name="orientation">
-           <enum>Qt::Horizontal</enum>
-          </property>
-          <property name="sizeHint" stdset="0">
-           <size>
-            <width>40</width>
-            <height>20</height>
-           </size>
-          </property>
-         </spacer>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveTelemetryToRAM">
-          <property name="toolTip">
-           <string>Send to OpenPilot but don't write in SD.
-Beware of not locking yourself out!</string>
-          </property>
-          <property name="text">
-           <string>Apply</string>
-          </property>
-         </widget>
-        </item>
-        <item>
-         <widget class="QPushButton" name="saveTelemetryToSD">
-          <property name="toolTip">
-           <string>Applies and Saves all settings to SD.
-Beware of not locking yourself out!</string>
-          </property>
-          <property name="text">
-           <string>Save</string>
-          </property>
-         </widget>
-        </item>
-       </layout>
-      </item>
-     </layout>
-    </widget>
-   </item>
-  </layout>
- </widget>
- <resources/>
- <connections/>
-</ui>

ground/openpilotgcs/src/plugins/coreplugin/CREDITS.html

@@ -1,8 +1,12 @@
 <html>
-<p>This is a credits file of people that are or have been key contributors to the OpenPilot project.
+<style type="text/css" media="screen">
-Without the work of the people in this file OpenPilot would not be what it is today.</p>
+	body { background: #e3e3e3; font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; font-size: 12px; line-height:1.5em; }
+	pre { font-family: Helvetica, Arial, "MS Trebuchet", sans-serif; }
+</style>
+<body>
+<h3>This is a credits file of people that are or have been key contributors to the OpenPilot project. Without the work of the people in this list, OpenPilot would not be what it is today.</h3>
 
-<p>It is sorted alphabetically by name</p>
+<p>This list is sorted alphabetically by name</p>
 
 <pre>Connor Abbott
 David Ankers
@@ -77,5 +81,5 @@ Mat Wellington
 Kendal Wells
 Dmitriy Zaitsev
 </pre>
-
+</body>
 </html>

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

@@ -28,6 +28,8 @@
 
 #include "authorsdialog.h"
 
+// autogenerated version info string
+#include "../../../../../build/ground/openpilotgcs/gcsversioninfo.h"
 #include "coreconstants.h"
 #include "icore.h"
 
@@ -43,6 +45,11 @@
 #include <QtGui/QPushButton>
 #include <QtGui/QTextBrowser>
 	 
+#include <QtDeclarative/qdeclarative.h>
+#include <QtDeclarative/qdeclarativeview.h>
+#include <QtDeclarative/qdeclarativeengine.h>
+#include <QtDeclarative/qdeclarativecontext.h>
+
 using namespace Core;
 using namespace Core::Internal;
 using namespace Core::Constants;
@@ -52,12 +59,15 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
 {
     // We need to set the window icon explicitly here since for some reason the
     // application icon isn't used when the size of the dialog is fixed (at least not on X11/GNOME)
-    setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png"));
 
-    setWindowTitle(tr("About OpenPilot Authors"));
+    setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png"));
+    setWindowTitle(tr("About OpenPilot"));
     setWindowFlags(windowFlags() & ~Qt::WindowContextHelpButtonHint);
-    QGridLayout *layout = new QGridLayout(this);
+	// This loads a QML doc containing a Tabbed view
-    layout->setSizeConstraint(QLayout::SetFixedSize);
+	QDeclarativeView *view = new QDeclarativeView(this);
+	view->setSource(QUrl("qrc:/core/qml/AboutDialog.qml"));
+
+
 
      QString version = QLatin1String(GCS_VERSION_LONG);
      version += QDate(2007, 25, 10).toString(Qt::SystemLocaleDate);
@@ -68,29 +78,56 @@ AuthorsDialog::AuthorsDialog(QWidget *parent)
       ideRev = tr("From revision %1<br/>").arg(QString::fromLatin1(GCS_REVISION_STR).left(10));
 #endif
 
+ #ifdef UAVO_HASH
+       //: This gets conditionally inserted as argument %11 into the description string.
+      QByteArray uavoHashArray;
+      QString uavoHash = QString::fromLatin1(Core::Constants::UAVOSHA1_STR);
+      uavoHash.chop(2);
+      uavoHash.remove(0, 2);
+      uavoHash = uavoHash.trimmed();
+      bool ok;
+      foreach(QString str, uavoHash.split(",")) {
+          uavoHashArray.append(str.toInt(&ok, 16));
+      }
+      QString gcsUavoHashStr;
+      foreach(char i, uavoHashArray) {
+          gcsUavoHashStr.append(QString::number(i, 16).right(2));
+      }
+      QString uavoHashStr = gcsUavoHashStr;
+#else
+	  QString uavoHashStr = "N/A";
+#endif
 	 const QString description = tr(
-        "<h3>The OpenPilot Project</h3>"
+		"<h3>OpenPilot Ground Control Station</h3>"
-        "Proudly brought to you by this fine team:<br/>"
+		"GCS Revision: <b>%1</b><br/>"
+		"UAVO Hash: %2<br/>"
+		"<br/>"
+		"Built from %3<br/>"
+		"Built on %4 at %5<br/>"
+		"Based on Qt %6 (%7 bit)<br/>"
+		"<br/>"
+		"&copy; %8, 2010-%9. All rights reserved.<br/>"
+		"<br/>"
+		"<small>This program is free software; you can redistribute it and/or modify<br/>"
+		"it under the terms of the GNU General Public License as published by<br/>"
+		"the Free Software Foundation; either version 3 of the License, or<br/>"
+		"(at your option) any later version.<br/>"
+		"<br/>"
+		"The program is provided AS IS with NO WARRANTY OF ANY KIND, "
+		"INCLUDING THE WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A "
+		"PARTICULAR PURPOSE.</small>"
+      ).arg(
+         QString::fromLatin1(GCS_REVISION_STR).left(60), // %1
+         uavoHashStr,                                    // %2
+         QLatin1String(GCS_ORIGIN_STR),                  // $3
+         QLatin1String(__DATE__),                        // %4
+         QLatin1String(__TIME__),                        // %5
+         QLatin1String(QT_VERSION_STR),                  // %6
+         QString::number(QSysInfo::WordSize),            // %7
+         QLatin1String(GCS_AUTHOR),                      // %8
+         QLatin1String(GCS_YEAR_STR)                     // %9
      );
+  // Expose the version description to the QML doc
+	view->rootContext()->setContextProperty("version", description);
  
-    QLabel *copyRightLabel = new QLabel(description);
-    copyRightLabel->setWordWrap(true);
-    copyRightLabel->setOpenExternalLinks(true);
-    copyRightLabel->setTextInteractionFlags(Qt::TextBrowserInteraction);
-
-    QTextBrowser *creditsArea = new QTextBrowser(this);
-    creditsArea->setSource(QUrl("qrc:core/CREDITS.html"));
-
-    QDialogButtonBox *buttonBox = new QDialogButtonBox(QDialogButtonBox::Close);
-    QPushButton *closeButton = buttonBox->button(QDialogButtonBox::Close);
-    QTC_ASSERT(closeButton, /**/);
-    buttonBox->addButton(closeButton, QDialogButtonBox::ButtonRole(QDialogButtonBox::RejectRole | QDialogButtonBox::AcceptRole));
-    connect(buttonBox , SIGNAL(rejected()), this, SLOT(reject()));
-
-    QLabel *logoLabel = new QLabel;
-    logoLabel->setPixmap(QPixmap(QLatin1String(":/core/images/openpilot_logo_128.png")));
-    layout->addWidget(logoLabel ,     0, 0, 1, 1);
-    layout->addWidget(copyRightLabel, 0, 1, 2, 4);
-    layout->addWidget(creditsArea,    3, 0, 2, 5);
-    layout->addWidget(buttonBox,      6, 0, 1, 5);
 }

ground/openpilotgcs/src/plugins/coreplugin/core.qrc

@@ -62,5 +62,9 @@
 		<file>images/helpicon.svg</file>
 		<file>images/cpu.png</file>
 		<file>images/tx-rx.svg</file>
+		<file>qml/images/tab.png</file>
+		<file>qml/AboutDialog.qml</file>
+		<file>qml/FlickableWebView.qml</file>
+		<file>qml/TabWidget.qml</file>
     </qresource>
 </RCC>

ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro

@@ -1,7 +1,8 @@
 TEMPLATE = lib
 TARGET = Core
 DEFINES += CORE_LIBRARY
-QT += xml \
+QT += declarative \
+    xml \
     network \
     script \
     svg \

ground/openpilotgcs/src/plugins/coreplugin/coreplugin.pro.user

@@ -0,0 +1,564 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE QtCreatorProject>
+<!-- Written by Qt Creator 2.4.1, 2013-01-19T21:15:30. -->
+<qtcreator>
+ <data>
+  <variable>ProjectExplorer.Project.ActiveTarget</variable>
+  <value type="int">0</value>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.EditorSettings</variable>
+  <valuemap type="QVariantMap">
+   <value type="bool" key="EditorConfiguration.AutoIndent">true</value>
+   <value type="bool" key="EditorConfiguration.AutoSpacesForTabs">false</value>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.0">
+    <value type="QString" key="language">Cpp</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QString" key="CurrentPreferences">CppGlobal</value>
+    </valuemap>
+   </valuemap>
+   <valuemap type="QVariantMap" key="EditorConfiguration.CodeStyle.1">
+    <value type="QString" key="language">QmlJS</value>
+    <valuemap type="QVariantMap" key="value">
+     <value type="QString" key="CurrentPreferences">QmlJSGlobal</value>
+    </valuemap>
+   </valuemap>
+   <value type="int" key="EditorConfiguration.CodeStyle.Count">2</value>
+   <value type="QByteArray" key="EditorConfiguration.Codec">System</value>
+   <value type="bool" key="EditorConfiguration.ConstrainTooltips">false</value>
+   <value type="int" key="EditorConfiguration.IndentSize">4</value>
+   <value type="bool" key="EditorConfiguration.MouseNavigation">true</value>
+   <value type="int" key="EditorConfiguration.PaddingMode">1</value>
+   <value type="bool" key="EditorConfiguration.ScrollWheelZooming">true</value>
+   <value type="int" key="EditorConfiguration.SmartBackspaceBehavior">0</value>
+   <value type="bool" key="EditorConfiguration.SpacesForTabs">true</value>
+   <value type="int" key="EditorConfiguration.TabKeyBehavior">0</value>
+   <value type="int" key="EditorConfiguration.TabSize">8</value>
+   <value type="bool" key="EditorConfiguration.UseGlobal">true</value>
+   <value type="int" key="EditorConfiguration.Utf8BomBehavior">1</value>
+   <value type="bool" key="EditorConfiguration.addFinalNewLine">true</value>
+   <value type="bool" key="EditorConfiguration.cleanIndentation">true</value>
+   <value type="bool" key="EditorConfiguration.cleanWhitespace">true</value>
+   <value type="bool" key="EditorConfiguration.inEntireDocument">false</value>
+  </valuemap>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.PluginSettings</variable>
+  <valuemap type="QVariantMap"/>
+ </data>
+ <data>
+  <variable>ProjectExplorer.Project.Target.0</variable>
+  <valuemap type="QVariantMap">
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName">Desktop</value>
+   <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.Target.DesktopTarget</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveBuildConfiguration">0</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">0</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.BuildConfiguration.0">
+    <value type="QString" key="ProjectExplorer.BuildCOnfiguration.ToolChain">ProjectExplorer.ToolChain.Gcc:/usr/bin/g++.x86-macos-generic-mach_o-64bit./usr/bin/gdb</value>
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.0">
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">qmake</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">QtProjectManager.QMakeBuildStep</value>
+      <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibrary">false</value>
+      <value type="bool" key="QtProjectManager.QMakeBuildStep.LinkQmlDebuggingLibraryAuto">true</value>
+      <value type="QString" key="QtProjectManager.QMakeBuildStep.QMakeArguments"></value>
+      <value type="bool" key="QtProjectManager.QMakeBuildStep.QMakeForced">false</value>
+     </valuemap>
+     <valuemap type="QVariantMap" key="ProjectExplorer.BuildStepList.Step.1">
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Make</value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+      <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">Qt4ProjectManager.MakeStep</value>
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+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
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+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
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+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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+    <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">2</value>
+    <value type="QString" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildDirectory">/Users/kevin/Documents/Source/OpenPilot-Private/ground/openpilotgcs/src/plugins/coreplugin-build-desktop-Desktop_Qt_4_7_4_for_GCC__Qt_SDK__Debug</value>
+    <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.QtVersionId">3</value>
+    <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
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+      <value type="bool" key="Qt4ProjectManager.MakeStep.Clean">false</value>
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+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
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+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeArguments">clean</value>
+      <value type="QString" key="Qt4ProjectManager.MakeStep.MakeCommand"></value>
+     </valuemap>
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+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Clean</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">2</value>
+    <value type="bool" key="ProjectExplorer.BuildConfiguration.ClearSystemEnvironment">false</value>
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+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Desktop Qt 4.7.4 for GCC (Qt SDK) Release</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
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+    <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildConfiguration">0</value>
+    <value type="QString" key="Qt4ProjectManager.Qt4BuildConfiguration.BuildDirectory">/Users/kevin/Documents/Source/OpenPilot-Private/ground/openpilotgcs/src/plugins/coreplugin-build-desktop-Desktop_Qt_4_7_4_for_GCC__Qt_SDK__Release</value>
+    <value type="int" key="Qt4ProjectManager.Qt4BuildConfiguration.QtVersionId">3</value>
+    <value type="bool" key="Qt4ProjectManager.Qt4BuildConfiguration.UseShadowBuild">true</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.BuildConfigurationCount">8</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.DeployConfiguration.0">
+    <valuemap type="QVariantMap" key="ProjectExplorer.BuildConfiguration.BuildStepList.0">
+     <value type="int" key="ProjectExplorer.BuildStepList.StepsCount">0</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">Deploy</value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+     <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.BuildSteps.Deploy</value>
+    </valuemap>
+    <value type="int" key="ProjectExplorer.BuildConfiguration.BuildStepListCount">1</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DefaultDisplayName">No deployment</value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.DisplayName"></value>
+    <value type="QString" key="ProjectExplorer.ProjectConfiguration.Id">ProjectExplorer.DefaultDeployConfiguration</value>
+   </valuemap>
+   <value type="int" key="ProjectExplorer.Target.DeployConfigurationCount">1</value>
+   <valuemap type="QVariantMap" key="ProjectExplorer.Target.RunConfiguration.0">
+    <value type="bool" key="Analyzer.Project.UseGlobal">true</value>
+    <value type="bool" key="Analyzer.Project.UseGlobal">true</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.AddedSuppressionFiles"/>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectBusEvents">false</value>
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+    <value type="bool" key="Analyzer.Valgrind.Callgrind.CollectSystime">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableBranchSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableCacheSim">false</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
+    <value type="bool" key="Analyzer.Valgrind.Callgrind.EnableEventToolTips">true</value>
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+    <value type="double" key="Analyzer.Valgrind.Callgrind.MinimumCostRatio">0.01</value>
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+    <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
+    <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
+    <value type="bool" key="Analyzer.Valgrind.FilterExternalIssues">true</value>
+    <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
+    <value type="int" key="Analyzer.Valgrind.NumCallers">25</value>
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+    <valuelist type="QVariantList" key="Analyzer.Valgrind.RemovedSuppressionFiles"/>
+    <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
+    <value type="bool" key="Analyzer.Valgrind.TrackOrigins">true</value>
+    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
+    <value type="QString" key="Analyzer.Valgrind.ValgrindExecutable">valgrind</value>
+    <valuelist type="QVariantList" key="Analyzer.Valgrind.VisibleErrorKinds">
+     <value type="int">0</value>
+     <value type="int">1</value>
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+  <value type="QString">{51e7adba-6ef9-490c-b046-228d3817bea8}</value>
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ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp

@@ -91,6 +91,7 @@ using namespace Core;
 using namespace Core::Internal;
 
 static const char *uriListMimeFormatC = "text/uri-list";
+static const char *DEFAULT_CONFIG_FILENAME = "OpenPilotGCS.xml";
 
 enum { debugMainWindow = 0 };
 
@@ -267,7 +268,6 @@ void MainWindow::modeChanged(Core::IMode */*mode*/)
 void MainWindow::extensionsInitialized()
 {
     QSettings *qs = m_settings;
-    QSettings *settings;
     QString commandLine;
     if ( ! qs->allKeys().count() ) {
         foreach(QString str, qApp->arguments()) {
@@ -288,28 +288,31 @@ void MainWindow::extensionsInitialized()
 #endif
         directory.cd("default_configurations");
 
-        qDebug() << "Looking for default config files in: " + directory.absolutePath();
+        qDebug() << "Looking for configuration files in:" << directory.absolutePath();
-        bool showDialog = true;
+
         QString filename;
-        if(!commandLine.isEmpty()) {
+        if(!commandLine.isEmpty() && QFile::exists(directory.absolutePath() + QDir::separator() + commandLine)) {
-            if(QFile::exists(directory.absolutePath() + QDir::separator()+commandLine)) {
+            filename = directory.absolutePath() + QDir::separator() + commandLine;
-                filename = directory.absolutePath() + QDir::separator()+commandLine;
+            qDebug() << "Configuration file" << filename << "specified on command line will be loaded.";
-                qDebug() << "Load configuration from command line";
-                settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
-                showDialog = false;
         }
+        else if(QFile::exists(directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME)) {
+            filename = directory.absolutePath() + QDir::separator() + DEFAULT_CONFIG_FILENAME;
+            qDebug() << "Default configuration file" << filename << "will be loaded.";
         }
-        if(showDialog) {
+        else {
+            qDebug() << "Default configuration file " << directory.absolutePath() << QDir::separator() << DEFAULT_CONFIG_FILENAME << "was not found.";
             importSettings *dialog = new importSettings(this);
             dialog->loadFiles(directory.absolutePath());
             dialog->exec();
             filename = dialog->choosenConfig();
-            settings = new QSettings(filename, XmlConfig::XmlSettingsFormat);
             delete dialog;
+            qDebug() << "Configuration file" << filename << "was selected and will be loaded.";
         }
-        qs = settings;
+
-        qDebug() << "Load default config from resource " << filename;
+        qs = new QSettings(filename, XmlConfig::XmlSettingsFormat);
+        qDebug() << "Configuration file" << filename << "was loaded.";
     }
+
     qs->beginGroup("General");
     m_config_description=qs->value("Description", "none").toString();
     m_config_details=qs->value("Details", "none").toString();
@@ -795,15 +798,13 @@ void MainWindow::registerDefaultActions()
 
     // About GCS Action
 #ifdef Q_WS_MAC
-    tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS"), this); // it's convention not to add dots to the about menu
+
 #else
-    tmpaction = new QAction(QIcon(Constants::ICON_OPENPILOT), tr("About &OpenPilot GCS..."), this);
+
 #endif
-    cmd = am->registerAction(tmpaction, Constants::ABOUT_OPENPILOTGCS, m_globalContext);
+
-    mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
-    tmpaction->setEnabled(true);
 #ifdef Q_WS_MAC
-    cmd->action()->setMenuRole(QAction::ApplicationSpecificRole);
+
 #endif
     connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutOpenPilotGCS()));
 
@@ -818,7 +819,7 @@ void MainWindow::registerDefaultActions()
     connect(tmpaction, SIGNAL(triggered()), this,  SLOT(aboutPlugins()));
 
     //Credits Action
-    tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &Authors..."), this);
+    tmpaction = new QAction(QIcon(Constants::ICON_PLUGIN), tr("About &OpenPilot..."), this);
     cmd = am->registerAction(tmpaction, Constants::ABOUT_AUTHORS, m_globalContext);
     mhelp->addAction(cmd, Constants::G_HELP_ABOUT);
     tmpaction->setEnabled(true);

ground/openpilotgcs/src/plugins/coreplugin/qml/AboutDialog.qml

@@ -0,0 +1,110 @@
+ /****************************************************************************
+ **
+ ** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies).
+ ** All rights reserved.
+ ** Contact: Nokia Corporation (qt-info@nokia.com)
+ **
+ ** This file is part of the examples of the Qt Toolkit.
+ **
+ ** $QT_BEGIN_LICENSE:BSD$
+ ** You may use this file under the terms of the BSD license as follows:
+ **
+ ** "Redistribution and use in source and binary forms, with or without
+ ** modification, are permitted provided that the following conditions are
+ ** met:
+ **   * Redistributions of source code must retain the above copyright
+ **     notice, this list of conditions and the following disclaimer.
+ **   * Redistributions in binary form must reproduce the above copyright
+ **     notice, this list of conditions and the following disclaimer in
+ **     the documentation and/or other materials provided with the
+ **     distribution.
+ **   * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
+ **     the names of its contributors may be used to endorse or promote
+ **     products derived from this software without specific prior written
+ **     permission.
+ **
+ ** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ ** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ ** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+ ** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+ ** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ ** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ ** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+ ** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+ ** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ ** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ ** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+ ** $QT_END_LICENSE$
+ **
+ ****************************************************************************/
+
+ import QtQuick 1.1
+ import QtWebKit 1.0 
+ 
+ // This is a tabbed pane element. Add a nested Rectangle to add a tab.
+ TabWidget {
+	 	id: tabs
+		width: 640; height: 480
+		// This  tab is for the GCS version information
+		Rectangle {
+			property string title: "OpenPilot GCS"
+			anchors.fill: parent
+			color: "#e3e3e3"
+			
+			Rectangle {
+				anchors.fill: parent; anchors.margins: 20
+				color: "#e3e3e3"
+				Image {
+					source: "../images/openpilot_logo_128.png"
+					x: 0; y: 0; z: 100
+					fillMode: Image.PreserveAspectFit
+				}
+                Flickable  {
+					anchors.fill: parent
+					anchors.centerIn: parent
+                   Text {
+					   id: versionLabel
+					   x: 156; y: 0
+					   width: 430; height: 379
+					   horizontalAlignment: Qt.AlignLeft
+					   font.pixelSize: 12
+					   wrapMode: Text.WordWrap
+					// @var version exposed in authorsdialog.cpp
+					   text: version
+                   }
+                }
+            }
+        }
+		// This is a stub for the Plugins.
+        // Rectangle {
+        //      property string title: "Plugins"
+        //      anchors.fill: parent
+        //      color: "#e3e3e3"
+        //  
+        //      Rectangle {
+        //          anchors.fill: parent; anchors.margins: 20
+        //          color: "#7fff7f"
+        //          Text {
+        //              width: parent.width - 20
+        //              anchors.centerIn: parent; horizontalAlignment: Qt.AlignHCenter
+        //              font.pixelSize: 20
+        //              wrapMode: Text.WordWrap
+        //          }
+        //      }
+        //  }
+  //  This tab is for the authors/contributors/credits
+        Rectangle {
+			property string title: "Authors"
+			anchors.fill: parent; color: "#e3e3e3"
+			 Rectangle {
+				anchors.fill: parent; anchors.margins: 20
+				color: "#e3e3e3"
+				 FlickableWebView {
+					  id: webView
+					  z: 0
+					  url: "../CREDITS.html"
+					  anchors { top: parent.top; left: parent.left; right: parent.right; bottom: parent.bottom }
+				 }
+			 }
+		 }
+ }

ground/openpilotgcs/src/plugins/coreplugin/qml/FlickableWebView.qml

@@ -0,0 +1,196 @@
+/****************************************************************************
+**
+** Copyright (C) 2012 Nokia Corporation and/or its subsidiary(-ies).
+** Contact: http://www.qt-project.org/
+**
+** This file is part of the QtDeclarative module of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:LGPL$
+** GNU Lesser General Public License Usage
+** This file may be used under the terms of the GNU Lesser General Public
+** License version 2.1 as published by the Free Software Foundation and
+** appearing in the file LICENSE.LGPL included in the packaging of this
+** file. Please review the following information to ensure the GNU Lesser
+** General Public License version 2.1 requirements will be met:
+** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
+**
+** In addition, as a special exception, Nokia gives you certain additional
+** rights. These rights are described in the Nokia Qt LGPL Exception
+** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
+**
+** GNU General Public License Usage
+** Alternatively, this file may be used under the terms of the GNU General
+** Public License version 3.0 as published by the Free Software Foundation
+** and appearing in the file LICENSE.GPL included in the packaging of this
+** file. Please review the following information to ensure the GNU General
+** Public License version 3.0 requirements will be met:
+** http://www.gnu.org/copyleft/gpl.html.
+**
+** Other Usage
+** Alternatively, this file may be used in accordance with the terms and
+** conditions contained in a signed written agreement between you and Nokia.
+**
+**
+**
+**
+**
+**
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+import QtQuick 1.0
+import QtWebKit 1.0
+
+Flickable {
+    property alias title: webView.title
+    property alias icon: webView.icon
+    property alias progress: webView.progress
+    property alias url: webView.url
+    property alias back: webView.back
+    property alias stop: webView.stop
+    property alias reload: webView.reload
+    property alias forward: webView.forward
+
+    id: flickable
+    width: parent.width
+    contentWidth: Math.max(parent.width,webView.width)
+    contentHeight: Math.max(parent.height,webView.height)
+    // anchors.top: headerSpace.bottom
+    anchors.bottom: parent.top
+    anchors.left: parent.left
+    anchors.right: parent.right
+    pressDelay: 200
+	clip: true
+	
+    onWidthChanged : {
+        // Expand (but not above 1:1) if otherwise would be smaller that available width.
+        if (width > webView.width*webView.contentsScale && webView.contentsScale < 1.0)
+            webView.contentsScale = width / webView.width * webView.contentsScale;
+    }
+
+    WebView {
+        id: webView
+        transformOrigin: Item.TopLeft
+
+        function fixUrl(url)
+        {
+            if (url == "") return url
+            if (url[0] == "/") return "file://"+url
+            if (url.indexOf(":")<0) {
+                if (url.indexOf(".")<0 || url.indexOf(" ")>=0) {
+                    // Fall back to a search engine; hard-code Wikipedia
+                    return "http://en.wikipedia.org/w/index.php?search="+url
+                } else {
+                    return "http://"+url
+                }
+            }
+            return url
+        }
+
+        url: fixUrl(webBrowser.urlString)
+        smooth: false // We don't want smooth scaling, since we only scale during (fast) transitions
+        focus: true
+
+        onAlert: console.log(message)
+
+        function doZoom(zoom,centerX,centerY)
+        {
+            if (centerX) {
+                var sc = zoom*contentsScale;
+                scaleAnim.to = sc;
+                flickVX.from = flickable.contentX
+                flickVX.to = Math.max(0,Math.min(centerX-flickable.width/2,webView.width*sc-flickable.width))
+                finalX.value = flickVX.to
+                flickVY.from = flickable.contentY
+                flickVY.to = Math.max(0,Math.min(centerY-flickable.height/2,webView.height*sc-flickable.height))
+                finalY.value = flickVY.to
+                quickZoom.start()
+            }
+        }
+
+        Keys.onLeftPressed: webView.contentsScale -= 0.1
+        Keys.onRightPressed: webView.contentsScale += 0.1
+
+        preferredWidth: flickable.width
+        preferredHeight: flickable.height
+        contentsScale: 1
+        onContentsSizeChanged: {
+            // zoom out
+            contentsScale = Math.min(1,flickable.width / contentsSize.width)
+        }
+        onUrlChanged: {
+            // got to topleft
+            flickable.contentX = 0
+            flickable.contentY = 0
+            // if (url != null) { header.editUrl = url.toString(); }
+        }
+        onDoubleClick: {
+                        if (!heuristicZoom(clickX,clickY,2.5)) {
+                            var zf = flickable.width / contentsSize.width
+                            if (zf >= contentsScale)
+                                zf = 2.0*contentsScale // zoom in (else zooming out)
+                            doZoom(zf,clickX*zf,clickY*zf)
+                         }
+                       }
+
+        SequentialAnimation {
+            id: quickZoom
+
+            PropertyAction {
+                target: webView
+                property: "renderingEnabled"
+                value: false
+            }
+            ParallelAnimation {
+                NumberAnimation {
+                    id: scaleAnim
+                    target: webView
+                    property: "contentsScale"
+                    // the to property is set before calling
+                    easing.type: Easing.Linear
+                    duration: 200
+                }
+                NumberAnimation {
+                    id: flickVX
+                    target: flickable
+                    property: "contentX"
+                    easing.type: Easing.Linear
+                    duration: 200
+                    from: 0 // set before calling
+                    to: 0 // set before calling
+                }
+                NumberAnimation {
+                    id: flickVY
+                    target: flickable
+                    property: "contentY"
+                    easing.type: Easing.Linear
+                    duration: 200
+                    from: 0 // set before calling
+                    to: 0 // set before calling
+                }
+            }
+            // Have to set the contentXY, since the above 2
+            // size changes may have started a correction if
+            // contentsScale < 1.0.
+            PropertyAction {
+                id: finalX
+                target: flickable
+                property: "contentX"
+                value: 0 // set before calling
+            }
+            PropertyAction {
+                id: finalY
+                target: flickable
+                property: "contentY"
+                value: 0 // set before calling
+            }
+            PropertyAction {
+                target: webView
+                property: "renderingEnabled"
+                value: true
+            }
+        }
+        onZoomTo: doZoom(zoom,centerX,centerY)
+    }
+}

ground/openpilotgcs/src/plugins/coreplugin/qml/TabWidget.qml

@@ -0,0 +1,102 @@
+/****************************************************************************
+**
+** Copyright (C) 2011 Nokia Corporation and/or its subsidiary(-ies).
+** All rights reserved.
+** Contact: Nokia Corporation (qt-info@nokia.com)
+**
+** This file is part of the examples of the Qt Toolkit.
+**
+** $QT_BEGIN_LICENSE:BSD$
+** You may use this file under the terms of the BSD license as follows:
+**
+** "Redistribution and use in source and binary forms, with or without
+** modification, are permitted provided that the following conditions are
+** met:
+**   * Redistributions of source code must retain the above copyright
+**     notice, this list of conditions and the following disclaimer.
+**   * Redistributions in binary form must reproduce the above copyright
+**     notice, this list of conditions and the following disclaimer in
+**     the documentation and/or other materials provided with the
+**     distribution.
+**   * Neither the name of Nokia Corporation and its Subsidiary(-ies) nor
+**     the names of its contributors may be used to endorse or promote
+**     products derived from this software without specific prior written
+**     permission.
+**
+** THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+** "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+** LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+** A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+** OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+** SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+** LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+** DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+** THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+** (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+** OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE."
+** $QT_END_LICENSE$
+**
+****************************************************************************/
+
+import QtQuick 1.1
+
+Item {
+    id: tabWidget
+
+    // Setting the default property to stack.children means any child items
+    // of the TabWidget are actually added to the 'stack' item's children.
+    // See the "Property Binding"
+    // documentation for details on default properties.
+    default property alias content: stack.children
+
+    property int current: 0
+
+    onCurrentChanged: setOpacities()
+    Component.onCompleted: setOpacities()
+
+    function setOpacities() {
+        for (var i = 0; i < stack.children.length; ++i) {
+            stack.children[i].opacity = (i == current ? 1 : 0)
+        }
+    }
+
+    Row {
+        id: header
+
+        Repeater {
+            model: stack.children.length
+            delegate: Rectangle {
+                width: tabWidget.width / stack.children.length; height: 36
+
+                Rectangle {
+                    width: parent.width; height: 1
+                    anchors { bottom: parent.bottom; bottomMargin: 1 }
+                    color: "#acb2c2"
+                }
+                BorderImage {
+                    anchors { fill: parent; leftMargin: 2; topMargin: 5; rightMargin: 1 }
+                    border { left: 7; right: 7 }
+                    source: "images/tab.png"
+                    visible: tabWidget.current == index
+                }
+                Text {
+                    horizontalAlignment: Qt.AlignHCenter; verticalAlignment: Qt.AlignVCenter
+                    anchors.fill: parent
+                    text: stack.children[index].title
+                    elide: Text.ElideRight
+                    font.bold: tabWidget.current == index
+                }
+                MouseArea {
+                    anchors.fill: parent
+                    onClicked: tabWidget.current = index
+                }
+            }
+        }
+    }
+
+    Item {
+        id: stack
+        width: tabWidget.width
+        anchors.top: header.bottom; anchors.bottom: tabWidget.bottom
+    }
+}

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

@@ -45,8 +45,6 @@ UAVGadgetDecorator::UAVGadgetDecorator(IUAVGadget *gadget, QList<IUAVGadgetConfi
     foreach (IUAVGadgetConfiguration *config, *m_configurations)
         m_toolbar->addItem(config->name());
     connect(m_toolbar, SIGNAL(activated(int)), this, SLOT(loadConfiguration(int)));
-    if (m_configurations->count() > 0)
-        loadConfiguration(0);
     updateToolbar();
 }
 
@@ -57,7 +55,7 @@ UAVGadgetDecorator::~UAVGadgetDecorator()
 }
 
 void UAVGadgetDecorator::loadConfiguration(int index) {
-    IUAVGadgetConfiguration* config = m_configurations->at(index);
+    IUAVGadgetConfiguration *config = m_configurations->at(index);
     loadConfiguration(config);
 }
 
@@ -70,13 +68,13 @@ void UAVGadgetDecorator::loadConfiguration(IUAVGadgetConfiguration *config)
 
 }
 
-void UAVGadgetDecorator::configurationChanged(IUAVGadgetConfiguration* config)
+void UAVGadgetDecorator::configurationChanged(IUAVGadgetConfiguration *config)
 {
     if (config == m_activeConfiguration)
         loadConfiguration(config);
 }
 
-void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration* config)
+void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration *config)
 {
     if (config->classId() != classId())
         return;
@@ -85,7 +83,7 @@ void UAVGadgetDecorator::configurationAdded(IUAVGadgetConfiguration* config)
     updateToolbar();
 }
 
-void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration* config)
+void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration *config)
 {
     if (config->classId() != classId())
         return;
@@ -97,7 +95,7 @@ void UAVGadgetDecorator::configurationToBeDeleted(IUAVGadgetConfiguration* confi
     updateToolbar();
 }
 
-void UAVGadgetDecorator::configurationNameChanged(IUAVGadgetConfiguration* config, QString oldName, QString newName)
+void UAVGadgetDecorator::configurationNameChanged(IUAVGadgetConfiguration *config, QString oldName, QString newName)
 {
     if (config->classId() != classId())
         return;
@@ -112,20 +110,21 @@ void UAVGadgetDecorator::updateToolbar()
     m_toolbar->setEnabled(m_toolbar->count() > 1);
 }
 
-void UAVGadgetDecorator::saveState(QSettings* qSettings)
+void UAVGadgetDecorator::saveState(QSettings *qSettings)
 {
     if (m_activeConfiguration) {
-        qSettings->setValue("activeConfiguration",m_activeConfiguration->name());
+        qSettings->setValue("activeConfiguration", m_activeConfiguration->name());
     }
 }
 
-void UAVGadgetDecorator::restoreState(QSettings* qSetting)
+void UAVGadgetDecorator::restoreState(QSettings *qSettings)
 {
-    QString configName = qSetting->value("activeConfiguration").toString();
+    QString configName = qSettings->value("activeConfiguration").toString();
     foreach (IUAVGadgetConfiguration *config, *m_configurations) {
         if (config->name() == configName) {
             m_activeConfiguration = config;
             loadConfiguration(config);
+            break;
         }
     }
 }

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

@@ -262,13 +262,17 @@ void UAVGadgetInstanceManager::createOptionsPages()
 }
 
 
-IUAVGadget *UAVGadgetInstanceManager::createGadget(QString classId, QWidget *parent)
+IUAVGadget *UAVGadgetInstanceManager::createGadget(QString classId, QWidget *parent, bool loadDefaultConfiguration)
 {
     IUAVGadgetFactory *f = factory(classId);
     if (f) {
         QList<IUAVGadgetConfiguration*> *configs = configurations(classId);
         IUAVGadget *g = f->createGadget(parent);
-        IUAVGadget *gadget = new UAVGadgetDecorator(g, configs);
+        UAVGadgetDecorator *gadget = new UAVGadgetDecorator(g, configs);
+        if ((loadDefaultConfiguration && configs && configs->count()) > 0) {
+            gadget->loadConfiguration(configs->at(0));
+        }
+
         m_gadgetInstances.append(gadget);
         connect(this, SIGNAL(configurationAdded(IUAVGadgetConfiguration*)), gadget, SLOT(configurationAdded(IUAVGadgetConfiguration*)));
         connect(this, SIGNAL(configurationChanged(IUAVGadgetConfiguration*)), gadget, SLOT(configurationChanged(IUAVGadgetConfiguration*)));

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

@@ -61,7 +61,7 @@ public:
     ~UAVGadgetInstanceManager();
     void readSettings(QSettings *qs);
     void saveSettings(QSettings *qs);
-    IUAVGadget *createGadget(QString classId, QWidget *parent);
+    IUAVGadget *createGadget(QString classId, QWidget *parent, bool loadDefaultConfiguration = true);
     void removeGadget(IUAVGadget *gadget);
     void removeAllGadgets();
     bool canDeleteConfiguration(IUAVGadgetConfiguration *config);

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/splitterorview.cpp

@@ -347,11 +347,7 @@ void SplitterOrView::saveState(QSettings* qSettings) const {
         static_cast<SplitterOrView*>(m_splitter->widget(1))->saveState(qSettings);
         qSettings->endGroup();
     } else if (gadget()) {
-        qSettings->setValue("type", "uavGadget");
+        m_view->saveState(qSettings);
-        qSettings->setValue("classId", gadget()->classId());
-        qSettings->beginGroup("gadget");
-        gadget()->saveState(qSettings);
-        qSettings->endGroup();
     }
 }
 
@@ -374,13 +370,6 @@ void SplitterOrView::restoreState(QSettings* qSettings)
         static_cast<SplitterOrView*>(m_splitter->widget(1))->restoreState(qSettings);
         qSettings->endGroup();
     } else if (mode == "uavGadget") {
-        QString classId = qSettings->value("classId").toString();
+        m_view->restoreState(qSettings);
-        int index = m_view->indexOfClassId(classId);
-        m_view->listSelectionActivated(index);
-        if(qSettings->childGroups().contains("gadget")) {
-            qSettings->beginGroup("gadget");
-            gadget()->restoreState(qSettings);
-            qSettings->endGroup();
-        }
     }
 }

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.cpp

@@ -230,14 +230,17 @@ void UAVGadgetView::updateToolBar()
 
 void UAVGadgetView::listSelectionActivated(int index)
 {
-    if (index < 0) // this could happen when called from SplitterOrView::restoreState()
+    if (index < 0 || index >= m_uavGadgetList->count())
         index = m_defaultIndex;
+
     QString classId = m_uavGadgetList->itemData(index).toString();
     if (m_uavGadget && (m_uavGadget->classId() == classId))
         return;
+
     UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager();
-    IUAVGadget *gadgetToRemove = m_uavGadget;
     IUAVGadget *gadget = im->createGadget(classId, this);
+
+    IUAVGadget *gadgetToRemove = m_uavGadget;
     setGadget(gadget);
     m_uavGadgetManager->setCurrentGadget(gadget);
     im->removeGadget(gadgetToRemove);
@@ -252,3 +255,39 @@ void UAVGadgetView::currentGadgetChanged(IUAVGadget *gadget)
 {
     m_activeLabel->setVisible(m_uavGadget == gadget);
 }
+
+void UAVGadgetView::saveState(QSettings* qSettings)
+{
+    qSettings->setValue("type", "uavGadget");
+    qSettings->setValue("classId", gadget()->classId());
+    qSettings->beginGroup("gadget");
+    gadget()->saveState(qSettings);
+    qSettings->endGroup();
+}
+
+void UAVGadgetView::restoreState(QSettings* qSettings)
+{
+    QString classId = qSettings->value("classId").toString();
+    int index = indexOfClassId(classId);
+    if (index < 0) {
+        index = m_defaultIndex;
+    }
+    classId = m_uavGadgetList->itemData(index).toString();
+
+    IUAVGadget *newGadget;
+    UAVGadgetInstanceManager *im = ICore::instance()->uavGadgetInstanceManager();
+    if(qSettings->childGroups().contains("gadget")) {
+        newGadget = im->createGadget(classId, this, false);
+        qSettings->beginGroup("gadget");
+        newGadget->restoreState(qSettings);
+        qSettings->endGroup();
+    }
+    else {
+        newGadget = im->createGadget(classId, this);
+    }
+
+    IUAVGadget *gadgetToRemove = m_uavGadget;
+    setGadget(newGadget);
+    m_uavGadgetManager->setCurrentGadget(newGadget);
+    im->removeGadget(gadgetToRemove);
+}

ground/openpilotgcs/src/plugins/coreplugin/uavgadgetmanager/uavgadgetview.h

@@ -67,21 +67,25 @@ public:
     UAVGadgetView(UAVGadgetManager *uavGadgetManager, IUAVGadget *uavGadget = 0, QWidget *parent = 0);
     virtual ~UAVGadgetView();
 
-    void removeGadget();
     IUAVGadget *gadget() const;
     void setGadget(IUAVGadget *uavGadget);
     bool hasGadget(IUAVGadget *uavGadget) const;
-    int indexOfClassId(QString classId);
+    void removeGadget();
+
     void showToolbar(bool show);
 
+    void saveState(QSettings *qSettings);
+    void restoreState(QSettings *qSettings);
+
 public slots:
     void closeView();
-    void listSelectionActivated(int index);
 
 private slots:
+    void listSelectionActivated(int index);
     void currentGadgetChanged(IUAVGadget *gadget);
 
 private:
+    int indexOfClassId(QString classId);
     void updateToolBar();
 
     QPointer<UAVGadgetManager> m_uavGadgetManager;

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -99,7 +99,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
     $$UAVOBJECT_SYNTHETICS/oplinkstatus.h \
     $$UAVOBJECT_SYNTHETICS/osdsettings.h \
     $$UAVOBJECT_SYNTHETICS/waypoint.h \
-    $$UAVOBJECT_SYNTHETICS/waypointactive.h
+    $$UAVOBJECT_SYNTHETICS/waypointactive.h \
+    $$UAVOBJECT_SYNTHETICS/mpu6000settings.h
 
 SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
@@ -178,4 +179,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
     $$UAVOBJECT_SYNTHETICS/oplinkstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/osdsettings.cpp \
     $$UAVOBJECT_SYNTHETICS/waypoint.cpp \
-    $$UAVOBJECT_SYNTHETICS/waypointactive.cpp
+    $$UAVOBJECT_SYNTHETICS/waypointactive.cpp \
+    $$UAVOBJECT_SYNTHETICS/mpu6000settings.cpp

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

@@ -35,12 +35,12 @@ deviceWidget::deviceWidget(QWidget *parent) :
     // Initialization of the Device icon display
     myDevice->verticalGroupBox_loaded->setVisible(false);
     myDevice->groupCustom->setVisible(false);
-    myDevice->youdont->setVisible(false);
+    myDevice->confirmCheckBox->setVisible(false);
     myDevice->gVDevice->setScene(new QGraphicsScene(this));
     connect(myDevice->retrieveButton, SIGNAL(clicked()), this, SLOT(downloadFirmware()));
     connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware()));
     connect(myDevice->pbLoad, SIGNAL(clicked()), this, SLOT(loadFirmware()));
-    connect(myDevice->youdont, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
+    connect(myDevice->confirmCheckBox, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
     QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
     myDevice->statusIcon->setPixmap(pix);
 
@@ -143,9 +143,28 @@ void deviceWidget::populate()
   */
 void deviceWidget::freeze()
 {
+    updateButtons(false);
+}
+
+void deviceWidget::updateButtons(bool enabled)
+{
+    if (!enabled) {
         myDevice->description->setEnabled(false);
+        myDevice->pbLoad->setEnabled(false);
+        myDevice->confirmCheckBox->setEnabled(false);
         myDevice->updateButton->setEnabled(false);
         myDevice->retrieveButton->setEnabled(false);
+    }
+    else {
+        myDevice->description->setEnabled(true);
+        // Load button (i.e. choose file) is always enabled
+        myDevice->pbLoad->setEnabled(true);
+        myDevice->confirmCheckBox->setEnabled(true);
+        // Update/Upload button is enabled if the "I know what I'm doing!" check box is checked
+        myDevice->updateButton->setEnabled(myDevice->confirmCheckBox->checkState() == Qt::Checked);
+        // Retreive/Download button is always enabled
+        myDevice->retrieveButton->setEnabled(true);
+    }
 }
 
 /**
@@ -222,12 +241,7 @@ void deviceWidget::dfuStatus(QString str)
 
 void deviceWidget::confirmCB(int value)
 {
-    if(value==Qt::Checked)
+    updateButtons(true);
-    {
-        myDevice->updateButton->setEnabled(true);
-    }
-    else
-        myDevice->updateButton->setEnabled(false);
 }
 
 /**
@@ -261,6 +275,9 @@ void deviceWidget::loadFirmware()
 
     filename = setOpenFileName();
 
+    myDevice->confirmCheckBox->setVisible(false);
+    myDevice->confirmCheckBox->setChecked(false);
+
     if (filename.isEmpty()) {
         status("Empty filename", STATUSICON_FAIL);
         return;
@@ -273,58 +290,46 @@ void deviceWidget::loadFirmware()
     }
 
     loadedFW = file.readAll();
-    myDevice->youdont->setVisible(false);
+
-    myDevice->youdont->setChecked(false);
     QByteArray desc = loadedFW.right(100);
     QPixmap px;
-    if(loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode)
+    if (loadedFW.length()>m_dfu->devices[deviceID].SizeOfCode) {
         myDevice->lblCRCL->setText(tr("Can't calculate, file too big for device"));
-    else
+    }
+    else {
         myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
+    }
     //myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
     if (populateLoadedStructuredDescription(desc))
     {
-        myDevice->youdont->setChecked(true);
+        myDevice->confirmCheckBox->setChecked(true);
         myDevice->verticalGroupBox_loaded->setVisible(true);
         myDevice->groupCustom->setVisible(false);
-        if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
+        if (myDevice->lblCRC->text() == myDevice->lblCRCL->text()) {
-        {
+            myDevice->statusLabel->setText(tr("The board has the same firmware as loaded. No need to update."));
-            myDevice->statusLabel->setText(tr("The board has the same firmware as loaded. No need to update"));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
+        } else if (myDevice->lblDevName->text() != myDevice->lblBrdNameL->text()) {
-        else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
-        {
             myDevice->statusLabel->setText(tr("WARNING: the loaded firmware is for different hardware. Do not update!"));
             px.load(QString(":/uploader/images/error.svg"));
-        }
+        } else if (QDateTime::fromString(onBoardDescription.gitDate) > QDateTime::fromString(LoadedDescription.gitDate)) {
-        else if(QDateTime::fromString(onBoardDescription.gitDate)>QDateTime::fromString(LoadedDescription.gitDate))
-        {
             myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
+        } else if (!LoadedDescription.gitTag.startsWith("RELEASE", Qt::CaseSensitive)) {
-        else if(!LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
+            myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)."));
-        {
-            myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)"));
             px.load(QString(":/uploader/images/warning.svg"));
-        }
+        } else {
-        else
+            myDevice->statusLabel->setText(tr("This is the tagged officially released OpenPilot firmware."));
-        {
-            myDevice->statusLabel->setText(tr("This is the tagged officially released OpenPilot firmware"));
             px.load(QString(":/uploader/images/gtk-info.svg"));
         }
-    }
+    } else {
-    else
+        myDevice->statusLabel->setText(tr("WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing."));
-    {
-        myDevice->statusLabel->setText(tr("WARNING: the loaded firmware was not packaged with the OpenPilot format. Do not update unless you know what you are doing"));
         px.load(QString(":/uploader/images/error.svg"));
-        myDevice->youdont->setChecked(false);
+        myDevice->confirmCheckBox->setChecked(false);
-        myDevice->youdont->setVisible(true);
+        myDevice->confirmCheckBox->setVisible(true);
         myDevice->verticalGroupBox_loaded->setVisible(false);
         myDevice->groupCustom->setVisible(true);
     }
     myDevice->statusIcon->setPixmap(px);
-    //myDevice->updateButton->setEnabled(true);
-
 }
 
 /**
@@ -332,10 +337,14 @@ void deviceWidget::loadFirmware()
   */
 void deviceWidget::uploadFirmware()
 {
-    myDevice->updateButton->setEnabled(false);
+    // clear progress bar now
+    // this avoids displaying an error message and the progress at 100% at the same time
+    setProgress(0);
+    updateButtons(false);
+
     if (!m_dfu->devices[deviceID].Writable) {
         status("Device not writable!", STATUSICON_FAIL);
-        myDevice->updateButton->setEnabled(true);
+        updateButtons(true);
         return;
     }
 
@@ -359,7 +368,7 @@ void deviceWidget::uploadFirmware()
             // These firmwares are designed to be backwards compatible
         } else if (firmwareBoard != board) {
             status("Error: firmware does not match board", STATUSICON_FAIL);
-            myDevice->updateButton->setEnabled(true);
+            updateButtons(true);
             return;
         }
         // Check the firmware embedded in the file:
@@ -367,7 +376,7 @@ void deviceWidget::uploadFirmware()
         QByteArray fileHash = QCryptographicHash::hash(loadedFW.left(loadedFW.length()-100), QCryptographicHash::Sha1);
         if (firmwareHash != fileHash) {
             status("Error: firmware file corrupt", STATUSICON_FAIL);
-            myDevice->updateButton->setEnabled(true);
+            updateButtons(true);
             return;
         }
     } else {
@@ -376,16 +385,16 @@ void deviceWidget::uploadFirmware()
         descriptionArray.clear();
     }
 
-
     status("Starting firmware upload", STATUSICON_RUNNING);
+    emit uploadStarted();
+
     // We don't know which device was used previously, so we
     // are cautious and reenter DFU for this deviceID:
-    emit uploadStarted();
     if(!m_dfu->enterDFU(deviceID))
     {
-        status("Error:Could not enter DFU mode", STATUSICON_FAIL);
-        myDevice->updateButton->setEnabled(true);
         emit uploadEnded(false);
+        status("Error:Could not enter DFU mode", STATUSICON_FAIL);
+        updateButtons(true);
         return;
     }
     OP_DFU::Status ret=m_dfu->StatusRequest();
@@ -395,13 +404,14 @@ void deviceWidget::uploadFirmware()
     connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
     connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString)));
     connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
-    bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID);
+    bool retstatus = m_dfu->UploadFirmware(filename, verify, deviceID);
-    if(!retstatus ) {
+    if (!retstatus) {
-        status("Could not start upload", STATUSICON_FAIL);
-        myDevice->updateButton->setEnabled(true);
         emit uploadEnded(false);
+        status("Could not start upload!", STATUSICON_FAIL);
+        updateButtons(true);
         return;
     }
+
     status("Uploading, please wait...", STATUSICON_RUNNING);
 }
 
@@ -410,29 +420,43 @@ void deviceWidget::uploadFirmware()
   */
 void deviceWidget::downloadFirmware()
 {
+    // clear progress bar now
+    // this avoids displaying an error message and the progress at 100% at the same time
+    setProgress(0);
+    updateButtons(false);
+
     if (!m_dfu->devices[deviceID].Readable) {
         myDevice->statusLabel->setText(QString("Device not readable!"));
+        status("Device not readable!", STATUSICON_FAIL);
+        updateButtons(true);
         return;
     }
 
-    myDevice->retrieveButton->setEnabled(false);
     filename = setSaveFileName();
-
     if (filename.isEmpty()) {
         status("Empty filename", STATUSICON_FAIL);
+        updateButtons(true);
         return;
     }
 
-    status("Downloading firmware from device", STATUSICON_RUNNING);
+    status("Starting firmware download", STATUSICON_RUNNING);
+    emit downloadStarted();
+
     connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
     connect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished()));
+
     downloadedFirmware.clear(); // Empty the byte array
     bool ret = m_dfu->DownloadFirmware(&downloadedFirmware,deviceID);
-    if(!ret) {
+
+    if (!ret) {
+        emit downloadEnded(false);
         status("Could not start download!", STATUSICON_FAIL);
+        updateButtons(true);
         return;
     }
-    status("Download started, please wait", STATUSICON_RUNNING);
+
+    status("Downloading, please wait...", STATUSICON_RUNNING);
+    return;
 }
 
 /**
@@ -442,10 +466,13 @@ void deviceWidget::downloadFinished()
 {
     disconnect(m_dfu, SIGNAL(downloadFinished()), this, SLOT(downloadFinished()));
     disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
-    status("Download successful", STATUSICON_OK);
+
     // Now save the result (use the utility function from OP_DFU)
     m_dfu->SaveByteArrayToFile(filename, downloadedFirmware);
-    myDevice->retrieveButton->setEnabled(true);
+
+    emit downloadEnded(true);
+    status("Download successful", STATUSICON_OK);
+    updateButtons(true);
 }
 
 /**
@@ -453,13 +480,14 @@ void deviceWidget::downloadFinished()
   */
 void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
 {
-    myDevice->updateButton->setEnabled(true);
     disconnect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
     disconnect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
     disconnect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString)));
-    if(retstatus != OP_DFU::Last_operation_Success) {
+
-        status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
+    if (retstatus != OP_DFU::Last_operation_Success) {
         emit uploadEnded(false);
+        status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
+        updateButtons(true);
         return;
     } else
         if (!descriptionArray.isEmpty()) {
@@ -467,9 +495,10 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
             status(QString("Updating description"), STATUSICON_RUNNING);
             repaint(); // Make sure the text above shows right away
             retstatus = m_dfu->UploadDescription(descriptionArray);
-            if( retstatus != OP_DFU::Last_operation_Success) {
+            if (retstatus != OP_DFU::Last_operation_Success) {
-                status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
                 emit uploadEnded(false);
+                status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
+                updateButtons(true);
                 return;
             }
 
@@ -478,16 +507,19 @@ void deviceWidget::uploadFinished(OP_DFU::Status retstatus)
             status(QString("Updating description"), STATUSICON_RUNNING);
             repaint(); // Make sure the text above shows right away
             retstatus = m_dfu->UploadDescription(myDevice->description->text());
-            if( retstatus != OP_DFU::Last_operation_Success) {
+            if (retstatus != OP_DFU::Last_operation_Success) {
-                status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
                 emit uploadEnded(false);
+                status(QString("Upload failed with code: ") + m_dfu->StatusToString(retstatus).toLatin1().data(), STATUSICON_FAIL);
+                updateButtons(true);
                 return;
             }
         }
+
     populate();
+
     emit uploadEnded(true);
     status("Upload successful", STATUSICON_OK);
-
+    updateButtons(true);
 }
 
 /**

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

@@ -49,7 +49,7 @@ class UPLOADER_EXPORT deviceWidget : public QWidget
 {
     Q_OBJECT
 public:
-    deviceWidget( QWidget *parent = 0);
+    deviceWidget(QWidget *parent = 0);
     void setDeviceID(int devID);
     void setDfu(DFUObject* dfu);
     void populate();
@@ -57,6 +57,7 @@ public:
     typedef enum { STATUSICON_OK, STATUSICON_RUNNING, STATUSICON_FAIL, STATUSICON_INFO} StatusIcon;
     QString setOpenFileName();
     QString setSaveFileName();
+
 private:
     deviceDescriptorStruct onBoardDescription;
     deviceDescriptorStruct LoadedDescription;
@@ -71,10 +72,14 @@ private:
     void status(QString str, StatusIcon ic);
     bool populateBoardStructuredDescription(QByteArray arr);
     bool populateLoadedStructuredDescription(QByteArray arr);
+    void updateButtons(bool enabled);
 
 signals:
     void uploadStarted();
     void uploadEnded(bool success);
+    void downloadStarted();
+    void downloadEnded(bool success);
+
 public slots:
     void uploadFirmware();
     void loadFirmware();

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

@@ -101,9 +101,9 @@
                </widget>
               </item>
               <item>
-               <widget class="QCheckBox" name="youdont">
+               <widget class="QCheckBox" name="confirmCheckBox">
                 <property name="text">
-                 <string>I know what I'm doing</string>
+                 <string>I know what I'm doing!</string>
                 </property>
                 <property name="checked">
                  <bool>true</bool>

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

@@ -120,6 +120,8 @@ void UploaderGadgetWidget::connectSignalSlot(QWidget *widget)
 {
     connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadStarted()),this,SLOT(uploadStarted()));
     connect(qobject_cast<deviceWidget *>(widget),SIGNAL(uploadEnded(bool)),this,SLOT(uploadEnded(bool)));
+    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(downloadStarted()),this,SLOT(downloadStarted()));
+    connect(qobject_cast<deviceWidget *>(widget),SIGNAL(downloadEnded(bool)),this,SLOT(downloadEnded(bool)));
 }
 
 FlightStatus *UploaderGadgetWidget::getFlightStatus()
@@ -398,7 +400,7 @@ void UploaderGadgetWidget::systemReset()
             delete dfu;
             dfu = NULL;
         }
-        m_config->textBrowser->clear();
+        clearLog();
         log("Board Reset initiated.");
         goToBootloader();
     }
@@ -470,15 +472,23 @@ void UploaderGadgetWidget::commonSystemBoot(bool safeboot)
         // Freeze the tabs, they are not useful anymore and their buttons
         // will cause segfaults or weird stuff if we use them.
         for (int i=0; i< m_config->systemElements->count(); i++) {
-             deviceWidget *qw = (deviceWidget*)m_config->systemElements->widget(i);
+            // OP-682 arriving here too "early" (before the devices are refreshed) was leading to a crash
+            // OP-682 the crash was due to an unchecked cast in the line below that would cast a RunningDeviceGadget to a DeviceGadget
+            deviceWidget *qw = dynamic_cast<deviceWidget*>(m_config->systemElements->widget(i));
+            if (qw) {
+                // OP-682 fixed a second crash by disabling *all* buttons in the device widget
+                // disabling the buttons is only half of the solution as even if the buttons are enabled
+                // the app should not crash
                 qw->freeze();
             }
         }
+    }
     currentStep = IAP_STATE_READY;
     log("You can now reconnect telemetry...");
     delete dfu; // Frees up the USB/Serial port too
     dfu = NULL;
 }
+
 bool UploaderGadgetWidget::autoUpdateCapable()
 {
     return QDir(":/build").exists();
@@ -754,15 +764,44 @@ void UploaderGadgetWidget::cancel()
 
 void UploaderGadgetWidget::uploadStarted()
 {
+    m_config->haltButton->setEnabled(false);
     m_config->bootButton->setEnabled(false);
     m_config->safeBootButton->setEnabled(false);
+    m_config->resetButton->setEnabled(false);
+    m_config->rescueButton->setEnabled(false);
 }
 
 void UploaderGadgetWidget::uploadEnded(bool succeed)
 {
     Q_UNUSED(succeed);
+    // device is halted so no halt
+    m_config->haltButton->setEnabled(false);
     m_config->bootButton->setEnabled(true);
     m_config->safeBootButton->setEnabled(true);
+    // device is halted so no reset
+    m_config->resetButton->setEnabled(false);
+    m_config->rescueButton->setEnabled(true);
+}
+
+void UploaderGadgetWidget::downloadStarted()
+{
+    m_config->haltButton->setEnabled(false);
+    m_config->bootButton->setEnabled(false);
+    m_config->safeBootButton->setEnabled(false);
+    m_config->resetButton->setEnabled(false);
+    m_config->rescueButton->setEnabled(false);
+}
+
+void UploaderGadgetWidget::downloadEnded(bool succeed)
+{
+    Q_UNUSED(succeed);
+    // device is halted so no halt
+    m_config->haltButton->setEnabled(false);
+    m_config->bootButton->setEnabled(true);
+    m_config->safeBootButton->setEnabled(true);
+    // device is halted so no reset
+    m_config->resetButton->setEnabled(false);
+    m_config->rescueButton->setEnabled(true);
 }
 
 /**
@@ -770,9 +809,9 @@ void UploaderGadgetWidget::uploadEnded(bool succeed)
   */
 void UploaderGadgetWidget::log(QString str)
 {
+   qDebug() << str;
    m_config->textBrowser->append(str);
    m_config->textBrowser->repaint();
-
 }
 
 void UploaderGadgetWidget::clearLog()
@@ -819,6 +858,7 @@ void UploaderGadgetWidget::error(QString errorString, int errorNumber)
     msgBox.exec();
     m_config->boardStatus->setText(errorString);
 }
+
 /**
 Shows a message box with an information string.
 

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

@@ -115,7 +115,8 @@ private slots:
     void cancel();
     void uploadStarted();
     void uploadEnded(bool succeed);
-
+    void downloadStarted();
+    void downloadEnded(bool succeed);
 };
 
 #endif // UPLOADERGADGETWIDGET_H

shared/uavobjectdefinition/mpu6000settings.xml

@@ -0,0 +1,38 @@
+<xml>
+    <object name="Mpu6000Settings" singleinstance="true" settings="true" category="Sensors">
+        <description>Settings for the @ref MPU6000 sensor used on CC3D and Revolution. Reboot the board for this to takes effect</description>
+        <field name="GyroScale" units="deg/s" type="enum" elements="1" defaultvalue="Scale_2000">
+            <options>
+                <option>Scale_250</option>
+                <option>Scale_500</option>
+                <option>Scale_1000</option>
+                <option>Scale_2000</option>
+            </options>
+        </field>
+        <field name="AccelScale" units="g" type="enum" elements="1" defaultvalue="Scale_8g">
+            <options>
+                <option>Scale_2g</option>
+                <option>Scale_4g</option>
+                <option>Scale_8g</option>
+                <option>Scale_16g</option>
+            </options>
+        </field>
+
+        <field name="FilterSetting" units="Hz" type="enum" elements="1" defaultvalue="Lowpass_256_Hz">
+            <options>
+                <option>Lowpass_256_Hz</option>
+                <option>Lowpass_188_Hz</option>
+                <option>Lowpass_98_Hz</option>
+                <option>Lowpass_42_Hz</option>
+                <option>Lowpass_20_Hz</option>
+                <option>Lowpass_10_Hz</option>
+                <option>Lowpass_5_Hz</option>
+            </options>
+        </field>
+                           
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>