Merge remote-tracking branch 'remotes/origin/bugfix-ground' into OP-512-PTDreamer

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

MILESTONES.txt

@@ -112,17 +112,18 @@ C: Oleg Semyonov (osnwt)
 D: May 2011
 V: http://www.youtube.com/watch?v=-J8cxqzxxWw
 
-M: First Y6 CopterControl flight
+M: First V8 Octo OpenPilot flight
-C: ?
+C: Sami Korhonen (Sambas)
-D: ?
+D: May 2011
-V:
+V: http://vimeo.com/24258192
+
 
 
 
 An incomplete list of some future Milestones is below:
 
+* First Y6 CopterControl flight
 * First Helicopter flight with OpenPilot
-* First Octo flight with OpenPilot
 * First successful flight using the GCS only and no RC TX
 * First use of Magic Waypoint
 * First Flybarless Helicopter flight with OpenPilot

Makefile

@@ -77,19 +77,24 @@ help:
 	@echo "     all_flight           - Build all firmware, bootloaders and bootloader updaters"
 	@echo "     all_fw               - Build only firmware for all boards"
 	@echo "     all_bl               - Build only bootloaders for all boards"
-	@echo "     all_blupd            - Build only bootloader updaters for all boards"
+	@echo "     all_bu               - Build only bootloader updaters for all boards"
 	@echo
 	@echo "     all_clean            - Remove your build directory ($(BUILD_DIR))"
 	@echo "     all_flight_clean     - Remove all firmware, bootloaders and bootloader updaters"
 	@echo "     all_fw_clean         - Remove firmware for all boards"
 	@echo "     all_bl_clean         - Remove bootlaoders for all boards"
-	@echo "     all_blupd_clean      - Remove bootloader updaters for all boards"
+	@echo "     all_bu_clean         - Remove bootloader updaters for all boards"
+	@echo
+	@echo "     all_<board>          - Build all available images for <board>"
+	@echo "     all_<board>_clean    - Remove all available images for <board>"
 	@echo
 	@echo "   [Firmware]"
 	@echo "     <board>              - Build firmware for <board>"
+	@echo "                            supported boards are ($(ALL_BOARDS))"
+	@echo "     fw_<board>           - Build firmware for <board>"
 	@echo "                            supported boards are ($(FW_TARGETS))"
-	@echo "     <board>_clean        - Remove firmware for <board>"
+	@echo "     fw_<board>_clean     - Remove firmware for <board>"
-	@echo "     <board>_program      - Use OpenOCD + JTAG to write firmware to <board>"
+	@echo "     fw_<board>_program   - Use OpenOCD + JTAG to write firmware to <board>"
 	@echo
 	@echo "   [Bootloader]"
 	@echo "     bl_<board>           - Build bootloader for <board>"
@@ -98,9 +103,9 @@ help:
 	@echo "     bl_<board>_program   - Use OpenOCD + JTAG to write bootloader to <board>"
 	@echo
 	@echo "   [Bootloader Updater]"
-	@echo "     blupd_<board>        - Build bootloader updater for <board>"
+	@echo "     bu_<board>           - Build bootloader updater for <board>"
-	@echo "                            supported boards are ($(BLUPD_TARGETS))"
+	@echo "                            supported boards are ($(BU_TARGETS))"
-	@echo "     blupd_<board>_clean  - Remove bootloader updater for <board>"
+	@echo "     bu_<board>_clean     - Remove bootloader updater for <board>"
 	@echo
 	@echo "   [Simulation]"
 	@echo "     sim_posix            - Build OpenPilot simulation firmware for"
@@ -311,254 +316,128 @@ uavobjects_clean:
 #
 ##############################
 
-FW_TARGETS    := openpilot ahrs coptercontrol pipxtreme ins
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
-BL_TARGETS    := $(addprefix bl_, $(FW_TARGETS))
+# $(2) = Name of board used in source tree (e.g. CopterControl)
-BLUPD_TARGETS := $(addprefix blupd_, $(FW_TARGETS))
+define FW_TEMPLATE
+.PHONY: $(1) fw_$(1)
+$(1): fw_$(1)_opfw
+fw_$(1): fw_$(1)_opfw
+
+fw_$(1)_%: uavobjects_flight
+	$(V1) mkdir -p $(BUILD_DIR)/fw_$(1)/dep
+	$(V1) cd $(ROOT_DIR)/flight/$(2) && \
+		$$(MAKE) -r --no-print-directory \
+		BOARD_NAME=$(1) \
+		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		$$*
+
+.PHONY: $(1)_clean
+$(1)_clean: fw_$(1)_clean
+fw_$(1)_clean:
+	$(V0) @echo " CLEAN     $$@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/fw_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+# $(2) = Name of board used in source tree (e.g. CopterControl)
+define BL_TEMPLATE
+.PHONY: bl_$(1)
+bl_$(1): bl_$(1)_bin
+bl_$(1)_bino: bl_$(1)_bin
+
+bl_$(1)_%:
+	$(V1) mkdir -p $(BUILD_DIR)/bl_$(1)/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/$(2) && \
+		$$(MAKE) -r --no-print-directory \
+		BOARD_NAME=$(1) \
+		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		$$*
+
+.PHONY: bl_$(1)_clean
+bl_$(1)_clean:
+	$(V0) @echo " CLEAN     $$@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/bl_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+define BU_TEMPLATE
+.PHONY: bu_$(1)
+bu_$(1): bu_$(1)_opfw
+
+bu_$(1)_%: bl_$(1)_bino
+	$(V1) mkdir -p $(BUILD_DIR)/bu_$(1)/dep
+	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
+		$$(MAKE) -r --no-print-directory \
+		BOARD_NAME=$(1) \
+		TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
+		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
+		$$*
+
+.PHONY: bu_$(1)_clean
+bu_$(1)_clean:
+	$(V0) @echo " CLEAN     $$@"
+	$(V1) $(RM) -fr $(BUILD_DIR)/bu_$(1)
+endef
+
+# $(1) = Canonical board name all in lower case (e.g. coptercontrol)
+define BOARD_PHONY_TEMPLATE
+.PHONY: all_$(1)
+all_$(1): $$(filter fw_$(1), $$(FW_TARGETS))
+all_$(1): $$(filter bl_$(1), $$(BL_TARGETS))
+all_$(1): $$(filter bu_$(1), $$(BU_TARGETS))
+
+.PHONY: all_$(1)_clean
+all_$(1)_clean: $$(addsuffix _clean, $$(filter fw_$(1), $$(FW_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bl_$(1), $$(BL_TARGETS)))
+all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
+endef
+
+ALL_BOARDS := openpilot ahrs coptercontrol pipxtreme ins
+
+# Friendly names of each board (used to find source tree)
+openpilot_friendly     := OpenPilot
+coptercontrol_friendly := CopterControl
+pipxtreme_friendly     := PipXtreme
+ins_friendly           := INS
+ahrs_friendly          := AHRS
+
+FW_TARGETS := $(addprefix fw_, $(ALL_BOARDS))
+BL_TARGETS := $(addprefix bl_, $(ALL_BOARDS))
+BU_TARGETS := $(addprefix bu_, $(ALL_BOARDS))
 
 # FIXME: The INS build doesn't have a bootloader or bootloader
 #        updater yet so we need to filter them out to prevent errors.
-BL_TARGETS    := $(filter-out bl_ins, $(BL_TARGETS))
+BL_TARGETS := $(filter-out bl_ins, $(BL_TARGETS))
-BLUPD_TARGETS := $(filter-out blupd_ins, $(BLUPD_TARGETS))
+BU_TARGETS := $(filter-out bu_ins, $(BU_TARGETS))
 
 .PHONY: all_fw all_fw_clean
-all_fw:           $(addsuffix _bin,   $(FW_TARGETS))
+all_fw:        $(addsuffix _opfw,  $(FW_TARGETS))
-all_fw_clean:     $(addsuffix _clean, $(FW_TARGETS))
+all_fw_clean:  $(addsuffix _clean, $(FW_TARGETS))
 
 .PHONY: all_bl all_bl_clean
-all_bl:           $(addsuffix _bin,   $(BL_TARGETS))
+all_bl:        $(addsuffix _bin,   $(BL_TARGETS))
-all_bl_clean:     $(addsuffix _clean, $(BL_TARGETS))
+all_bl_clean:  $(addsuffix _clean, $(BL_TARGETS))
 
-.PHONY: all_blupd all_blupd_clean
+.PHONY: all_bu all_bu_clean
-all_blupd:        $(addsuffix _bin,   $(BLUPD_TARGETS))
+all_bu:        $(addsuffix _opfw,  $(BU_TARGETS))
-all_blupd_clean:  $(addsuffix _clean, $(BLUPD_TARGETS))
+all_bu_clean:  $(addsuffix _clean, $(BU_TARGETS))
 
 .PHONY: all_flight all_flight_clean
-all_flight:       all_fw all_bl all_blupd
+all_flight:       all_fw all_bl all_bu
-all_flight_clean: all_fw_clean all_bl_clean all_blupd_clean
+all_flight_clean: all_fw_clean all_bl_clean all_bu_clean
 
-.PHONY: openpilot
+$(foreach board, $(ALL_BOARDS), $(eval $(call BOARD_PHONY_TEMPLATE,$(board))))
-openpilot: openpilot_bin
 
-openpilot_%: uavobjects_flight
+# Expand the bootloader updater rules
-	$(V1) mkdir -p $(BUILD_DIR)/openpilot/dep
+$(foreach board, $(ALL_BOARDS), $(eval $(call BU_TEMPLATE,$(board),$($(board)_friendly))))
-	$(V1) cd $(ROOT_DIR)/flight/OpenPilot && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
 
-.PHONY: openpilot_clean
+# Expand the firmware rules
-openpilot_clean:
+$(foreach board, $(ALL_BOARDS), $(eval $(call FW_TEMPLATE,$(board),$($(board)_friendly))))
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/openpilot
-
-.PHONY: bl_openpilot
-bl_openpilot: bl_openpilot_bin
-bl_openpilot_bino: bl_openpilot_bin
-
-bl_openpilot_%:
-	$(V1) mkdir -p $(BUILD_DIR)/bl_openpilot/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/OpenPilot && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/bl_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: bl_openpilot_clean
-bl_openpilot_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_openpilot
-
-.PHONY: blupd_openpilot
-blupd_openpilot: blupd_openpilot_bin
-
-blupd_openpilot_%: bl_openpilot_bino
-	$(V1) mkdir -p $(BUILD_DIR)/blupd_openpilot/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/blupd_openpilot" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
-		BOARD=STM3210E_OP MODEL=HD MODEL_SUFFIX=_OP \
-		BLOBJ=$(BUILD_DIR)/bl_openpilot/OpenPilot_BL.bin.o $*
-
-.PHONY: blupd_openpilot_clean
-blupd_openpilot_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_openpilot
-
-.PHONY: ahrs
-ahrs: ahrs_bin
-
-ahrs_%: uavobjects_flight
-	$(V1) mkdir -p $(BUILD_DIR)/ahrs/dep
-	$(V1) cd $(ROOT_DIR)/flight/AHRS && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: ahrs_clean
-ahrs_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/ahrs
-
-.PHONY: bl_ahrs
-bl_ahrs: bl_ahrs_bin
-bl_ahrs_bino: bl_ahrs_bin
-
-bl_ahrs_%:
-	$(V1) mkdir -p $(BUILD_DIR)/bl_ahrs/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/AHRS && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/bl_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: bl_ahrs_clean
-bl_ahrs_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_ahrs
-
-.PHONY: blupd_ahrs
-blupd_ahrs: blupd_ahrs_bin
-
-blupd_ahrs_%: bl_ahrs_bino bl_ahrs
-	$(V1) mkdir -p $(BUILD_DIR)/blupd_ahrs/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/blupd_ahrs" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
-		BOARD=STM32103CB_AHRS MODEL=MD \
-		BLOBJ=$(BUILD_DIR)/bl_ahrs/AHRS_BL.bin.o $*
-
-.PHONY: blupd_ahrs_clean
-blupd_ahrs_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_ahrs
-
-.PHONY: coptercontrol
-coptercontrol: coptercontrol_bin
-
-coptercontrol_%: uavobjects_flight
-	$(V1) mkdir -p $(BUILD_DIR)/coptercontrol/dep
-	$(V1) cd $(ROOT_DIR)/flight/CopterControl && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: coptercontrol_clean
-coptercontrol_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/coptercontrol
-
-.PHONY: bl_coptercontrol
-bl_coptercontrol: bl_coptercontrol_bin
-bl_coptercontrol_bino: bl_coptercontrol_bin
-
-bl_coptercontrol_%:
-	$(V1) mkdir -p $(BUILD_DIR)/bl_coptercontrol/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/CopterControl && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/bl_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: bl_coptercontrol_clean
-bl_coptercontrol_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_coptercontrol
-
-.PHONY: blupd_coptercontrol
-blupd_coptercontrol: blupd_coptercontrol_bin
-
-blupd_coptercontrol_%: bl_coptercontrol_bino
-	$(V1) mkdir -p $(BUILD_DIR)/blupd_coptercontrol/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/blupd_coptercontrol" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
-		BOARD=STM32103CB_CC_Rev1 MODEL=MD MODEL_SUFFIX=_CC \
-		BLOBJ=$(BUILD_DIR)/bl_coptercontrol/CopterControl_BL.bin.o $*
-
-.PHONY: blupd_coptercontrol_clean
-blupd_coptercontrol_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_coptercontrol
-
-.PHONY: pipxtreme
-pipxtreme: pipxtreme_bin
-
-pipxtreme_%: uavobjects_flight
-	$(V1) mkdir -p $(BUILD_DIR)/pipxtreme/dep
-	$(V1) cd $(ROOT_DIR)/flight/PipXtreme && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: pipxtreme_clean
-pipxtreme_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/pipxtreme
-
-.PHONY: bl_pipxtreme
-bl_pipxtreme: bl_pipxtreme_bin
-bl_pipxtreme_bino: bl_pipxtreme_bin
-
-bl_pipxtreme_%:
-	$(V1) mkdir -p $(BUILD_DIR)/bl_pipxtreme/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/PipXtreme && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/bl_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: bl_pipxtreme_clean
-bl_pipxtreme_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_pipxtreme
-
-.PHONY: blupd_pipxtreme
-blupd_pipxtreme: blupd_pipxtreme_bin
-
-blupd_pipxtreme_%: bl_pipxtreme_bino
-	$(V1) mkdir -p $(BUILD_DIR)/blupd_pipxtreme/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/BootloaderUpdater && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/blupd_pipxtreme" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" \
-		BOARD=STM32103CB_PIPXTREME MODEL=MD MODEL_SUFFIX=_CC \
-		BLOBJ=$(BUILD_DIR)/bl_pipxtreme/PipXtreme_BL.bin.o $*
-
-.PHONY: blupd_pipxtreme_clean
-blupd_pipxtreme_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/blupd_pipxtreme
-
-
-.PHONY: ins
-ins: ins_bin
-
-ins_%: uavobjects_flight
-	$(V1) mkdir -p $(BUILD_DIR)/ins/dep
-	$(V1) cd $(ROOT_DIR)/flight/INS && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: ins_clean
-ins_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/ins
-
-.PHONY: bl_ins
-bl_ins: bl_ins_elf
-
-bl_ins_%:
-	$(V1) mkdir -p $(BUILD_DIR)/bl_ins/dep
-	$(V1) cd $(ROOT_DIR)/flight/Bootloaders/INS && \
-		$(MAKE) -r --no-print-directory \
-		OUTDIR="$(BUILD_DIR)/bl_ins" TCHAIN_PREFIX="$(ARM_SDK_PREFIX)" \
-		REMOVE_CMD="$(RM)" OOCD_EXE="$(OPENOCD)" $*
-
-.PHONY: bl_ins_clean
-bl_ins_clean:
-	$(V0) @echo " CLEAN     $@"
-	$(V1) $(RM) -fr $(BUILD_DIR)/bl_ins
 
+# Expand the bootloader rules
+$(foreach board, $(ALL_BOARDS), $(eval $(call BL_TEMPLATE,$(board),$($(board)_friendly))))
 
 .PHONY: sim_posix
 sim_posix: sim_posix_elf
@@ -578,9 +457,9 @@ sim_win32_%: uavobjects_flight
 
 ##############################
 #
-# Release packaging components
+# Packaging components
 #
 ##############################
-.PHONY: release
+.PHONY: package
-release:
+package:
 	$(V1) cd $@ && $(MAKE) --no-print-directory $@

artwork/Font/Copyright.txt

@@ -16,5 +16,7 @@ Symbols:
 
 Capital A = OpenPilot Logo
 Capital B = CC-BY-SA
+Capital B = CC-BY-NC-SA
+Capital D = RoHS
 
  

artwork/GCS Icons/edit-delete.svg

@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg2757" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.0" xmlns:xlink="http://www.w3.org/1999/xlink">
+ <defs id="defs2759">
+  <radialGradient id="radialGradient2436" gradientUnits="userSpaceOnUse" cy="4.625" cx="62.625" gradientTransform="matrix(2.1647 0 0 .75294 -111.56 36.518)" r="10.625">
+   <stop id="stop8840" offset="0"/>
+   <stop id="stop8842" style="stop-opacity:0" offset="1"/>
+  </radialGradient>
+  <linearGradient id="linearGradient2750" y2="3.0816" gradientUnits="userSpaceOnUse" x2="18.379" gradientTransform="matrix(.95844 0 0 .95844 .99752 1.9975)" y1="44.98" x1="18.379">
+   <stop id="stop2492" style="stop-color:#791235" offset="0"/>
+   <stop id="stop2494" style="stop-color:#dd3b27" offset="1"/>
+  </linearGradient>
+  <radialGradient id="radialGradient2748" gradientUnits="userSpaceOnUse" cy="3.99" cx="23.896" gradientTransform="matrix(0 2.2875 -3.0194 0 36.047 -50.63)" r="20.397">
+   <stop id="stop3244" style="stop-color:#f8b17e" offset="0"/>
+   <stop id="stop3246" style="stop-color:#e35d4f" offset=".26238"/>
+   <stop id="stop3248" style="stop-color:#c6262e" offset=".66094"/>
+   <stop id="stop3250" style="stop-color:#690b54" offset="1"/>
+  </radialGradient>
+  <linearGradient id="linearGradient2745" y2="5.4676" gradientUnits="userSpaceOnUse" x2="63.397" gradientTransform="matrix(2.1154 0 0 2.1153 -107.58 32.427)" y1="-12.489" x1="63.397">
+   <stop id="stop4875" style="stop-color:#fff" offset="0"/>
+   <stop id="stop4877" style="stop-color:#fff;stop-opacity:0" offset="1"/>
+  </linearGradient>
+  <linearGradient id="linearGradient2742" y2="45.074" gradientUnits="userSpaceOnUse" x2="24.481" y1="5.0809" x1="24.481">
+   <stop id="stop3783" style="stop-color:#fff" offset="0"/>
+   <stop id="stop3785" style="stop-color:#fff;stop-opacity:0" offset="1"/>
+  </linearGradient>
+ </defs>
+ <g id="layer1">
+  <path id="path8836" style="opacity:.3;fill-rule:evenodd;fill:url(#radialGradient2436)" d="m47 40c0 4.418-10.297 8-23 8s-23-3.582-23-8 10.297-8 23-8 23 3.582 23 8z"/>
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artwork/GCS Icons/help-contents.svg

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artwork/GCS Icons/help-hint.svg

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artwork/GCS Icons/window-close.svg

@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg2405" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.1" xmlns:xlink="http://www.w3.org/1999/xlink">
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+ </defs>
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+</svg>

flight/AHRS/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES for debugging
@@ -41,21 +48,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_AHRS
-MODEL    = MD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/ahrs
-
-# Target file name (without extension).
-TARGET = AHRS
-
 # Paths
 AHRS = ./
 AHRSINC = $(AHRS)/inc
@@ -160,7 +152,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM =
@@ -223,7 +215,6 @@ CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 CDEFS += -DIN_AHRS
-CDEFS += -DUSE_BOOTLOADER
 
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
@@ -299,21 +290,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08002000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08002000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -345,14 +323,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -382,29 +352,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-.PHONY: elf lss sym hex bin bino
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
 bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif
@@ -445,4 +419,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/AHRS/ahrs.c

@@ -33,6 +33,7 @@
 
 /* OpenPilot Includes */
 #include "ahrs.h"
+#include <pios_board_info.h>
 #include "pios.h"
 #include "ahrs_timer.h"
 #include "ahrs_spi_comm.h"
@@ -1228,6 +1229,8 @@ void homelocation_callback(AhrsObjHandle obj)
 
 void firmwareiapobj_callback(AhrsObjHandle obj) 
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
 	FirmwareIAPObjData firmwareIAPObj;
 	FirmwareIAPObjGet(&firmwareIAPObj);
 	if(firmwareIAPObj.ArmReset==0)
@@ -1235,7 +1238,7 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 	if(firmwareIAPObj.ArmReset==1)
 	{
 
-		if((firmwareIAPObj.BoardType==BOARD_TYPE) || (firmwareIAPObj.BoardType==0xFF))
+		if((firmwareIAPObj.BoardType==bdinfo->board_type) || (firmwareIAPObj.BoardType==0xFF))
 		{
 
 			++reset_count;
@@ -1247,11 +1250,11 @@ void firmwareiapobj_callback(AhrsObjHandle obj)
 			}
 		}
 	}
-	else if(firmwareIAPObj.BoardType==BOARD_TYPE && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
+	else if(firmwareIAPObj.BoardType==bdinfo->board_type && firmwareIAPObj.crc!=PIOS_BL_HELPER_CRC_Memory_Calc())
 	{
-		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,SIZE_OF_DESCRIPTION);
+		PIOS_BL_HELPER_FLASH_Read_Description(firmwareIAPObj.Description,bdinfo->desc_size);
 		firmwareIAPObj.crc=PIOS_BL_HELPER_CRC_Memory_Calc();
-		firmwareIAPObj.BoardRevision=BOARD_REVISION;
+		firmwareIAPObj.BoardRevision=bdinfo->board_rev;
 		FirmwareIAPObjSet(&firmwareIAPObj);
 	}
 }

flight/Bootloaders/AHRS/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := bl_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES for debugging
@@ -41,23 +48,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_AHRS
-MODEL    = MD
-
-
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/bl_ahrs
-
-# Target file name (without extension).
-TARGET = AHRS_BL
-
 # Paths
 AHRS_BL = ./
 AHRS_BLINC = $(AHRS_BL)/inc
@@ -149,7 +139,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -209,6 +199,15 @@ CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 
+# Provide (only) the bootloader with board-specific defines
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -243,8 +242,9 @@ CFLAGS += -O$(OPT)
 ifeq ($(DEBUG),NO)
 CFLAGS += -fdata-sections -ffunction-sections
 endif
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -266,7 +266,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -291,20 +291,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -336,14 +324,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo "Programming with OPENOCD"
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -373,6 +353,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -383,8 +366,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
@@ -437,4 +418,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/Bootloaders/AHRS/main.c

@@ -33,6 +33,7 @@
 
 /* OpenPilot Includes */
 #include "ahrs_bl.h"
+#include <pios_board_info.h>
 #include "pios_opahrs_proto.h"
 #include "bl_fsm.h"		/* lfsm_state */
 #include "stm32f10x_flash.h"
@@ -108,6 +109,7 @@ static struct opahrs_msg_v0 link_rx_v0;
 static struct opahrs_msg_v0 user_tx_v0;
 static struct opahrs_msg_v0 user_rx_v0;
 void process_spi_request(void) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	bool msg_to_process = FALSE;
 
 	PIOS_IRQ_Disable();
@@ -166,15 +168,15 @@ void process_spi_request(void) {
 		break;
 	case OPAHRS_MSG_V0_REQ_MEM_MAP:
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_MEM_MAP);
-		user_tx_v0.payload.user.v.rsp.mem_map.density = HW_TYPE;
+		user_tx_v0.payload.user.v.rsp.mem_map.density = bdinfo->hw_type;
 		user_tx_v0.payload.user.v.rsp.mem_map.rw_flags = (BOARD_READABLE
-				| (BOARD_WRITABLA << 1));
+				| (BOARD_WRITABLE << 1));
 		user_tx_v0.payload.user.v.rsp.mem_map.size_of_code_memory
-				= SIZE_OF_CODE;
+				= bdinfo->fw_size;
 		user_tx_v0.payload.user.v.rsp.mem_map.size_of_description
-				= SIZE_OF_DESCRIPTION;
+				= bdinfo->desc_size;
 		user_tx_v0.payload.user.v.rsp.mem_map.start_of_user_code
-				= START_OF_USER_CODE;
+				= bdinfo->fw_base;
 		lfsm_user_set_tx_v0(&user_tx_v0);
 		break;
 	case OPAHRS_MSG_V0_REQ_SERIAL:
@@ -192,7 +194,7 @@ void process_spi_request(void) {
 		PIOS_LED_On(LED1);
 		opahrs_msg_v0_init_user_tx(&user_tx_v0, OPAHRS_MSG_V0_RSP_FWUP_STATUS);
 		if (!(user_rx_v0.payload.user.v.req.fwup_data.adress
-				< START_OF_USER_CODE)) {
+				< bdinfo->fw_base)) {
 			for (uint8_t x = 0; x
 					< user_rx_v0.payload.user.v.req.fwup_data.size; ++x) {
 				if (FLASH_ProgramWord(
@@ -250,13 +252,10 @@ void process_spi_request(void) {
 	return;
 }
 void jump_to_app() {
-	//while(TRUE)
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	//{
+
-	//	PIOS_LED_Toggle(LED1);
-	//	PIOS_DELAY_WaitmS(1000);
-	//}
 	PIOS_LED_On(LED1);
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -265,10 +264,10 @@ void jump_to_app() {
 		//_SetCNTR(0); // clear interrupt mask
 		//_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		boot_status = jump_failed;

flight/Bootloaders/BootloaderUpdater/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET = bu_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -51,21 +58,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    ?= NULL
-MODEL	 ?= NULL
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = ../../../build/bootloaders/BootloaderUpdater
-
-# Target file name (without extension).
-TARGET = BL_Updater
-
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -224,7 +216,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-CDEFS += -DUSE_BOOTLOADER
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -309,9 +300,9 @@ LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
 OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
 # Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
+OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
 # Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
+OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) $(START_OF_FW_CODE) bin"
 # reset target
 OOCD_CL+=-c "reset run"
 # terminate OOCD after programming
@@ -364,6 +355,7 @@ program: $(OUTDIR)/$(TARGET).bin
 endif
 
 # Link: create ELF output file from object files.
+BLOBJ := $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin.o
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ) $(BLOBJ)))
 
 # Assemble: create object files from assembler source files.
@@ -392,14 +384,16 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-.PHONY: elf lss sym hex bin bino
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
-elf.stripped: $(OUTDIR)/$(TARGET).elf.stripped
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
 bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
@@ -411,11 +405,11 @@ docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif

flight/Bootloaders/CopterControl/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := bl_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -48,21 +55,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_CC_Rev1
-MODEL	 = MD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/bl_coptercontrol
-
-# Target file name (without extension).
-TARGET = CopterControl_BL
-
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -181,7 +173,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -260,6 +252,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# Provide (only) the bootloader with board-specific defines
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -295,8 +296,9 @@ ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
 endif
 
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -316,7 +318,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -341,20 +343,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -394,14 +384,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -431,6 +413,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -441,8 +426,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
@@ -495,4 +478,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/Bootloaders/CopterControl/main.c

@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
@@ -163,7 +164,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -171,10 +174,10 @@ void jump_to_app() {
 		RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;

flight/Bootloaders/CopterControl/op_dfu.c

@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 //programmable devices
 Device devicesTable[10];
 uint8_t numberOfDevices = 0;
@@ -382,16 +383,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	return;
 }
 void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	Device dev;
+
 	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
+	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = SIZE_OF_CODE;
+	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
+	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	dev.BL_Version = bdinfo->bl_rev;
 	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = HW_TYPE;
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {

flight/Bootloaders/OpenPilot/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := bl_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -48,21 +55,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103RET
-BOARD    = STM3210E_OP
-MODEL	 = HD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/bl_openpilot
-
-# Target file name (without extension).
-TARGET = OpenPilot_BL
-
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -184,7 +176,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -263,6 +255,15 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# Provide (only) the bootloader with board-specific defines
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -300,6 +301,7 @@ endif
 
 CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -344,20 +346,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -397,14 +387,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -434,6 +416,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -444,8 +429,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
@@ -498,4 +481,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/Bootloaders/OpenPilot/main.c

@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "pios_opahrs.h"
 #include "stopwatch.h"
 #include "op_dfu.h"
@@ -216,7 +217,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -225,10 +228,10 @@ void jump_to_app() {
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;

flight/Bootloaders/OpenPilot/op_dfu.c

@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 #include "pios_opahrs.h"
 #include "ssp.h"
 /* Private typedef -----------------------------------------------------------*/
@@ -447,16 +448,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	return;
 }
 void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	Device dev;
+
 	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
+	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = SIZE_OF_CODE;
+	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
+	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	dev.BL_Version = bdinfo->bl_rev;
 	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = HW_TYPE;
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {

flight/Bootloaders/PipXtreme/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := bl_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -48,21 +55,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_PIPXTREME
-MODEL	 = MD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/bl_pipxtreme
-
-# Target file name (without extension).
-TARGET = PipXtreme_BL
-
 # Paths
 OPSYSTEM = .
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -180,7 +172,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -259,6 +251,17 @@ ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
 
+# Provide (only) the bootloader with board-specific defines
+BLONLY_CDEFS += -DBOARD_TYPE=$(BOARD_TYPE)
+BLONLY_CDEFS += -DBOARD_REVISION=$(BOARD_REVISION)
+BLONLY_CDEFS += -DHW_TYPE=$(HW_TYPE)
+BLONLY_CDEFS += -DBOOTLOADER_VERSION=$(BOOTLOADER_VERSION)
+BLONLY_CDEFS += -DFW_BANK_BASE=$(FW_BANK_BASE)
+BLONLY_CDEFS += -DFW_BANK_SIZE=$(FW_BANK_SIZE)
+BLONLY_CDEFS += -DFW_DESC_SIZE=$(FW_DESC_SIZE)
+BLONLY_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE)
+BLONLY_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE)
+
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -294,8 +297,9 @@ ifeq ($(DEBUG),NO)
 CFLAGS += -ffunction-sections
 endif
 
-CFLAGS += -mcpu=$(MCU) -mthumb
+CFLAGS += -mcpu=$(MCU)
 CFLAGS += $(CDEFS)
+CFLAGS += $(BLONLY_CDEFS)
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 
 CFLAGS += -mapcs-frame 
@@ -315,7 +319,7 @@ CONLYFLAGS += $(CSTANDARD)
 # Assembler flags.
 #  -Wa,...:    tell GCC to pass this to the assembler.
 #  -ahlns:     create listing
-ASFLAGS  = -mcpu=$(MCU) -mthumb -I. -x assembler-with-cpp
+ASFLAGS  = -mcpu=$(MCU) -I. -x assembler-with-cpp
 ASFLAGS += $(ADEFS)
 ASFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 ASFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS))
@@ -340,20 +344,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_BL_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08000000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08000000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -393,14 +385,6 @@ ${OUTDIR}/InitMods.c: Makefile
 	@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote}  >> ${OUTDIR}/InitMods.c
 	@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -430,6 +414,9 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE)))
+
 .PHONY: elf lss sym hex bin bino
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
@@ -440,8 +427,6 @@ bino: $(OUTDIR)/$(TARGET).bin.o
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
@@ -494,4 +479,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/Bootloaders/PipXtreme/main.c

@@ -27,6 +27,7 @@
  */
 /* Bootloader Includes */
 #include <pios.h>
+#include <pios_board_info.h>
 #include "stopwatch.h"
 #include "op_dfu.h"
 #include "usb_lib.h"
@@ -170,7 +171,9 @@ int main() {
 }
 
 void jump_to_app() {
-	if (((*(__IO uint32_t*) START_OF_USER_CODE) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	if (((*(__IO uint32_t*) bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
 		FLASH_Lock();
 		RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
 		RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
@@ -179,10 +182,10 @@ void jump_to_app() {
 		_SetCNTR(0); // clear interrupt mask
 		_SetISTR(0); // clear all requests
 
-		JumpAddress = *(__IO uint32_t*) (START_OF_USER_CODE + 4);
+		JumpAddress = *(__IO uint32_t*) (bdinfo->fw_base + 4);
 		Jump_To_Application = (pFunction) JumpAddress;
 		/* Initialize user application's Stack Pointer */
-		__set_MSP(*(__IO uint32_t*) START_OF_USER_CODE);
+		__set_MSP(*(__IO uint32_t*) bdinfo->fw_base);
 		Jump_To_Application();
 	} else {
 		DeviceState = failed_jump;

flight/Bootloaders/PipXtreme/op_dfu.c

@@ -30,6 +30,7 @@
 #include "pios.h"
 #include "op_dfu.h"
 #include "pios_bl_helper.h"
+#include <pios_board_info.h>
 /* Private typedef -----------------------------------------------------------*/
 /* Private define ------------------------------------------------------------*/
 /* Private macro -------------------------------------------------------------*/
@@ -414,16 +415,18 @@ void processComand(uint8_t *xReceive_Buffer) {
 	return;
 }
 void OPDfuIni(uint8_t discover) {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	Device dev;
+
 	dev.programmingType = Self_flash;
-	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLA << 1));
+	dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
-	dev.startOfUserCode = START_OF_USER_CODE;
+	dev.startOfUserCode = bdinfo->fw_base;
-	dev.sizeOfCode = SIZE_OF_CODE;
+	dev.sizeOfCode = bdinfo->fw_size;
-	dev.sizeOfDescription = SIZE_OF_DESCRIPTION;
+	dev.sizeOfDescription = bdinfo->desc_size;
-	dev.BL_Version = BOOTLOADER_VERSION;
+	dev.BL_Version = bdinfo->bl_rev;
 	dev.FW_Crc = CalcFirmCRC();
-	dev.devID = (BOARD_TYPE << 8) | BOARD_REVISION;
+	dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
-	dev.devType = HW_TYPE;
+	dev.devType = bdinfo->hw_type;
 	numberOfDevices = 1;
 	devicesTable[0] = dev;
 	if (discover) {

flight/CopterControl/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -57,21 +64,6 @@ FLASH_TOOL = OPENOCD
 # List of modules to include
 MODULES = Telemetry Attitude Stabilization Actuator ManualControl FirmwareIAP
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_CC_Rev1
-MODEL	 = MD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/coptercontrol
-
-# Target file name (without extension).
-TARGET = CopterControl
-
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -195,6 +187,7 @@ SRC += $(PIOSSTM32F10X)/pios_spektrum.c
 SRC += $(PIOSSTM32F10X)/pios_debug.c
 SRC += $(PIOSSTM32F10X)/pios_gpio.c
 SRC += $(PIOSSTM32F10X)/pios_exti.c
+SRC += $(PIOSSTM32F10X)/pios_rtc.c
 SRC += $(PIOSSTM32F10X)/pios_wdg.c
 
 
@@ -299,7 +292,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_CC.S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM =
@@ -381,7 +374,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-CDEFS += -DUSE_BOOTLOADER
 ifeq ($(ERASE_FLASH), YES)
 CDEFS += -DERASE_FLASH
 endif
@@ -475,21 +467,9 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
 PYTHON  = python
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -540,13 +520,6 @@ ${OUTDIR}/InitMods.c: Makefile
 #	@$(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
 
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -576,29 +549,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-.PHONY: elf lss sym hex bin bino
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
 bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif
@@ -642,4 +619,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program gencode install
+.PHONY : all build clean clean_list gencode install

flight/CopterControl/System/inc/pios_config.h

@@ -64,6 +64,7 @@
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_RTC
 #define PIOS_INCLUDE_WDG
 #define PIOS_INCLUDE_BL_HELPER
 
@@ -92,7 +93,7 @@
 /* Task stack sizes */
 #define PIOS_ACTUATOR_STACK_SIZE       1020
 #define PIOS_MANUAL_STACK_SIZE          724
-#define PIOS_SYSTEM_STACK_SIZE          504
+#define PIOS_SYSTEM_STACK_SIZE          560
 #define PIOS_STABILIZATION_STACK_SIZE   524
 #define PIOS_TELEM_STACK_SIZE           500
 

flight/CopterControl/System/pios_board.c

@@ -348,39 +348,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM2_IRQHandler();
+void RTC_IRQHandler();
-void TIM2_IRQHandler() __attribute__ ((alias ("PIOS_TIM2_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM2_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM2,
 	.port = GPIOB,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_11,
 };
 
-void PIOS_TIM2_irq_handler()
+void PIOS_SUPV_irq_handler() {
-{
+	if (RTC_GetITStatus(RTC_IT_SEC))
-	PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+	{
+		/* Call the right handler */
+		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_INCLUDE_SPEKTRUM */
 
@@ -441,14 +440,12 @@ const struct pios_servo_channel pios_servo_channels[] = {
 		.channel = TIM_Channel_1,
 		.pin = GPIO_Pin_4,
 	},  	
-#ifndef PIOS_INCLUDE_SPEKTRUM
 	{
 		.timer = TIM2,
 		.port = GPIOA,
 		.channel = TIM_Channel_3,
 		.pin = GPIO_Pin_2,
 	},	
-#endif
 };
 
 const struct pios_servo_cfg pios_servo_cfg = {

flight/INS/Makefile

@@ -25,11 +25,17 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES for debugging
 DEBUG ?= YES
-USE_BOOTLOADER ?= NO
 
 # Set to YES when using Code Sourcery toolchain
 CODE_SOURCERY ?= YES
@@ -42,26 +48,6 @@ endif
 
 FLASH_TOOL = OPENOCD
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103RET
-BOARD    = STM3210E_INS
-MODEL    = HD
-ifeq ($(USE_BOOTLOADER), YES)
-BOOT_MODEL    = $(MODEL)_BL
-else
-BOOT_MODEL    = $(MODEL)_NB
-endif
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/ins
-
-# Target file name (without extension).
-TARGET = INS
-
 # Paths
 INS = ./
 INSINC = $(INS)/inc
@@ -168,7 +154,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM =
@@ -231,9 +217,7 @@ CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
 CDEFS += -DIN_INS
-ifeq ($(USE_BOOTLOADER), YES)
+
-CDEFS += -DUSE_BOOTLOADER
-endif
 # Place project-specific -D and/or -U options for
 # Assembler with preprocessor here.
 #ADEFS = -DUSE_IRQ_ASM_WRAPPER
@@ -311,22 +295,11 @@ LDFLAGS += $(MATH_LIB)
 LDFLAGS += -lc -lgcc
 
 # Set linker-script name depending on selected submodel name
-LDFLAGS +=-T$(LINKERSCRIPTPATH)/link_$(BOARD)_$(BOOT_MODEL).ld
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
-
+LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).elf  
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image $(OOCD_LOADFILE)"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE)"
-# reset target
-OOCD_CL+=-c "reset run"
-# # terminate OOCD after programming
-OOCD_CL+=-c shutdown
 
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -358,21 +331,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(USE_BOOTLOADER), YES)
-# Program the device with OP Upload Tool".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OP Upload Tool${quote}
-	../../ground/src/experimental/upload-build-desktop/debug/OPUploadTool -d 1 -p $(OUTDIR)/$(TARGET).bin
-else
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).elf
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -400,28 +358,35 @@ $(eval $(call PARTIAL_COMPILE_TEMPLATE, SRC))
 # Compile: create assembler files from C source files. ARM only
 $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
-.PHONY: elf lss sym hex bin
+$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
+
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
+bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif
@@ -461,4 +426,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

flight/Modules/FirmwareIAP/firmwareiap.c

@@ -27,6 +27,7 @@
 #include <stdint.h>
 
 #include "pios.h"
+#include <pios_board_info.h>
 #include "openpilot.h"
 #include "firmwareiap.h"
 #include "firmwareiapobj.h"
@@ -90,10 +91,12 @@ static void resetTask(UAVObjEvent *);
 
 int32_t FirmwareIAPInitialize()
 {
-	data.BoardType= BOARD_TYPE;
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
+	data.BoardType= bdinfo->board_type;
 	PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 	PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
-	data.BoardRevision= BOARD_REVISION;
+	data.BoardRevision= bdinfo->board_rev;
 	data.ArmReset=0;
 	data.crc = 0;
 	FirmwareIAPObjSet( &data );
@@ -112,6 +115,7 @@ int32_t FirmwareIAPInitialize()
 static uint8_t    iap_state = IAP_STATE_READY;
 static void FirmwareIAPCallback(UAVObjEvent* ev)
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	static uint32_t   last_time = 0;
 	uint32_t          this_time;
 	uint32_t          delta;
@@ -125,11 +129,11 @@ static void FirmwareIAPCallback(UAVObjEvent* ev)
 		this_time = get_time();
 		delta = this_time - last_time;
 		last_time = this_time;
-		if((data.BoardType==BOARD_TYPE)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
+		if((data.BoardType==bdinfo->board_type)&&(data.crc != PIOS_BL_HELPER_CRC_Memory_Calc()))
 		{
 			PIOS_BL_HELPER_FLASH_Read_Description(data.Description,FIRMWAREIAPOBJ_DESCRIPTION_NUMELEM);
 			PIOS_SYS_SerialNumberGetBinary(data.CPUSerial);
-			data.BoardRevision=BOARD_REVISION;
+			data.BoardRevision=bdinfo->board_rev;
 			data.crc = PIOS_BL_HELPER_CRC_Memory_Calc();
 			FirmwareIAPObjSet( &data );
 		}

flight/Modules/ManualControl/manualcontrol.c

@@ -268,8 +268,8 @@ static void manualControlTask(void *parameters)
 
 				// Set accessory channels
 				cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
-				cmd.Accessory2 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
+				cmd.Accessory2 = (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
-				cmd.Accessory3 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
+				cmd.Accessory3 = (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
 
 				processFlightMode(&settings, flightMode);
 				processArm(&cmd, &settings);

flight/OpenPilot/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Set developer code and compile options
 # Set to YES to compile for debugging
@@ -59,21 +66,6 @@ PYMODULES = FlightPlan
 #MODULES = Telemetry
 #MODULES += Osd/OsdEtStd
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103RET
-BOARD    = STM3210E_OP
-MODEL	 = HD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/openpilot
-
-# Target file name (without extension).
-TARGET = OpenPilot
-
 # Paths
 OPSYSTEM = ./System
 OPSYSTEMINC = $(OPSYSTEM)/inc
@@ -287,7 +279,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)_OP.S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM =
@@ -369,7 +361,6 @@ endif
 ifeq ($(ENABLE_AUX_UART), YES)
 CDEFS += -DPIOS_ENABLE_AUX_UART
 endif
-CDEFS += -DUSE_BOOTLOADER
 
 ifeq ($(USE_SPEKTRUM), YES)
 CDEFS += -DUSE_SPEKTRUM
@@ -451,22 +442,9 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08005000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08005000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
 PYTHON  = python
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -519,14 +497,6 @@ ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/p
 	@$(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
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -556,29 +526,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-.PHONY: elf lss sym hex bin bino
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf:  $(OUTDIR)/$(TARGET).elf
 lss:  $(OUTDIR)/$(TARGET).lss
 sym:  $(OUTDIR)/$(TARGET).sym
 hex:  $(OUTDIR)/$(TARGET).hex
 bin:  $(OUTDIR)/$(TARGET).bin
 bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif
@@ -622,4 +596,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program gencode install
+.PHONY : all build clean clean_list gencode install

flight/OpenPilot/System/inc/FreeRTOSConfig.h

@@ -75,7 +75,7 @@ NVIC value of 255. */
 #if defined(DEBUG)
 #define configGENERATE_RUN_TIME_STATS 1
 #define INCLUDE_uxTaskGetRunTime 1
-#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Start()
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Init()
 // Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
 #define portGET_RUN_TIME_COUNTER_VALUE()  PIOS_RTC_Counter()
 #endif

flight/OpenPilot/System/pios_board.c

@@ -504,39 +504,38 @@ void PIOS_USART_spektrum_irq_handler(void)
 }
 
 #include <pios_spektrum_priv.h>
-void TIM6_IRQHandler();
+void RTC_IRQHandler();
-void TIM6_IRQHandler() __attribute__ ((alias ("PIOS_TIM6_irq_handler")));
+void RTC_IRQHandler() __attribute__ ((alias ("PIOS_SUPV_irq_handler")));
 const struct pios_spektrum_cfg pios_spektrum_cfg = {
 	.pios_usart_spektrum_cfg = &pios_usart_spektrum_cfg,
-	.tim_base_init = {
-		.TIM_Prescaler = (PIOS_MASTER_CLOCK / 1000000) - 1,	/* For 1 uS accuracy */
-		.TIM_ClockDivision = TIM_CKD_DIV1,
-		.TIM_CounterMode = TIM_CounterMode_Up,
-		.TIM_Period = ((1000000 / 120) - 1), //11ms-10*16b/115200bps, atleast one interrupt between frames
-		.TIM_RepetitionCounter = 0x0000,
-	},
 	.gpio_init = { //used for bind feature
 		.GPIO_Mode = GPIO_Mode_Out_PP,
 		.GPIO_Speed = GPIO_Speed_2MHz,
 	},
 	.remap = 0,
 	.irq = {
-		.handler = TIM6_IRQHandler,
+		.handler = RTC_IRQHandler,
 		.init    = {
 			.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
 			.NVIC_IRQChannelSubPriority        = 0,
 			.NVIC_IRQChannelCmd                = ENABLE,
 		},
 	},
-	.timer = TIM6,
 	.port = GPIOA,
-	.ccr = TIM_IT_Update,
 	.pin = GPIO_Pin_10,
 };
 
-void PIOS_TIM6_irq_handler()
+void PIOS_SUPV_irq_handler() {
-{
+	if (RTC_GetITStatus(RTC_IT_SEC))
-	PIOS_SPEKTRUM_irq_handler();
+	{
+		/* Call the right handler */
+		PIOS_SPEKTRUM_irq_handler(pios_usart_spektrum_id);
+
+		/* Wait until last write operation on RTC registers has finished */
+		RTC_WaitForLastTask();
+		/* Clear the RTC Second interrupt */
+		RTC_ClearITPendingBit(RTC_IT_SEC);
+	}
 }
 #endif	/* PIOS_COM_SPEKTRUM */
 
@@ -1049,6 +1048,7 @@ void PIOS_Board_Init(void) {
 
 #if defined(PIOS_INCLUDE_SPEKTRUM)
 	/* SPEKTRUM init must come before comms */
+	PIOS_RTC_Init();  // Spektrum uses RTC to check for frame failures
 	PIOS_SPEKTRUM_Init();
 
 	if (PIOS_USART_Init(&pios_usart_spektrum_id, &pios_usart_spektrum_cfg)) {

flight/PiOS/Boards/STM32103CB_AHRS.h

@@ -64,25 +64,8 @@ TIM8  |           |           |           |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-//#define FUNC_ID				2
-//#define HW_VERSION			69
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x02
-#define BOARD_REVISION		0x01
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			0x20000 //128K
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08002000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
-#define BOARD_WRITABLA	TRUE
+#define BOARD_WRITABLE	TRUE
 #define MAX_DEL_RETRYS	3
 
 //------------------------
@@ -107,11 +90,6 @@ TIM8  |           |           |           |
 //-------------------------
 #define PIOS_MASTER_CLOCK			72000000
 #define PIOS_PERIPHERAL_CLOCK			(PIOS_MASTER_CLOCK / 2)
-#if defined(USE_BOOTLOADER)
-#define PIOS_NVIC_VECTTAB_FLASH			(START_OF_USER_CODE)
-#else
-#define PIOS_NVIC_VECTTAB_FLASH			((uint32_t)0x08000000)
-#endif
 
 //-------------------------
 // Interrupt Priorities

flight/PiOS/Boards/STM32103CB_CC_Rev1.h

@@ -60,23 +60,8 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-//#define FUNC_ID				2
-//#define HW_VERSION			69
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x04
-#define BOARD_REVISION		0x01
-#define MEM_SIZE			0x20000 //128K
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08003000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
-#define BOARD_WRITABLA	TRUE
+#define BOARD_WRITABLE	TRUE
 #define MAX_DEL_RETRYS	3
 
 
@@ -117,11 +102,6 @@ TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
 //-------------------------
 #define PIOS_MASTER_CLOCK			72000000
 #define PIOS_PERIPHERAL_CLOCK			(PIOS_MASTER_CLOCK / 2)
-#if defined(USE_BOOTLOADER)
-#define PIOS_NVIC_VECTTAB_FLASH			(START_OF_USER_CODE)
-#else
-#define PIOS_NVIC_VECTTAB_FLASH			((uint32_t)0x08000000)
-#endif
 
 //-------------------------
 // Interrupt Priorities

flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h

@@ -58,20 +58,8 @@ TIM4  |                     STOPWATCH                    |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x03
-#define BOARD_REVISION		0x01
-#define MEM_SIZE		(0x20000 - 0x00400) // 128K - 1K (reserved for config data)
-#define SIZE_OF_DESCRIPTION	100
-#define START_OF_USER_CODE	(uint32_t)0x08003000
-#define SIZE_OF_CODE		(uint32_t)(MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
-#define BOARD_WRITABLA	TRUE
+#define BOARD_WRITABLE	TRUE
 #define MAX_DEL_RETRYS	3
 
 
@@ -81,12 +69,6 @@ TIM4  |                     STOPWATCH                    |
 #define PIOS_MASTER_CLOCK                       72000000ul
 #define PIOS_PERIPHERAL_CLOCK                   (PIOS_MASTER_CLOCK / 2)
 
-#if defined(USE_BOOTLOADER)
-  #define PIOS_NVIC_VECTTAB_FLASH               (START_OF_USER_CODE)
-#else
-  #define PIOS_NVIC_VECTTAB_FLASH               ((uint32_t)0x08000000)
-#endif
-
 // *****************************************************************
 // Interrupt Priorities
 

flight/PiOS/Boards/STM3210E_INS.h

@@ -69,27 +69,8 @@ TIM8  |           |           |           |
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-
-//#define FUNC_ID				1
-//#define HW_VERSION			01
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE			0x05  // INS board
-#define BOARD_REVISION		0x01  // Beta version
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			524288 //512K
-#define SIZE_OF_DESCRIPTION	(uint8_t) 100
-#define START_OF_USER_CODE	(uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
-#define SIZE_OF_CODE		(uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
-#define BOARD_WRITABLA	TRUE
+#define BOARD_WRITABLE	TRUE
 #define MAX_DEL_RETRYS	3
 
 //------------------------
@@ -176,11 +157,6 @@ extern uint32_t pios_com_aux_id;
 //-------------------------
 #define PIOS_MASTER_CLOCK                       72000000
 #define PIOS_PERIPHERAL_CLOCK                   (PIOS_MASTER_CLOCK / 2)
-#if defined(USE_BOOTLOADER)
-#define PIOS_NVIC_VECTTAB_FLASH                 (START_OF_USER_CODE)
-#else
-#define PIOS_NVIC_VECTTAB_FLASH                 ((uint32_t)0x08000000)
-#endif
 
 //-------------------------
 // Interrupt Priorities

flight/PiOS/Boards/STM3210E_OP.h

@@ -68,27 +68,8 @@ TIM8  | Servo 5   | Servo 6   | Servo 7   | Servo 8
 //------------------------
 // BOOTLOADER_SETTINGS
 //------------------------
-
-//#define FUNC_ID				1
-//#define HW_VERSION			01
-
-#define BOOTLOADER_VERSION	0
-#define BOARD_TYPE		0x01  // OpenPilot board
-#define BOARD_REVISION		0x01  // Beta version
-//#define HW_VERSION	(BOARD_TYPE << 8) | BOARD_REVISION
-
-#define MEM_SIZE			524288 //512K
-#define SIZE_OF_DESCRIPTION	(uint8_t) 100
-#define START_OF_USER_CODE	(uint32_t)0x08005000//REMEMBER SET ALSO IN link_stm32f10x_HD_BL.ld
-#define SIZE_OF_CODE		(uint32_t) (MEM_SIZE-(START_OF_USER_CODE-0x08000000)-SIZE_OF_DESCRIPTION)
-
-#ifdef STM32F10X_HD
-		#define HW_TYPE			0 //0=high_density 1=medium_density;
-#elif STM32F10X_MD
-		#define HW_TYPE			1 //0=high_density 1=medium_density;
-#endif
 #define BOARD_READABLE	TRUE
-#define BOARD_WRITABLA	TRUE
+#define BOARD_WRITABLE	TRUE
 #define MAX_DEL_RETRYS	3
 
 //------------------------
@@ -203,11 +184,6 @@ extern uint32_t pios_com_spektrum_id;
 //-------------------------
 #define PIOS_MASTER_CLOCK                       72000000
 #define PIOS_PERIPHERAL_CLOCK                   (PIOS_MASTER_CLOCK / 2)
-#if defined(USE_BOOTLOADER)
-#define PIOS_NVIC_VECTTAB_FLASH                 (START_OF_USER_CODE)
-#else
-#define PIOS_NVIC_VECTTAB_FLASH                 ((uint32_t)0x08000000)
-#endif
 
 //-------------------------
 // Interrupt Priorities

flight/PiOS/Common/pios_bl_helper.c

@@ -31,6 +31,7 @@
 /* Project Includes */
 #include "pios.h"
 #if defined(PIOS_INCLUDE_BL_HELPER)
+#include <pios_board_info.h>
 #include "stm32f10x_flash.h"
 
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
@@ -47,10 +48,10 @@ uint8_t PIOS_BL_HELPER_FLASH_Ini()
 
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
-	uint32_t pageAdress;
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	pageAdress = START_OF_USER_CODE;
+	uint32_t pageAdress = bdinfo->fw_base;
 	uint8_t fail = FALSE;
-	while ((pageAdress < START_OF_USER_CODE + SIZE_OF_CODE + SIZE_OF_DESCRIPTION)
+	while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
 	       || (fail == TRUE)) {
 		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
 			if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
@@ -75,17 +76,20 @@ uint8_t PIOS_BL_HELPER_FLASH_Start()
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+
 	PIOS_BL_HELPER_CRC_Ini();
 	CRC_ResetDR();
-	CRC_CalcBlockCRC((uint32_t *) START_OF_USER_CODE, (SIZE_OF_CODE) >> 2);
+	CRC_CalcBlockCRC((uint32_t *) bdinfo->fw_base, (bdinfo->fw_size) >> 2);
 	return CRC_GetCRC();
 }
 
 void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size)
 {
+	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 	uint8_t x = 0;
-	if (size>SIZE_OF_DESCRIPTION) size = SIZE_OF_DESCRIPTION;
+	if (size > bdinfo->desc_size) size = bdinfo->desc_size;
-	for (uint32_t i = START_OF_USER_CODE + SIZE_OF_CODE; i < START_OF_USER_CODE + SIZE_OF_CODE + size; ++i) {
+	for (uint32_t i = bdinfo->fw_base + bdinfo->fw_size; i < bdinfo->fw_base + bdinfo->fw_size + size; ++i) {
 		array[x] = *PIOS_BL_HELPER_FLASH_If_Read(i);
 		++x;
 	}

flight/PiOS/Common/pios_board_info.c

@@ -9,8 +9,12 @@ const struct pios_board_info __attribute__((__used__)) __attribute__((__section_
   .board_rev  = BOARD_REVISION,
   .bl_rev     = BOOTLOADER_VERSION,
   .hw_type    = HW_TYPE,
-  .fw_base    = START_OF_USER_CODE,
+  .fw_base    = FW_BANK_BASE,
-  .fw_size    = SIZE_OF_CODE,
+  .fw_size    = FW_BANK_SIZE - FW_DESC_SIZE,
-  .desc_base  = START_OF_USER_CODE + SIZE_OF_CODE,
+  .desc_base  = FW_BANK_BASE + FW_BANK_SIZE - FW_DESC_SIZE,
-  .desc_size  = SIZE_OF_DESCRIPTION,
+  .desc_size  = FW_DESC_SIZE,
+#ifdef EE_BANK_BASE
+  .ee_base    = EE_BANK_BASE,
+  .ee_size    = EE_BANK_SIZE,
+#endif
 };

flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h

@@ -138,7 +138,7 @@ extern void vPortYieldFromISR( void );
 extern void vPortEnterCritical( void );
 extern void vPortExitCritical( void );
 
-void PIOS_RTC_Start();
+void PIOS_RTC_Init();
 uint32_t PIOS_RTC_Counter();
 	
 #define portDISABLE_INTERRUPTS()	portSET_INTERRUPT_MASK()

flight/PiOS/STM32F10x/link_STM32103CB_AHRS_BL_sections.ld

@@ -5,6 +5,7 @@ SECTIONS
 {
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM32103CB_AHRS_sections.ld

@@ -1,16 +1,13 @@
+PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+
 _estack = 0x20004FF0;
 
 /* Section Definitions */
 SECTIONS
 {
-    .boardinfo :
-    {
-	. = ALIGN(4);
-	PROVIDE(pios_board_info_blob = .);
-    } > BD_INFO
-
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld

@@ -10,6 +10,7 @@ SECTIONS
 {
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld

@@ -3,19 +3,16 @@ PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   xPortPendSVHandler = 0 ) ;
 PROVIDE (   xPortSysTickHandler = 0 ) ;
 
+PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+
 _estack = 0x20004FF0;
 
 /* Section Definitions */
 SECTIONS
 {
-    .boardinfo :
-    {
-	. = ALIGN(4);
-	PROVIDE(pios_board_info_blob = .);
-    } > BD_INFO
-
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld

@@ -10,6 +10,7 @@ SECTIONS
 {
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_memory.ld

@@ -2,6 +2,7 @@ MEMORY
 {
     BL_FLASH (rx) : ORIGIN = 0x08000000,        LENGTH = 0x03000 - 0x00080
     BD_INFO (r)   : ORIGIN = 0x08003000 - 0x80, LENGTH =           0x00080
-    FLASH (rx)    : ORIGIN = 0x08003000,        LENGTH = 0x20000 - 0x03000
+    FLASH (rx)    : ORIGIN = 0x08003000,        LENGTH = 0x20000 - 0x03000 - 0x00400
+    EE_FLASH (rw) : ORIGIN = 0x0801FC00,        LENGTH = 0x00400
     SRAM (rwx)    : ORIGIN = 0x20000000,        LENGTH = 0x05000
 }

flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_sections.ld

@@ -3,19 +3,16 @@ PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   xPortPendSVHandler = 0 ) ;
 PROVIDE (   xPortSysTickHandler = 0 ) ;
 
+PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
+
 _estack = 0x20004FF0;
 
 /* Section Definitions */
 SECTIONS
 {
-    .boardinfo :
-    {
-	. = ALIGN(4);
-	PROVIDE(pios_board_info_blob = .);
-    } > BD_INFO
-
     .text :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector .isr_vector.*))
         *(.text .text.* .gnu.linkonce.t.*)
         *(.glue_7t) *(.glue_7)

flight/PiOS/STM32F10x/link_STM3210E_INS_BL_sections.ld

@@ -1,7 +1,7 @@
 /**
  ******************************************************************************
  *
- * @file       link_STM3210E_INS_HD_BL.ld   
+ * @file       link_STM3210E_INS_HD_NB.ld   
  * @author     David "Buzz" Carlson (buzz@chebuzz.com)
  * 				The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. 
  * @brief      PiOS linker for the OpenPilot INS board
@@ -24,26 +24,11 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* Memory Spaces Definitions */
-MEMORY
-{
-  RAM (xrw) :     ORIGIN = 0x20000000, LENGTH = 64K
-  FLASH (rx) :    ORIGIN = 0x08005000, LENGTH = 492K
-  FLASHB1 (rx) :  ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
-_estack = 0x20004FF0;
-
 /* This is the size of the stack for early init and for all FreeRTOS IRQs */
 _irq_stack_size = 0x400;
 
 /* Check valid alignment for VTOR */
-ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
+ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
 
 /*
 this sends all unreferenced IRQHandlers to reset
@@ -208,9 +193,10 @@ SECTIONS
     /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
     .isr_vector :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector))            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > BL_FLASH
 
     /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
     .flashtext :
@@ -218,7 +204,7 @@ SECTIONS
         . = ALIGN(4);
         *(.flashtext)            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > BL_FLASH
  
     
     /* init sections */
@@ -229,7 +215,7 @@ SECTIONS
         KEEP(*(.initcalluavobj.init))
 	. = ALIGN(4);
 	__uavobj_initcall_end   = .;
-    } >FLASH
+    } > BL_FLASH
 
     /* the program code is stored in the .text section, which goes to Flash */
     .text :
@@ -247,7 +233,7 @@ SECTIONS
          _etext = .;
             /* This is used by the startup in order to initialize the .data secion */
          _sidata = _etext;
-    } >FLASH
+    } > BL_FLASH
     
 
     /* 
@@ -354,6 +340,13 @@ SECTIONS
     __exidx_start = .;
     __exidx_end = .;
     
+    .boardinfo :
+    {
+	. = ALIGN(4);
+	KEEP(*(.boardinfo))
+	. = ALIGN(4);
+    } > BD_INFO
+
     /* after that it's only debugging information. */
     
     /* remove the debugging information from the standard libraries */

flight/PiOS/STM32F10x/link_STM3210E_INS_memory.ld

@@ -0,0 +1,13 @@
+/* Memory Spaces Definitions */
+MEMORY
+{
+  RAM (xrw)     : ORIGIN = 0x20000000,        LENGTH = 0x10000
+  BL_FLASH (rx) : ORIGIN = 0x08000000,        LENGTH = 0x05000 - 0x00080
+  BD_INFO (r)   : ORIGIN = 0x08005000 - 0x80, LENGTH =           0x00080
+  FLASH (rx)    : ORIGIN = 0x08005000,        LENGTH = 0x80000 - 0x05000
+  FLASHB1 (rx)  : ORIGIN = 0x00000000,        LENGTH = 0
+  EXTMEMB0 (rx) : ORIGIN = 0x00000000,        LENGTH = 0
+  EXTMEMB1 (rx) : ORIGIN = 0x00000000,        LENGTH = 0
+  EXTMEMB2 (rx) : ORIGIN = 0x00000000,        LENGTH = 0
+  EXTMEMB3 (rx) : ORIGIN = 0x00000000,        LENGTH = 0
+}

flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld

@@ -24,21 +24,6 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-
-/* Memory Spaces Definitions */
-MEMORY
-{
-  RAM (xrw) :     ORIGIN = 0x20000000, LENGTH = 64K
-  FLASH (rx) :    ORIGIN = 0x08000000, LENGTH = 512K
-  FLASHB1 (rx) :  ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB0 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB1 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB2 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-  EXTMEMB3 (rx) : ORIGIN = 0x00000000, LENGTH = 0
-}
-
-_estack = 0x20004FF0;
-
 /* This is the size of the stack for early init and for all FreeRTOS IRQs */
 _irq_stack_size = 0x400;
 
@@ -62,10 +47,10 @@ PROVIDE (   HardFault_Handler = 0 ) ;
 PROVIDE (   MemManage_Handler = 0 ) ;
 PROVIDE (   BusFault_Handler = 0 ) ;
 PROVIDE (   UsageFault_Handler = 0 ) ;
-PROVIDE (   SVC_Handler = 0 ) ;
+PROVIDE (   vPortSVCHandler = 0 ) ;
 PROVIDE (   DebugMon_Handler = 0 ) ;
-PROVIDE (   PendSV_Handler = 0 ) ;
+PROVIDE (   xPortPendSVHandler = 0 ) ;
-PROVIDE (   SysTick_Handler = 0 ) ;
+PROVIDE (   xPortSysTickHandler = 0 ) ;
 
 PROVIDE (   WWDG_IRQHandler = 0 ) ;
 PROVIDE (   PVD_IRQHandler = 0 ) ;
@@ -199,18 +184,19 @@ PROVIDE ( SysTick         = (SCS_BASE + 0x0010) ) ;
 PROVIDE ( NVIC            = (SCS_BASE + 0x0100) ) ;
 PROVIDE ( SCB             = (SCS_BASE + 0x0D00) ) ;
 
+PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
 
 /* Sections Definitions */
 
 SECTIONS
 {
-     
     /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
     .isr_vector :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector))            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > FLASH
 
     /* for some STRx devices, the beginning of the startup code is stored in the .flashtext section, which goes to FLASH */
     .flashtext :
@@ -218,7 +204,7 @@ SECTIONS
         . = ALIGN(4);
         *(.flashtext)            /* Startup code */
         . = ALIGN(4);
-    } >FLASH
+    } > FLASH
  
     
     /* init sections */
@@ -229,7 +215,7 @@ SECTIONS
         KEEP(*(.initcalluavobj.init))
 	. = ALIGN(4);
 	__uavobj_initcall_end   = .;
-    } >FLASH
+    } > FLASH
 
     /* the program code is stored in the .text section, which goes to Flash */
     .text :
@@ -247,7 +233,7 @@ SECTIONS
          _etext = .;
             /* This is used by the startup in order to initialize the .data secion */
          _sidata = _etext;
-    } >FLASH
+    } > FLASH
     
 
     /* 

flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld

@@ -2,7 +2,7 @@
 _irq_stack_size = 0x400;
 
 /* Check valid alignment for VTOR */
-ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
+ASSERT(ORIGIN(BL_FLASH) == ALIGN(ORIGIN(BL_FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
 
 /*
 this sends all unreferenced IRQHandlers to reset
@@ -166,6 +166,7 @@ SECTIONS
     /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
     .isr_vector :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector))            /* Startup code */
         . = ALIGN(4);
     } > BL_FLASH

flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld

@@ -158,20 +158,16 @@ PROVIDE ( SysTick         = (SCS_BASE + 0x0010) ) ;
 PROVIDE ( NVIC            = (SCS_BASE + 0x0100) ) ;
 PROVIDE ( SCB             = (SCS_BASE + 0x0D00) ) ;
 
+PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
 
 /* Sections Definitions */
 
 SECTIONS
 {
-    .boardinfo :
-    {
-	. = ALIGN(4);
-	PROVIDE(pios_board_info_blob = .);
-    } > BD_INFO
-
     /* for Cortex devices, the beginning of the startup code is stored in the .isr_vector section, which goes to FLASH */
     .isr_vector :
     {
+        PROVIDE (pios_isr_vector_table_base = .);
         KEEP(*(.isr_vector))            /* Startup code */
         . = ALIGN(4);
     } >FLASH

flight/PiOS/STM32F10x/pios_delay.c

@@ -104,6 +104,28 @@ int32_t PIOS_DELAY_WaitmS(uint16_t mS)
 	return 0;
 }
 
+/**
+ * @brief Query the Delay timer for the current uS 
+ * @return A microsecond value
+ */
+uint16_t PIOS_DELAY_GetuS()
+{
+	return PIOS_DELAY_TIMER->CNT;
+}
+
+/**
+ * @brief Compute the difference between now and a reference time
+ * @param[in] the reference time to compare now to
+ * @return The number of uS since the delay
+ * 
+ * @note the user is responsible for worrying about rollover on the 16 bit uS counter
+ */
+int32_t PIOS_DELAY_DiffuS(uint16_t ref)
+{
+	int32_t ret_t = ref;
+	return (int16_t) (PIOS_DELAY_GetuS() - ret_t);
+}
+
 #endif
 
 /**

flight/PiOS/STM32F10x/pios_rtc.c

@@ -33,7 +33,11 @@
 
 #if defined(PIOS_INCLUDE_RTC)
 
-void PIOS_RTC_Start()
+#ifndef PIOS_RTC_PRESCALAR
+#define PIOS_RTC_PRESCALAR 100
+#endif
+
+void PIOS_RTC_Init()
 {
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_BKP | RCC_APB1Periph_PWR,
 			       ENABLE);
@@ -44,7 +48,14 @@ void PIOS_RTC_Start()
 	RTC_WaitForLastTask();
 	RTC_WaitForSynchro();
 	RTC_WaitForLastTask();
-	RTC_SetPrescaler(0);	// counting at 8e6 / 128
+
+#if defined(PIOS_INCLUDE_SPEKTRUM)
+	/* Enable the RTC Second interrupt */
+	RTC_ITConfig( RTC_IT_SEC, ENABLE );
+	/* Wait until last write operation on RTC registers has finished */
+	RTC_WaitForLastTask();
+#endif
+	RTC_SetPrescaler(PIOS_RTC_PRESCALAR);	// counting at 8e6 / 128
 	RTC_WaitForLastTask();
 	RTC_SetCounter(0);
 	RTC_WaitForLastTask();
@@ -55,6 +66,15 @@ uint32_t PIOS_RTC_Counter()
 	return RTC_GetCounter();
 }
 
+float PIOS_RTC_Rate()
+{
+	return (float) (8e6 / 128) / (1 + PIOS_RTC_PRESCALAR);
+}
+
+float PIOS_RTC_MsPerTick() 
+{
+	return 1000.0f / PIOS_RTC_Rate();
+}
 
 #endif
 

flight/PiOS/STM32F10x/pios_spektrum.c

@@ -41,16 +41,24 @@
 #error "AUX com cannot be used with SPEKTRUM"
 #endif
 
+/**
+ * @Note Framesyncing:
+ * The code resets the watchdog timer whenever a single byte is received, so what watchdog code
+ * is never called if regularly getting bytes.
+ * RTC timer is running @625Hz, supervisor timer has divider 5 so frame sync comes every 1/125Hz=8ms.
+ * Good for both 11ms and 22ms framecycles
+ */
+
 /* Global Variables */
 
-/* Local Variables, use pios_usart */
+/* Local Variables */
 static uint16_t CaptureValue[12],CaptureValueTemp[12];
 static uint8_t prev_byte = 0xFF, sync = 0, bytecount = 0, datalength=0, frame_error=0, byte_array[20] = { 0 };
-
 uint8_t sync_of = 0;
+uint16_t supv_timer=0;
 
 /**
-* Initialise the onboard USARTs
+* Bind and Initialise Spektrum satellite receiver
 */
 void PIOS_SPEKTRUM_Init(void)
 {
@@ -59,62 +67,15 @@ void PIOS_SPEKTRUM_Init(void)
 		PIOS_SPEKTRUM_Bind();
 	}
 
-	NVIC_InitTypeDef NVIC_InitStructure = pios_spektrum_cfg.irq.init;
+	/* Init RTC supervisor timer interrupt */
-	TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = pios_spektrum_cfg.tim_base_init;
+	NVIC_InitTypeDef NVIC_InitStructure;
-
+	NVIC_InitStructure.NVIC_IRQChannel = RTC_IRQn;
-
+	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID;
-	/* Enable appropriate clock to timer module */
+	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
-	switch((int32_t) pios_spektrum_cfg.timer) {
+	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-		case (int32_t)TIM1:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM1_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1, ENABLE);
-			break;
-		case (int32_t)TIM2:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
-			break;
-		case (int32_t)TIM3:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
-			break;
-		case (int32_t)TIM4:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
-			break;
-#ifdef STM32F10X_HD
-
-		case (int32_t)TIM5:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM5_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM5, ENABLE);
-			break;
-		case (int32_t)TIM6:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
-			break;
-		case (int32_t)TIM7:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM7_IRQn;
-			RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
-			break;
-		case (int32_t)TIM8:
-			NVIC_InitStructure.NVIC_IRQChannel = TIM8_CC_IRQn;
-			RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM8, ENABLE);
-			break;
-#endif
-	}
 	NVIC_Init(&NVIC_InitStructure);
-
+	/* Init RTC clock */
-	/* Configure timer clocks */
+	PIOS_RTC_Init();
-	TIM_InternalClockConfig(pios_spektrum_cfg.timer);
-	TIM_TimeBaseInit(pios_spektrum_cfg.timer, &TIM_TimeBaseStructure);
-
-	/* Enable the Capture Compare Interrupt Request */
-	TIM_ITConfig(pios_spektrum_cfg.timer, pios_spektrum_cfg.ccr, ENABLE);
-
-	/* Clear update pending flag */
-	TIM_ClearFlag(pios_spektrum_cfg.timer, TIM_FLAG_Update);
-
-	/* Enable timers */
-	TIM_Cmd(pios_spektrum_cfg.timer, ENABLE);
 }
 
 /**
@@ -263,8 +224,7 @@ int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
 }
 
 /* Interrupt handler for USART */
-void SPEKTRUM_IRQHandler(uint32_t usart_id)
+void SPEKTRUM_IRQHandler(uint32_t usart_id) {
-{
 	/* by always reading DR after SR make sure to clear any error interrupts */
 	volatile uint16_t sr = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->SR;
 	volatile uint8_t b = pios_spektrum_cfg.pios_usart_spektrum_cfg->regs->DR;
@@ -280,33 +240,34 @@ void SPEKTRUM_IRQHandler(uint32_t usart_id)
 		/* Disable TXE interrupt (TXEIE=0) */
 		USART_ITConfig(pios_spektrum_cfg.pios_usart_spektrum_cfg->regs, USART_IT_TXE, DISABLE);
 	}
-	/* clear "watchdog" timer */
+	/* byte arrived so clear "watchdog" timer */
-	TIM_SetCounter(pios_spektrum_cfg.timer, 0);
+	supv_timer=0;
 }
 
 /**
-* This function handles TIM6 global interrupt request.
+ *@brief This function is called between frames and when a spektrum word hasnt been decoded for too long
-*/
+ *@brief clears the channel values
+ */
 void PIOS_SPEKTRUM_irq_handler() {
-//PIOS_SPEKTRUM_SUPV_IRQ_FUNC {
+	/* 125hz */
-	/* Clear timer interrupt pending bit */
+	supv_timer++;
-	TIM_ClearITPendingBit(pios_spektrum_cfg.timer, TIM_IT_Update);
+	if(supv_timer > 5) {
-
+		/* sync between frames */
-	/* sync between frames */
+		sync = 0;
-	sync = 0;
+		bytecount = 0;
-	bytecount = 0;
+		prev_byte = 0xFF;
-	prev_byte = 0xFF;
+		frame_error = 0;
-	frame_error=0;
+		sync_of++;
-	sync_of++;
+		/* watchdog activated after 100ms silence */
-	/* watchdog activated */
+		if (sync_of > 12) {
-	if (sync_of > 12) {
+			/* signal lost */
-		/* signal lost */
+			sync_of = 0;
-		sync_of = 0;
+			for (int i = 0; i < 12; i++) {
-		for (int i = 0; i < 12; i++)
+				CaptureValue[i] = 0;
-		{
+				CaptureValueTemp[i] = 0;
-			CaptureValue[i] = 0;
+			}
-			CaptureValueTemp[i] = 0;
 		}
+		supv_timer = 0;
 	}
 }
 

flight/PiOS/STM32F10x/pios_sys.c

@@ -186,7 +186,8 @@ int32_t PIOS_SYS_SerialNumberGet(char *str)
 void NVIC_Configuration(void)
 {
 	/* Set the Vector Table base address as specified in .ld file */
-	NVIC_SetVectorTable(PIOS_NVIC_VECTTAB_FLASH, 0x0);
+	extern void pios_isr_vector_table_base;
+	NVIC_SetVectorTable((uint32_t)&pios_isr_vector_table_base, 0x0);
 
 	/* 4 bits for Interrupt priorities so no sub priorities */
 	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);

flight/PiOS/inc/pios_board_info.h

@@ -10,6 +10,8 @@ struct pios_board_info {
   uint32_t fw_size;
   uint32_t desc_base;
   uint32_t desc_size;
+  uint32_t ee_base;
+  uint32_t ee_size;
 } __attribute__((packed));
 
 extern const struct pios_board_info pios_board_info_blob;

flight/PiOS/inc/pios_delay.h

@@ -36,6 +36,8 @@
 extern int32_t PIOS_DELAY_Init(void);
 extern int32_t PIOS_DELAY_WaituS(uint16_t uS);
 extern int32_t PIOS_DELAY_WaitmS(uint16_t mS);
+extern uint16_t PIOS_DELAY_GetuS();
+extern int32_t PIOS_DELAY_DiffuS(uint16_t ref);
 
 #endif /* PIOS_DELAY_H */
 

flight/PiOS/inc/pios_rtc.h

@@ -27,12 +27,14 @@
  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  */
 
-#ifndef PIOS_SERVO_H
+#ifndef PIOS_RTC_H
-#define PIOS_SERVO_H
+#define PIOS_RTC_H
 
 /* Public Functions */
-extern void PIOS_RTC_Start();
+extern void PIOS_RTC_Init();
 extern uint32_t PIOS_RTC_Counter();
+extern float PIOS_RTC_Rate();
+extern float PIOS_RTC_MsPerTick();
 
 #endif /* PIOS_SERVO_H */
 

flight/PiOS/inc/pios_spektrum_priv.h

@@ -37,13 +37,10 @@
 
 struct pios_spektrum_cfg {
 	const struct pios_usart_cfg * pios_usart_spektrum_cfg;
-	TIM_TimeBaseInitTypeDef tim_base_init;
 	GPIO_InitTypeDef gpio_init;
 	uint32_t remap;		/* GPIO_Remap_* */
 	struct stm32_irq irq;
-	TIM_TypeDef * timer;
 	GPIO_TypeDef * port;
-	uint16_t ccr;
 	uint16_t pin;
 };
 

flight/PiOS/pios.h

@@ -73,6 +73,7 @@
 #include <pios_irq.h>
 #include <pios_adc.h>
 #include <pios_servo.h>
+#include <pios_rtc.h>
 #include <pios_i2c.h>
 #include <pios_spi.h>
 #include <pios_ppm.h>

flight/PipXtreme/Makefile

@@ -25,6 +25,13 @@
 WHEREAMI := $(dir $(lastword $(MAKEFILE_LIST)))
 TOP      := $(realpath $(WHEREAMI)/../../)
 include $(TOP)/make/firmware-defs.mk
+include $(TOP)/make/boards/$(BOARD_NAME)/board-info.mk
+
+# Target file name (without extension).
+TARGET := fw_$(BOARD_NAME)
+
+# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
+OUTDIR := $(TOP)/build/$(TARGET)
 
 # Debugging (YES/NO) ?
 DEBUG ?= NO
@@ -43,23 +50,6 @@ FLASH_TOOL = OPENOCD
 # Include the USB files (YES/NO) ?
 USE_USB = YES
 
-# MCU name, submodel and board
-# - MCU used for compiler-option (-mcpu)
-# - MODEL used for linker-script name (-T) and passed as define
-# - BOARD just passed as define (optional)
-MCU      = cortex-m3
-CHIP     = STM32F103CBT
-BOARD    = STM32103CB_PIPXTREME
-#CHIP     = STM32F103C8T
-#BOARD    = STM32103C8_PIPXTREME
-MODEL    = MD
-
-# Directory for output files (lst, obj, dep, elf, sym, map, hex, bin etc.)
-OUTDIR = $(TOP)/build/pipxtreme
-
-# Target file name (without extension).
-TARGET = PipXtreme
-
 # Paths
 HOME_DIR = ./
 HOME_DIR_INC = $(HOME_DIR)/inc
@@ -192,7 +182,7 @@ CPPSRCARM =
 # Even though the DOS/Win* filesystem matches both .s and .S the same,
 # it will preserve the spelling of the filenames, and gcc itself does
 # care about how the name is spelled on its command-line.
-ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL).S
+ASRC = $(PIOSSTM32F10X)/startup_stm32f10x_$(MODEL)$(MODEL_SUFFIX).S
 
 # List Assembler source files here which must be assembled in ARM-Mode..
 ASRCARM = 
@@ -257,7 +247,6 @@ DEBUGF = dwarf-2
 CDEFS = -DSTM32F10X_$(MODEL)
 CDEFS += -DUSE_STDPERIPH_DRIVER
 CDEFS += -DUSE_$(BOARD)
-CDEFS += -DUSE_BOOTLOADER
 
 # Place project-specific -D and/or -U options for 
 # Assembler with preprocessor here.
@@ -340,20 +329,8 @@ LDFLAGS += -lc -lgcc
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_memory.ld
 LDFLAGS += -T$(LINKERSCRIPTPATH)/link_$(BOARD)_sections.ld
 
-OOCD_LOADFILE+=$(OUTDIR)/$(TARGET).bin
-# Program                                                                                                                                                                                                                            
-OOCD_CL+=-c "flash write_image erase $(OOCD_LOADFILE) 0x08003000 bin"
-# Verify
-OOCD_CL+=-c "verify_image $(OOCD_LOADFILE) 0x08003000 bin"
-# reset target
-OOCD_CL+=-c "reset run"
-# terminate OOCD after programming
-OOCD_CL+=-c shutdown
-
 # Define programs and commands.
 REMOVE  = $(REMOVE_CMD) -f
-###SHELL   = sh
-###COPY    = cp
 
 # List of all source files.
 ALLSRC     = $(ASRCARM) $(ASRC) $(SRCARM) $(SRC) $(CPPSRCARM) $(CPPSRC)
@@ -385,14 +362,6 @@ endif
 endif
 endif
 
-# Program the device.
-ifeq ($(FLASH_TOOL),OPENOCD)
-# Program the device with Dominic Rath's OPENOCD in "batch-mode", needs cfg and "reset-script".
-program: $(OUTDIR)/$(TARGET).bin
-	@echo ${quote}Programming with OPENOCD${quote}
-	$(OOCD_EXE) $(OOCD_CL)
-endif
-
 # Link: create ELF output file from object files.
 $(eval $(call LINK_TEMPLATE, $(OUTDIR)/$(TARGET).elf, $(ALLOBJ)))
 
@@ -422,29 +391,33 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
 
 $(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
 
-.PHONY: elf lss sym hex bin bino
+$(eval $(call OPFW_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BOARD_TYPE),$(BOARD_REVISION)))
+
+# Add jtag targets (program and wipe)
+$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE)))
+
+.PHONY: elf lss sym hex bin bino opfw
 elf: $(OUTDIR)/$(TARGET).elf
 lss: $(OUTDIR)/$(TARGET).lss 
 sym: $(OUTDIR)/$(TARGET).sym
 hex: $(OUTDIR)/$(TARGET).hex
 bin: $(OUTDIR)/$(TARGET).bin
 bino: $(OUTDIR)/$(TARGET).bin.o
+opfw: $(OUTDIR)/$(TARGET).opfw
 
 # Display sizes of sections.
 $(eval $(call SIZE_TEMPLATE, $(OUTDIR)/$(TARGET).elf))
-.PHONY: size
-size: $(OUTDIR)/$(TARGET).elf_size
 
 # Generate Doxygen documents
 docs:
 	doxygen  $(DOXYGENDIR)/doxygen.cfg
 
 # Install: install binary file with prefix/suffix into install directory
-install: $(OUTDIR)/$(TARGET).bin
+install: $(OUTDIR)/$(TARGET).opfw
 ifneq ($(INSTALL_DIR),)
 	@echo $(MSG_INSTALLING) $(call toprel, $<)
 	$(V1) mkdir -p $(INSTALL_DIR)
-	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).bin
+	$(V1) $(INSTALL) $< $(INSTALL_DIR)/$(INSTALL_PFX)$(TARGET)$(INSTALL_SFX).opfw
 else
 	$(error INSTALL_DIR must be specified for $@)
 endif
@@ -486,4 +459,4 @@ else
 endif
 
 # Listing of phony targets.
-.PHONY : all build clean clean_list program install
+.PHONY : all build clean clean_list install

ground/openpilotgcs/copydata.pro

@@ -52,11 +52,21 @@ equals(copydata, 1) {
             data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_PLUGINS]/sqldrivers/$$dll\") $$targetPath(\"$$GCS_APP_PATH/sqldrivers/$$dll\") $$addNewline()
         }
 
-        # copy SDL (if available) - Simple DirectMedia Layer (www.libsdl.org)
+        # copy SDL - Simple DirectMedia Layer (www.libsdl.org)
+        # Check the wiki for SDL installation, it should be copied first
+        # (make sure that the Qt installation path below is correct)
+        #
+        # - For qt-sdk-win-opensource-2010.05.exe:
+        #   xcopy /s /e <SDL>\bin\SDL.dll   C:\Qt\2010.05\mingw\bin\SDL.dll
+        #   xcopy /s /e <SDL>\include\SDL\* C:\Qt\2010.05\mingw\include\SDL
+        #   xcopy /s /e <SDL>\lib\*         C:\Qt\2010.05\mingw\lib
+        #
+        # - For Qt_SDK_Win_offline_v1_1_1_en.exe:
+        #   xcopy /s /e <SDL>\bin\SDL.dll   C:\QtSDK\Desktop\Qt\4.7.3\mingw\bin\SDL.dll
+        #   xcopy /s /e <SDL>\include\SDL\* C:\QtSDK\Desktop\Qt\4.7.3\mingw\include\SDL
+        #   xcopy /s /e <SDL>\lib\*         C:\QtSDK\Desktop\Qt\4.7.3\mingw\lib
         SDL_DLL = SDL.dll
-        exists($$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\")) {
+        data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
-            data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_BINS]/../../mingw/bin/$$SDL_DLL\") $$targetPath(\"$$GCS_APP_PATH/$$SDL_DLL\") $$addNewline()
-        }
 
         data_copy.target = FORCE
         QMAKE_EXTRA_TARGETS += data_copy

ground/openpilotgcs/src/app/app.pro

@@ -4,10 +4,12 @@ include(../shared/qtsingleapplication/qtsingleapplication.pri)
 TEMPLATE = app
 TARGET = $$GCS_APP_TARGET
 DESTDIR = $$GCS_APP_PATH
+QT += xml
 
 SOURCES += main.cpp
 
 include(../rpath.pri)
+include(../libs/utils/utils.pri)
 
 win32 {
     CONFIG(debug, debug|release):LIBS *= -lExtensionSystemd -lAggregationd  -lQExtSerialPortd

ground/openpilotgcs/src/app/main.cpp

@@ -27,6 +27,7 @@
  */
 
 #include "qtsingleapplication.h"
+#include "utils/xmlconfig.h"
 
 #include <extensionsystem/pluginmanager.h>
 #include <extensionsystem/pluginspec.h>
@@ -243,10 +244,10 @@ int main(int argc, char **argv)
     QString locale = QLocale::system().name();
 
     // Must be done before any QSettings class is created
-    QSettings::setPath(QSettings::IniFormat, QSettings::SystemScope,
+    QSettings::setPath(XmlConfig::XmlSettingsFormat, QSettings::SystemScope,
             QCoreApplication::applicationDirPath()+QLatin1String(SHARE_PATH));
     // keep this in sync with the MainWindow ctor in coreplugin/mainwindow.cpp
-    QSettings settings(QSettings::IniFormat, QSettings::UserScope,
+    QSettings settings(XmlConfig::XmlSettingsFormat, QSettings::UserScope,
                                  QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
 
     overrideSettings(settings, argc, argv);

ground/openpilotgcs/src/libs/utils/pathutils.cpp

@@ -26,6 +26,7 @@
  */
 
 #include "pathutils.h"
+#include "xmlconfig.h"
 #include <stdint.h>
 #include <QDebug>
 
@@ -97,7 +98,7 @@ QString PathUtils::GetStoragePath()
 {
     // This routine works with "/" as the standard:
     // Work out where the settings are stored on the machine
-    QSettings set(QSettings::IniFormat, QSettings::UserScope,QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
+    QSettings set(XmlConfig::XmlSettingsFormat, QSettings::UserScope,QLatin1String("OpenPilot"), QLatin1String("OpenPilotGCS"));
     QFileInfo f(set.fileName());
     QDir dir(f.absoluteDir());
 

ground/openpilotgcs/src/libs/utils/utils.pro

@@ -2,7 +2,8 @@ TEMPLATE = lib
 TARGET = Utils
 
 QT += gui \
-    network
+    network \
+    xml
 
 DEFINES += QTCREATOR_UTILS_LIB
 
@@ -45,6 +46,7 @@ SOURCES += reloadpromptutils.cpp \
     pathutils.cpp \
 	worldmagmodel.cpp \
 	homelocationutil.cpp
+SOURCES += xmlconfig.cpp
 
 win32 {
     SOURCES += abstractprocess_win.cpp \
@@ -95,6 +97,7 @@ HEADERS += utils_global.h \
     pathutils.h \
 	worldmagmodel.h \
 	homelocationutil.h
+HEADERS += xmlconfig.h
 
 FORMS += filewizardpage.ui \
     projectintropage.ui \

ground/openpilotgcs/src/libs/utils/xmlconfig.cpp

@@ -38,6 +38,7 @@
 #include <QRect>
 #include <QSize>
 #include <QPoint>
+#include <QtCore/QUrl>
 
 #define NUM_PREFIX "arr_"
 
@@ -84,6 +85,10 @@ void XmlConfig::handleNode(QDomElement* node, QSettings::SettingsMap &map, QStri
     if ( nodeName.startsWith(NUM_PREFIX) ){
         nodeName.replace(NUM_PREFIX, "");
     }
+    // Xml tags are restrictive with allowed characters,
+    // so we urlencode and replace % with __PCT__ on file
+    nodeName = nodeName.replace("__PCT__", "%");
+    nodeName = QUrl::fromPercentEncoding(nodeName.toAscii());
 
     if ( nodeName == XmlConfig::rootName )
         ;
@@ -99,7 +104,7 @@ void XmlConfig::handleNode(QDomElement* node, QSettings::SettingsMap &map, QStri
             handleNode( static_cast<QDomElement*>(&child), map, path);
         }
         else if ( child.isText() ){
-            qDebug() << "Key: " << path << " Value:" << node->text();
+//            qDebug() << "Key: " << path << " Value:" << node->text();
             map.insert(path, stringToVariant(node->text()));
         }
         else{
@@ -123,6 +128,10 @@ bool XmlConfig::writeXmlFile(QIODevice &device, const QSettings::SettingsMap &ma
             if ( elem == "" ){
                 continue;
             }
+            // Xml tags are restrictive with allowed characters,
+            // so we urlencode and replace % with __PCT__ on file
+            elem = QString(QUrl::toPercentEncoding(elem));
+            elem = elem.replace("%", "__PCT__");
             // For arrays, QT will use simple numbers as keys, which is not a valid element in XML.
             // Therefore we prefixed these.
             if ( elem.startsWith(NUM_PREFIX) ){
@@ -236,8 +245,9 @@ QString XmlConfig::variantToString(const QVariant &v)
         result = QLatin1String("@Variant(");
         result += QString::fromLatin1(a.toBase64().constData());
         result += QLatin1Char(')');
-        qDebug() << "Variant Type: " << v.type();
+	// These were being much too noisy!!
-        qDebug()<< "Variant: " << result;
+        //qDebug() << "Variant Type: " << v.type();
+        //qDebug()<< "Variant: " << result;
 #else
         Q_ASSERT(!"QSettings: Cannot save custom types without QDataStream support");
 #endif

ground/openpilotgcs/src/libs/utils/xmlconfig.h

@@ -26,13 +26,18 @@
 #ifndef XMLCONFIG_H
 #define XMLCONFIG_H
 
-#include "importexport_global.h"
+#if defined(QTCREATOR_UTILS_LIB)
+#  define XMLCONFIG_EXPORT Q_DECL_EXPORT
+#else
+#  define XMLCONFIG_EXPORT Q_DECL_IMPORT
+#endif
 
+#include <QtCore/qglobal.h>
 #include <QSettings>
 #include <QDomElement>
 #include <QObject>
 
-class IMPORTEXPORT_EXPORT XmlConfig : QObject
+class XMLCONFIG_EXPORT XmlConfig : QObject
 {
 
 public:

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>720</width>
-    <height>509</height>
+    <height>537</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -17,7 +17,7 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>1</number>
+      <number>0</number>
      </property>
      <widget class="QWidget" name="tab_2">
       <attribute name="title">
@@ -42,29 +42,6 @@
              <layout class="QVBoxLayout" name="verticalLayout_3">
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_2">
-                <item>
-                 <widget class="QPushButton" name="multiPointHelp">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>20</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string/>
-                  </property>
-                  <property name="icon">
-                   <iconset resource="configgadget.qrc">
-                    <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QLabel" name="label_3">
                   <property name="font">
@@ -152,29 +129,6 @@
              <layout class="QVBoxLayout" name="verticalLayout_4">
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_8">
-                <item>
-                 <widget class="QPushButton" name="sensorNoiseHelp">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="maximumSize">
-                   <size>
-                    <width>20</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string/>
-                  </property>
-                  <property name="icon">
-                   <iconset resource="configgadget.qrc">
-                    <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QLabel" name="label">
                   <property name="font">
@@ -278,23 +232,6 @@ Hint: run this with engines at cruising speed.</string>
              <layout class="QVBoxLayout" name="verticalLayout_5">
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_9">
-                <item>
-                 <widget class="QPushButton" name="accelBiasHelp">
-                  <property name="maximumSize">
-                   <size>
-                    <width>20</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string/>
-                  </property>
-                  <property name="icon">
-                   <iconset resource="configgadget.qrc">
-                    <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QLabel" name="label_5">
                   <property name="font">
@@ -368,23 +305,6 @@ Hint: run this with engines at cruising speed.</string>
              <layout class="QVBoxLayout" name="gyroDriftLayout">
               <item>
                <layout class="QHBoxLayout" name="horizontalLayout_11">
-                <item>
-                 <widget class="QPushButton" name="gyroDriftHelp">
-                  <property name="maximumSize">
-                   <size>
-                    <width>20</width>
-                    <height>20</height>
-                   </size>
-                  </property>
-                  <property name="text">
-                   <string/>
-                  </property>
-                  <property name="icon">
-                   <iconset resource="configgadget.qrc">
-                    <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                  </property>
-                 </widget>
-                </item>
                 <item>
                  <widget class="QLabel" name="label_6">
                   <property name="font">
@@ -580,29 +500,6 @@ p, li { white-space: pre-wrap; }
       <layout class="QVBoxLayout" name="verticalLayout_6">
        <item>
         <layout class="QHBoxLayout" name="ahrsSettingsLayout">
-         <item>
-          <widget class="QPushButton" name="insAlgorithmHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QLabel" name="label_2">
            <property name="font">
@@ -638,29 +535,6 @@ p, li { white-space: pre-wrap; }
            </property>
           </spacer>
          </item>
-         <item>
-          <widget class="QPushButton" name="homeLocationHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QLabel" name="label_4">
            <property name="font">
@@ -757,7 +631,7 @@ new home location unless it is in indoor mode.</string>
       </spacer>
      </item>
      <item>
-      <widget class="QPushButton" name="commandHelp">
+      <widget class="QPushButton" name="ahrsHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -766,16 +640,36 @@ new home location unless it is in indoor mode.</string>
        </property>
        <property name="maximumSize">
         <size>
-         <width>20</width>
+         <width>32</width>
-         <height>20</height>
+         <height>32</height>
         </size>
        </property>
+       <property name="font">
+        <font>
+         <kerning>true</kerning>
+        </font>
+       </property>
        <property name="text">
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="configgadget.qrc">
+        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="shortcut">
+        <string>Ctrl+S</string>
+       </property>
+       <property name="default">
+        <bool>false</bool>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
@@ -820,7 +714,7 @@ specific calibration button on top of the screen.</string>
   </layout>
  </widget>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
  <buttongroups>

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

@@ -29,29 +29,6 @@
        </property>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QPushButton" name="acftTypeHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QLabel" name="label">
            <property name="font">
@@ -102,7 +79,7 @@
        <item>
         <widget class="QStackedWidget" name="airframesWidget">
          <property name="currentIndex">
-          <number>0</number>
+          <number>1</number>
          </property>
          <widget class="QWidget" name="fixedWing">
           <property name="enabled">
@@ -116,23 +93,6 @@
             <layout class="QVBoxLayout" name="verticalLayout_6">
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_3">
-               <item>
-                <widget class="QPushButton" name="airplaneTypeHelp">
-                 <property name="maximumSize">
-                  <size>
-                   <width>20</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string/>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="configgadget.qrc">
-                   <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                 </property>
-                </widget>
-               </item>
                <item>
                 <widget class="QLabel" name="label_5">
                  <property name="sizePolicy">
@@ -172,23 +132,6 @@
              </item>
              <item>
               <layout class="QHBoxLayout" name="horizontalLayout_23">
-               <item>
-                <widget class="QPushButton" name="channelAssignmentHelp">
-                 <property name="maximumSize">
-                  <size>
-                   <width>20</width>
-                   <height>20</height>
-                  </size>
-                 </property>
-                 <property name="text">
-                  <string/>
-                 </property>
-                 <property name="icon">
-                  <iconset resource="configgadget.qrc">
-                   <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                 </property>
-                </widget>
-               </item>
                <item>
                 <widget class="QLabel" name="label_7">
                  <property name="font">
@@ -451,23 +394,6 @@
                 <layout class="QVBoxLayout" name="verticalLayout_7">
                  <item>
                   <layout class="QHBoxLayout" name="horizontalLayout_15">
-                   <item>
-                    <widget class="QPushButton" name="throttleCurveHelp">
-                     <property name="maximumSize">
-                      <size>
-                       <width>20</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                     <property name="text">
-                      <string/>
-                     </property>
-                     <property name="icon">
-                      <iconset resource="configgadget.qrc">
-                       <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                     </property>
-                    </widget>
-                   </item>
                    <item>
                     <widget class="QLabel" name="label_13">
                      <property name="font">
@@ -586,29 +512,6 @@
                 <layout class="QVBoxLayout" name="verticalLayout_24">
                  <item>
                   <layout class="QHBoxLayout" name="horizontalLayout_5">
-                   <item>
-                    <widget class="QPushButton" name="multiFrameTypeHelp">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>20</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                     <property name="text">
-                      <string/>
-                     </property>
-                     <property name="icon">
-                      <iconset resource="configgadget.qrc">
-                       <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                     </property>
-                    </widget>
-                   </item>
                    <item>
                     <widget class="QLabel" name="label_15">
                      <property name="font">
@@ -650,29 +553,6 @@
                     <layout class="QVBoxLayout" name="verticalLayout_20">
                      <item>
                       <layout class="QHBoxLayout" name="horizontalLayout_25">
-                       <item>
-                        <widget class="QPushButton" name="mixLevelHelp">
-                         <property name="sizePolicy">
-                          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                           <horstretch>0</horstretch>
-                           <verstretch>0</verstretch>
-                          </sizepolicy>
-                         </property>
-                         <property name="maximumSize">
-                          <size>
-                           <width>20</width>
-                           <height>20</height>
-                          </size>
-                         </property>
-                         <property name="text">
-                          <string/>
-                         </property>
-                         <property name="icon">
-                          <iconset resource="configgadget.qrc">
-                           <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                         </property>
-                        </widget>
-                       </item>
                        <item>
                         <widget class="QLabel" name="label_4">
                          <property name="font">
@@ -885,29 +765,6 @@ Typical value is 50% for + or X configuration on quads.</string>
                      </property>
                     </spacer>
                    </item>
-                   <item>
-                    <widget class="QPushButton" name="throttleCurveHelp_2">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>20</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                     <property name="text">
-                      <string/>
-                     </property>
-                     <property name="icon">
-                      <iconset resource="configgadget.qrc">
-                       <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                     </property>
-                    </widget>
-                   </item>
                    <item>
                     <widget class="QLabel" name="label_24">
                      <property name="font">
@@ -985,7 +842,7 @@ Typical value is 50% for + or X configuration on quads.</string>
               </layout>
              </item>
              <item>
-              <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,0,3">
+              <layout class="QHBoxLayout" name="horizontalLayout_6" stretch="1,3">
                <property name="spacing">
                 <number>10</number>
                </property>
@@ -993,29 +850,6 @@ Typical value is 50% for + or X configuration on quads.</string>
                 <layout class="QVBoxLayout" name="verticalLayout_10">
                  <item>
                   <layout class="QHBoxLayout" name="horizontalLayout_26">
-                   <item>
-                    <widget class="QPushButton" name="tricopterYawHelp">
-                     <property name="sizePolicy">
-                      <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                       <horstretch>0</horstretch>
-                       <verstretch>0</verstretch>
-                      </sizepolicy>
-                     </property>
-                     <property name="maximumSize">
-                      <size>
-                       <width>20</width>
-                       <height>20</height>
-                      </size>
-                     </property>
-                     <property name="text">
-                      <string/>
-                     </property>
-                     <property name="icon">
-                      <iconset resource="configgadget.qrc">
-                       <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                     </property>
-                    </widget>
-                   </item>
                    <item>
                     <widget class="QLabel" name="label_23">
                      <property name="font">
@@ -1085,46 +919,6 @@ Typical value is 50% for + or X configuration on quads.</string>
                  </item>
                 </layout>
                </item>
-               <item>
-                <layout class="QVBoxLayout" name="verticalLayout_26">
-                 <item>
-                  <widget class="QPushButton" name="motorOutputChanHelp">
-                   <property name="sizePolicy">
-                    <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                     <horstretch>0</horstretch>
-                     <verstretch>0</verstretch>
-                    </sizepolicy>
-                   </property>
-                   <property name="maximumSize">
-                    <size>
-                     <width>20</width>
-                     <height>20</height>
-                    </size>
-                   </property>
-                   <property name="text">
-                    <string/>
-                   </property>
-                   <property name="icon">
-                    <iconset resource="configgadget.qrc">
-                     <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-                   </property>
-                  </widget>
-                 </item>
-                 <item>
-                  <spacer name="verticalSpacer_3">
-                   <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>
-               </item>
                <item>
                 <widget class="QGroupBox" name="groupBox">
                  <property name="title">
@@ -2137,19 +1931,34 @@ p, li { white-space: pre-wrap; }
           </spacer>
          </item>
          <item>
-          <widget class="QPushButton" name="commandHelp">
+          <widget class="QPushButton" name="airframeHelp">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
            <property name="maximumSize">
             <size>
-             <width>20</width>
+             <width>32</width>
-             <height>20</height>
+             <height>32</height>
             </size>
            </property>
            <property name="text">
             <string/>
            </property>
            <property name="icon">
-            <iconset resource="configgadget.qrc">
+            <iconset resource="../coreplugin/core.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
+             <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+           </property>
+           <property name="iconSize">
+            <size>
+             <width>32</width>
+             <height>32</height>
+            </size>
+           </property>
+           <property name="flat">
+            <bool>true</bool>
            </property>
           </widget>
          </item>
@@ -2196,29 +2005,6 @@ p, li { white-space: pre-wrap; }
         <layout class="QVBoxLayout" name="verticalLayout_11" stretch="0,1,0,0,0,0">
          <item>
           <layout class="QHBoxLayout" name="horizontalLayout_24">
-           <item>
-            <widget class="QPushButton" name="feedForwardHelp">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="configgadget.qrc">
-               <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-             </property>
-            </widget>
-           </item>
            <item>
             <widget class="QLabel" name="label_19">
              <property name="font">
@@ -2530,29 +2316,6 @@ p, li { white-space: pre-wrap; }
              </property>
             </spacer>
            </item>
-           <item>
-            <widget class="QPushButton" name="commandHelp_2">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="maximumSize">
-              <size>
-               <width>20</width>
-               <height>20</height>
-              </size>
-             </property>
-             <property name="text">
-              <string/>
-             </property>
-             <property name="icon">
-              <iconset resource="configgadget.qrc">
-               <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-             </property>
-            </widget>
-           </item>
            <item>
             <widget class="QPushButton" name="ffGetCurrent">
              <property name="toolTip">
@@ -2608,7 +2371,7 @@ p, li { white-space: pre-wrap; }
   </customwidget>
  </customwidgets>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections>
   <connection>

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>331</width>
+    <width>455</width>
-    <height>324</height>
+    <height>428</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -18,29 +18,6 @@
     <layout class="QVBoxLayout" name="verticalLayout_8">
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout_7">
-       <item>
-        <widget class="QPushButton" name="attitudeRotationHelp">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-         <property name="icon">
-          <iconset resource="configgadget.qrc">
-           <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-         </property>
-        </widget>
-       </item>
        <item>
         <widget class="QLabel" name="label_6">
          <property name="font">
@@ -158,29 +135,6 @@
     <layout class="QVBoxLayout" name="verticalLayout_7">
      <item>
       <layout class="QHBoxLayout" name="horizontalLayout_6">
-       <item>
-        <widget class="QPushButton" name="attitudeCalibHelp">
-         <property name="sizePolicy">
-          <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-           <horstretch>0</horstretch>
-           <verstretch>0</verstretch>
-          </sizepolicy>
-         </property>
-         <property name="maximumSize">
-          <size>
-           <width>20</width>
-           <height>20</height>
-          </size>
-         </property>
-         <property name="text">
-          <string/>
-         </property>
-         <property name="icon">
-          <iconset resource="configgadget.qrc">
-           <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-         </property>
-        </widget>
-       </item>
        <item>
         <widget class="QLabel" name="label_7">
          <property name="font">
@@ -284,29 +238,6 @@
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_4">
-     <item>
-      <widget class="QPushButton" name="zeroOnArmHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QCheckBox" name="zeroGyroBiasOnArming">
        <property name="toolTip">
@@ -363,7 +294,7 @@ arming it in that case!</string>
       </spacer>
      </item>
      <item>
-      <widget class="QPushButton" name="commandHelp">
+      <widget class="QPushButton" name="ccAttitudeHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -372,16 +303,25 @@ arming it in that case!</string>
        </property>
        <property name="maximumSize">
         <size>
-         <width>20</width>
+         <width>32</width>
-         <height>20</height>
+         <height>32</height>
         </size>
        </property>
        <property name="text">
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="configgadget.qrc">
+        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
@@ -411,23 +351,10 @@ arming it in that case!</string>
      </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>
   </layout>
  </widget>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
 </ui>

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

@@ -37,7 +37,8 @@
 #include <QThread>
 #include <iostream>
 #include <Eigen/align-function.h>
-#include <QSignalMapper>
+#include <QDesktopServices>
+#include <QUrl>
 
 #include "assertions.h"
 #include "calibration.h"
@@ -228,25 +229,8 @@ ConfigAHRSWidget::ConfigAHRSWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_ahrs->startDriftCalib, SIGNAL(clicked()),this, SLOT(launchGyroDriftCalibration()));
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(ahrsSettingsRequest()));
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(m_ahrs->ahrsHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( m_ahrs->multiPointHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->multiPointHelp, m_ahrs->multiPointHelp->objectName());
-    connect( m_ahrs->sensorNoiseHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->sensorNoiseHelp, m_ahrs->sensorNoiseHelp->objectName());
-    connect( m_ahrs->accelBiasHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->accelBiasHelp, m_ahrs->accelBiasHelp->objectName());
-    connect( m_ahrs->gyroDriftHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->gyroDriftHelp, m_ahrs->gyroDriftHelp->objectName());
-    connect( m_ahrs->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->commandHelp, QString("commandHelp"));
-    connect( m_ahrs->insAlgorithmHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->insAlgorithmHelp, m_ahrs->insAlgorithmHelp->objectName());
-    connect( m_ahrs->homeLocationHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_ahrs->homeLocationHelp, m_ahrs->homeLocationHelp->objectName());
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
-
 }
 
 ConfigAHRSWidget::~ConfigAHRSWidget()
@@ -1222,6 +1206,11 @@ void ConfigAHRSWidget::ahrsSettingsSaveSD()
 
 }
 
+void ConfigAHRSWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/INS+Configuration", QUrl::StrictMode) );
+}
 
 /**
   @}

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

@@ -126,6 +126,7 @@ private slots:
     void enableHomeLocSave(UAVObject *obj);
     void launchAHRSCalibration();
     void saveAHRSCalibration();
+    void openHelp();
     void launchAccelBiasCalibration();
     void calibPhase2();
     void incrementProgress();

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

@@ -34,7 +34,8 @@
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
 #include <math.h>
-#include <QSignalMapper>
+#include <QDesktopServices>
+#include <QUrl>
 
 /**
   Helper delegate for the custom mixer editor table.
@@ -193,32 +194,8 @@ ConfigAirframeWidget::ConfigAirframeWidget(QWidget *parent) : ConfigTaskWidget(p
 
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestAircraftUpdate()));
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( m_aircraft->acftTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->acftTypeHelp, m_aircraft->acftTypeHelp->objectName());
-    connect( m_aircraft->airplaneTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->airplaneTypeHelp, m_aircraft->airplaneTypeHelp->objectName());
-    connect( m_aircraft->channelAssignmentHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->channelAssignmentHelp, m_aircraft->channelAssignmentHelp->objectName());
-    connect( m_aircraft->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->commandHelp, QString("commandHelp"));
-    connect( m_aircraft->throttleCurveHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->throttleCurveHelp, QString("throttleCurveHelp"));
-    connect( m_aircraft->multiFrameTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->multiFrameTypeHelp, m_aircraft->multiFrameTypeHelp->objectName());
-    connect( m_aircraft->throttleCurveHelp_2, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->throttleCurveHelp_2, QString("throttleCurveHelp"));
-    connect( m_aircraft->tricopterYawHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->tricopterYawHelp, m_aircraft->tricopterYawHelp->objectName());
-    connect( m_aircraft->motorOutputChanHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->motorOutputChanHelp, m_aircraft->motorOutputChanHelp->objectName());
-    connect( m_aircraft->feedForwardHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->feedForwardHelp, m_aircraft->feedForwardHelp->objectName());
-    connect( m_aircraft->commandHelp_2, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_aircraft->commandHelp_2, QString("commandHelp"));
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
 }
 
 ConfigAirframeWidget::~ConfigAirframeWidget()
@@ -2161,3 +2138,9 @@ void ConfigAirframeWidget::saveAircraftUpdate()
 
 }
 
+void ConfigAirframeWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Airframe+configuration", QUrl::StrictMode) );
+}
+

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

@@ -89,6 +89,7 @@ private slots:
     void updateCustomThrottle1CurveValue(QList<double> list, double value);
     void updateCustomThrottle2CurveValue(QList<double> list, double value);
     void enableFFTest();
+    void openHelp();
 
 protected:
     void showEvent(QShowEvent *event);

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

@@ -30,7 +30,8 @@
 #include <QMutexLocker>
 #include <QMessageBox>
 #include <QDebug>
-#include <QSignalMapper>
+#include <QDesktopServices>
+#include <QUrl>
 
 ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
         ConfigTaskWidget(parent),
@@ -46,18 +47,8 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(getCurrentAttitudeSettings()));
     getCurrentAttitudeSettings(); // The 1st time this panel is instanciated, the autopilot is already connected.
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( ui->attitudeRotationHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(ui->attitudeRotationHelp, ui->attitudeRotationHelp->objectName());
-    connect( ui->attitudeCalibHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(ui->attitudeCalibHelp, ui->attitudeCalibHelp->objectName());
-    connect( ui->zeroOnArmHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(ui->zeroOnArmHelp, ui->zeroOnArmHelp->objectName());
-    connect( ui->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(ui->commandHelp, QString("commandHelp"));
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
 }
 
 ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
@@ -183,3 +174,10 @@ void ConfigCCAttitudeWidget::saveAttitudeSettings() {
     UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
     saveObjectToSD(obj);
 }
+
+void ConfigCCAttitudeWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/CopterControl+Attitude+Configuration", QUrl::StrictMode) );
+}
+

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

@@ -53,6 +53,7 @@ private slots:
     void saveAttitudeSettings();
     void applyAttitudeSettings();
     void getCurrentAttitudeSettings();
+    void openHelp();
 
 private:
     QMutex startStop;

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

@@ -140,43 +140,5 @@ void ConfigGadgetWidget::onAutopilotConnect() {
     emit autopilotConnected();
 }
 
-void ConfigGadgetWidget::showHelp(const QString &helpName)
-{
-    // Close any previous help windows still open
-    if(help != 0) {
-        help->close();
-    }
-
-    // Make help windows with given filename and resize to config gadget width
-    help = new QTextBrowser(this);
-    help->setSource(QUrl::fromLocalFile( QString(Utils::PathUtils().InsertDataPath("%%DATAPATH%%help/")) +
-					 helpName + QString(".html") ));
-    QSize size = help->sizeHint();
-    size.setWidth(this->width());
-    help->resize(size);
-
-    // Now catch closing events, show the window and give it focus
-    help->installEventFilter(this);
-    help->show();
-    help->setFocus();
-}
-
-bool ConfigGadgetWidget::eventFilter(QObject *obj, QEvent *event)
-{
-    // If help is open and we get a close event, close the help window
-    // Close events currently are any key press and the mouse leaving the help window
-
-    //printf("event type: %d\n",event->type());
-    if(help != 0) {
-        if (event->type() == QEvent::Leave || event->type() == QEvent::KeyPress) {
-            help->close();
-            help=0;
-            return true;
-        }
-    } 
-
-    // standard event processing
-    return QObject::eventFilter(obj, event);
-}
 
 

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

@@ -52,10 +52,6 @@ public:
 
 public slots:
     void onAutopilotConnect();
-    void showHelp(const QString &helpName);
-
-private slots:
-    bool eventFilter(QObject *obj, QEvent *event);
 
 signals:
     void autopilotConnected();

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

@@ -35,7 +35,8 @@
 #include <QtGui/QTextEdit>
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
-#include <QSignalMapper>
+#include <QDesktopServices>
+#include <QUrl>
 
 ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
@@ -156,16 +157,6 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_config->saveRCInputToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
     connect(m_config->getRCInputCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
 
-       // Flightmode panel is connected to the same as rcinput because
-    // the underlying object is the same!
-    connect(m_config->saveFmsToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
-    connect(m_config->saveFmsToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
-    connect(m_config->getFmsCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
-
-    connect(m_config->saveArmToSD, SIGNAL(clicked()), this, SLOT(saveRCInputObject()));
-    connect(m_config->saveArmToRAM, SIGNAL(clicked()), this, SLOT(sendRCInputUpdate()));
-    connect(m_config->getArmCurrent, SIGNAL(clicked()), this, SLOT(requestRCInputUpdate()));
-
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestRCInputUpdate()));
 
     connect(m_config->inSlider0, SIGNAL(valueChanged(int)),this, SLOT(onInSliderValueChanged0(int)));
@@ -201,29 +192,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
         }
     }
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( m_config->receiverTypeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->receiverTypeHelp, m_config->receiverTypeHelp->objectName());
-    connect( m_config->runCalibrationHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->runCalibrationHelp, m_config->runCalibrationHelp->objectName());
-    connect( m_config->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->commandHelp, QString("commandHelp"));
-    connect( m_config->flightModeSwPosHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->flightModeSwPosHelp, m_config->flightModeSwPosHelp->objectName());
-    connect( m_config->stabilizationModePerAxis, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->stabilizationModePerAxis, m_config->stabilizationModePerAxis->objectName());
-    connect( m_config->commandHelp_2, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->commandHelp_2, QString("commandHelp"));
-    connect( m_config->armPositionHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->armPositionHelp, m_config->armPositionHelp->objectName());
-    connect( m_config->armingTimeoutHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->armingTimeoutHelp, m_config->armingTimeoutHelp->objectName());
-    connect( m_config->commandHelp_3, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->commandHelp_2, QString("commandHelp"));
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
-
 }
 
 ConfigInputWidget::~ConfigInputWidget()
@@ -322,15 +292,6 @@ void ConfigInputWidget::enableControls(bool enable)
 	m_config->saveRCInputToRAM->setEnabled(enable);
 	m_config->saveRCInputToSD->setEnabled(enable);
 
-	m_config->saveFmsToSD->setEnabled(enable);
-	m_config->saveFmsToRAM->setEnabled(enable);
-	m_config->getFmsCurrent->setEnabled(enable);
-
-	m_config->saveArmToSD->setEnabled(enable);
-	m_config->saveArmToRAM->setEnabled(enable);
-	m_config->getArmCurrent->setEnabled(enable);
-
-
 	m_config->doRCInputCalibration->setEnabled(enable);
 
 	m_config->ch0Assign->setEnabled(enable);
@@ -719,3 +680,10 @@ void ConfigInputWidget::updateChannelInSlider(QSlider *slider, QLabel *min, QLab
         slider->setValue(value);
     }
 }
+
+void ConfigInputWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
+}
+

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

@@ -90,6 +90,7 @@ private slots:
 	void sendRCInputUpdate();
 	void saveRCInputObject();
         void reverseCheckboxClicked(bool state);
+        void openHelp();
 };
 
 #endif

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

@@ -36,7 +36,8 @@
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
 #include <QMessageBox>
-#include <QSignalMapper>
+#include <QDesktopServices>
+#include <QUrl>
 
 ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
@@ -154,20 +155,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
         }
     }
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( m_config->channelRateHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->channelRateHelp, m_config->channelRateHelp->objectName());
-    connect( m_config->channelValuesHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->channelValuesHelp, m_config->channelValuesHelp->objectName());
-    connect( m_config->spinningArmedlHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->spinningArmedlHelp, m_config->spinningArmedlHelp->objectName());
-    connect( m_config->testOutputsHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->testOutputsHelp, m_config->testOutputsHelp->objectName());
-    connect( m_config->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_config->commandHelp, QString("commandHelp"));
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
 }
 
 ConfigOutputWidget::~ConfigOutputWidget()
@@ -627,5 +616,10 @@ void ConfigOutputWidget::reverseChannel(bool state)
 
 }
 
+void ConfigOutputWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Output+Configuration", QUrl::StrictMode) );
+}
 
 

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

@@ -87,6 +87,7 @@ private slots:
 	void reverseChannel(bool state);
 	void linkToggled(bool state);
         void setSpinningArmed(bool val);
+        void openHelp();
 };
 
 #endif

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

@@ -32,8 +32,8 @@
 #include <QtGui/QTextEdit>
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
-#include <QSignalMapper>
+#include <QDesktopServices>
-
+#include <QUrl>
 
 ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTaskWidget(parent)
 {
@@ -74,20 +74,8 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
     connect(m_stabilization->pitchKi, SIGNAL(valueChanged(double)), this, SLOT(updatePitchKI(double)));
     connect(m_stabilization->pitchILimit, SIGNAL(valueChanged(double)), this, SLOT(updatePitchILimit(double)));
 
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
+    // Connect the help button
-    QSignalMapper* signalMapper = new QSignalMapper(this);
+    connect(m_stabilization->stabilizationHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
-    connect( m_stabilization->rateStabiHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_stabilization->rateStabiHelp, m_stabilization->rateStabiHelp->objectName());
-    connect( m_stabilization->attitudeStabiHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_stabilization->attitudeStabiHelp, m_stabilization->attitudeStabiHelp->objectName());
-    connect( m_stabilization->angleLimitsHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_stabilization->angleLimitsHelp, m_stabilization->angleLimitsHelp->objectName());
-    connect( m_stabilization->updateRealTimeHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_stabilization->updateRealTimeHelp, m_stabilization->updateRealTimeHelp->objectName());
-    connect( m_stabilization->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_stabilization->commandHelp, m_stabilization->commandHelp->objectName());
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
 }
 
 ConfigStabilizationWidget::~ConfigStabilizationWidget()
@@ -290,3 +278,9 @@ void ConfigStabilizationWidget::realtimeUpdateToggle(bool state)
         updateTimer.stop();
 }
 
+void ConfigStabilizationWidget::openHelp()
+{
+
+    QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Stabilization+panel", QUrl::StrictMode) );
+}
+

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

@@ -55,6 +55,7 @@ private slots:
     void sendStabilizationUpdate();
     void saveStabilizationUpdate();
     void realtimeUpdateToggle(bool);
+    void openHelp();
 
     void updateRateRollKP(double);
     void updateRateRollKI(double);

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

@@ -32,7 +32,6 @@
 #include <QtGui/QTextEdit>
 #include <QtGui/QVBoxLayout>
 #include <QtGui/QPushButton>
-#include <QSignalMapper>
 
 
 ConfigTelemetryWidget::ConfigTelemetryWidget(QWidget *parent) : ConfigTaskWidget(parent)
@@ -54,15 +53,6 @@ ConfigTelemetryWidget::ConfigTelemetryWidget(QWidget *parent) : ConfigTaskWidget
     connect(m_telemetry->getTelemetryCurrent, SIGNAL(clicked()), this, SLOT(requestTelemetryUpdate()));
 
     connect(parent, SIGNAL(autopilotConnected()),this, SLOT(requestTelemetryUpdate()));
-
-    // Connect all the help buttons to signal mapper that passes button name to SLOT function
-    QSignalMapper* signalMapper = new QSignalMapper(this);
-    connect( m_telemetry->telemetryHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_telemetry->telemetryHelp, m_telemetry->telemetryHelp->objectName());
-    connect( m_telemetry->commandHelp, SIGNAL(clicked()), signalMapper, SLOT(map()) );
-    signalMapper->setMapping(m_telemetry->commandHelp, QString("commandHelp"));
-
-    connect(signalMapper, SIGNAL(mapped(const QString &)), parent, SLOT(showHelp(const QString &)));
 }
 
 ConfigTelemetryWidget::~ConfigTelemetryWidget()

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

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>617</width>
+    <width>557</width>
-    <height>395</height>
+    <height>462</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -17,1489 +17,980 @@
    <item>
     <widget class="QTabWidget" name="tabWidget">
      <property name="currentIndex">
-      <number>2</number>
+      <number>0</number>
      </property>
-     <widget class="QWidget" name="tab">
+     <widget class="QWidget" name="RCInput">
       <attribute name="title">
        <string>RC Input</string>
       </attribute>
-      <widget class="QLabel" name="ch0Max">
+      <layout class="QGridLayout" name="gridLayout">
-       <property name="geometry">
+       <item row="2" column="0">
-        <rect>
+        <widget class="QComboBox" name="ch1Assign">
-         <x>530</x>
+         <property name="font">
-         <y>40</y>
+          <font>
-         <width>36</width>
+           <family>MS Shell Dlg 2</family>
-         <height>17</height>
+           <pointsize>8</pointsize>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+        </widget>
-        <font>
+       </item>
-         <family>FreeSans</family>
+       <item row="2" column="1">
-         <pointsize>8</pointsize>
+        <widget class="QLabel" name="ch1Cur">
-        </font>
+         <property name="font">
-       </property>
+          <font>
-       <property name="toolTip">
+           <family>FreeSans</family>
-        <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;
+           <pointsize>10</pointsize>
-&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;
+           <weight>75</weight>
-p, li { white-space: pre-wrap; }
+           <bold>true</bold>
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+          </font>
-&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;Maximum channel pulse width&lt;/p&gt;
+         </property>
-&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         <property name="toolTip">
-       </property>
+          <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;
-       <property name="text">
-        <string>2000</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch0Cur">
-       <property name="geometry">
-        <rect>
-         <x>150</x>
-         <y>40</y>
-         <width>51</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch1Min">
+       </item>
-       <property name="geometry">
+       <item row="2" column="2">
-        <rect>
+        <widget class="QLabel" name="ch1Min">
-         <x>205</x>
+         <property name="font">
-         <y>70</y>
+          <font>
-         <width>36</width>
+           <family>FreeSans</family>
-         <height>17</height>
+           <pointsize>8</pointsize>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+         <property name="toolTip">
-        <font>
+          <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;
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch6Min">
+       </item>
-       <property name="geometry">
+       <item row="2" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider1">
-         <x>205</x>
+         <property name="mouseTracking">
-         <y>220</y>
+          <bool>true</bool>
-         <width>36</width>
+         </property>
-         <height>17</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="font">
+         <property name="maximum">
-        <font>
+          <number>2000</number>
-         <family>FreeSans</family>
+         </property>
-         <pointsize>8</pointsize>
+         <property name="value">
-        </font>
+          <number>1500</number>
-       </property>
+         </property>
-       <property name="toolTip">
+         <property name="orientation">
-        <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;
+          <enum>Qt::Horizontal</enum>
-&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;
+         </property>
-p, li { white-space: pre-wrap; }
+        </widget>
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+       </item>
-&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;Minimum channel pulse width&lt;/p&gt;
+       <item row="2" column="6">
-&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        <widget class="QLabel" name="ch1Max">
-       </property>
+         <property name="font">
-       <property name="text">
+          <font>
-        <string>1000</string>
+           <family>FreeSans</family>
-       </property>
+           <pointsize>8</pointsize>
-       <property name="alignment">
+          </font>
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
-       </property>
+         <property name="toolTip">
-      </widget>
+          <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;
-      <widget class="QLabel" name="ch7Cur">
-       <property name="geometry">
-        <rect>
-         <x>150</x>
-         <y>250</y>
-         <width>51</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>1000</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch4Max">
-       <property name="geometry">
-        <rect>
-         <x>530</x>
-         <y>160</y>
-         <width>36</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>2000</string>
+          <string>2000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch7Min">
+       </item>
-       <property name="geometry">
+       <item row="2" column="7">
-        <rect>
+        <widget class="QCheckBox" name="ch1Rev">
-         <x>205</x>
+         <property name="toolTip">
-         <y>250</y>
+          <string>Check this to reverse the channel.
-         <width>36</width>
+(Useful for transmitters without channel
-         <height>17</height>
+reversal capabilities).</string>
-        </rect>
+         </property>
-       </property>
+         <property name="text">
-       <property name="font">
+          <string/>
-        <font>
+         </property>
-         <family>FreeSans</family>
+        </widget>
-         <pointsize>8</pointsize>
+       </item>
-        </font>
+       <item row="3" column="0">
-       </property>
+        <widget class="QComboBox" name="ch2Assign">
-       <property name="toolTip">
+         <property name="font">
-        <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;
+          <font>
+           <family>MS Shell Dlg 2</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="1">
+        <widget class="QLabel" name="ch2Cur">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>10</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="2">
+        <widget class="QLabel" name="ch2Min">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QPushButton" name="getRCInputCurrent">
+       </item>
-       <property name="geometry">
+       <item row="3" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider2">
-         <x>260</x>
+         <property name="mouseTracking">
-         <y>280</y>
+          <bool>true</bool>
-         <width>93</width>
+         </property>
-         <height>27</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="toolTip">
+         <property name="maximum">
-        <string>Retrieve settings from OpenPilot</string>
+          <number>2000</number>
-       </property>
+         </property>
-       <property name="text">
+         <property name="value">
-        <string>Get Current</string>
+          <number>1500</number>
-       </property>
+         </property>
-      </widget>
+         <property name="orientation">
-      <widget class="QLabel" name="ch2Min">
+          <enum>Qt::Horizontal</enum>
-       <property name="geometry">
+         </property>
-        <rect>
+        </widget>
-         <x>205</x>
+       </item>
-         <y>100</y>
+       <item row="3" column="6">
-         <width>36</width>
+        <widget class="QLabel" name="ch2Max">
-         <height>17</height>
+         <property name="font">
-        </rect>
+          <font>
-       </property>
+           <family>FreeSans</family>
-       <property name="font">
+           <pointsize>8</pointsize>
-        <font>
+          </font>
-         <family>FreeSans</family>
+         </property>
-         <pointsize>8</pointsize>
+         <property name="toolTip">
-        </font>
+          <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;
-       </property>
+&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;
-       <property name="toolTip">
+p, li { white-space: pre-wrap; }
-        <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;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="3" column="7">
+        <widget class="QCheckBox" name="ch2Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="0">
+        <widget class="QComboBox" name="ch3Assign">
+         <property name="font">
+          <font>
+           <family>MS Shell Dlg 2</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="1">
+        <widget class="QLabel" name="ch3Cur">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>10</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="2">
+        <widget class="QLabel" name="ch3Min">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch6Max">
+       </item>
-       <property name="geometry">
+       <item row="4" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider3">
-         <x>530</x>
+         <property name="mouseTracking">
-         <y>220</y>
+          <bool>true</bool>
-         <width>36</width>
+         </property>
-         <height>17</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="font">
+         <property name="maximum">
-        <font>
+          <number>2000</number>
-         <family>FreeSans</family>
+         </property>
-         <pointsize>8</pointsize>
+         <property name="value">
-        </font>
+          <number>1500</number>
-       </property>
+         </property>
-       <property name="toolTip">
+         <property name="orientation">
-        <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;
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="4" column="6">
+        <widget class="QLabel" name="ch3Max">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>2000</string>
+          <string>2000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch5Max">
+       </item>
-       <property name="geometry">
+       <item row="4" column="7">
-        <rect>
+        <widget class="QCheckBox" name="ch3Rev">
-         <x>530</x>
+         <property name="toolTip">
-         <y>190</y>
+          <string>Check this to reverse the channel.
-         <width>36</width>
+(Useful for transmitters without channel
-         <height>17</height>
+reversal capabilities).</string>
-        </rect>
+         </property>
-       </property>
+         <property name="text">
-       <property name="font">
+          <string/>
-        <font>
+         </property>
-         <family>FreeSans</family>
+        </widget>
-         <pointsize>8</pointsize>
+       </item>
-        </font>
+       <item row="5" column="0">
-       </property>
+        <widget class="QComboBox" name="ch4Assign">
-       <property name="toolTip">
+         <property name="font">
-        <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;
+          <font>
-&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;
+           <family>MS Shell Dlg 2</family>
-p, li { white-space: pre-wrap; }
+           <pointsize>8</pointsize>
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+          </font>
-&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;Maximum channel pulse width&lt;/p&gt;
+         </property>
-&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+        </widget>
-       </property>
+       </item>
-       <property name="text">
+       <item row="5" column="1">
-        <string>2000</string>
+        <widget class="QLabel" name="ch4Cur">
-       </property>
+         <property name="font">
-      </widget>
+          <font>
-      <widget class="QLabel" name="ch3Max">
+           <family>FreeSans</family>
-       <property name="geometry">
+           <pointsize>10</pointsize>
-        <rect>
+           <weight>75</weight>
-         <x>530</x>
+           <bold>true</bold>
-         <y>130</y>
+          </font>
-         <width>36</width>
+         </property>
-         <height>17</height>
+         <property name="toolTip">
-        </rect>
+          <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;
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>2000</string>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="saveRCInputToSD">
-       <property name="geometry">
-        <rect>
-         <x>460</x>
-         <y>280</y>
-         <width>93</width>
-         <height>27</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch4Cur">
-       <property name="geometry">
-        <rect>
-         <x>150</x>
-         <y>160</y>
-         <width>51</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch4Min">
+       </item>
-       <property name="geometry">
+       <item row="5" column="2">
-        <rect>
+        <widget class="QLabel" name="ch4Min">
-         <x>205</x>
+         <property name="font">
-         <y>160</y>
+          <font>
-         <width>36</width>
+           <family>FreeSans</family>
-         <height>17</height>
+           <pointsize>8</pointsize>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+         <property name="toolTip">
-        <font>
+          <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;
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QPushButton" name="saveRCInputToRAM">
+       </item>
-       <property name="geometry">
+       <item row="5" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider4">
-         <x>360</x>
+         <property name="mouseTracking">
-         <y>280</y>
+          <bool>true</bool>
-         <width>93</width>
+         </property>
-         <height>27</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="toolTip">
+         <property name="maximum">
-        <string>Send to OpenPilot but don't write in SD.
+          <number>2000</number>
-Be sure to set the Neutral position on all sliders before sending!</string>
+         </property>
-       </property>
+         <property name="value">
-       <property name="text">
+          <number>1500</number>
-        <string>Apply</string>
+         </property>
-       </property>
+         <property name="orientation">
-      </widget>
+          <enum>Qt::Horizontal</enum>
-      <widget class="QComboBox" name="ch0Assign">
+         </property>
-       <property name="geometry">
+        </widget>
-        <rect>
+       </item>
-         <x>20</x>
+       <item row="5" column="6">
-         <y>40</y>
+        <widget class="QLabel" name="ch4Max">
-         <width>121</width>
+         <property name="font">
-         <height>21</height>
+          <font>
-        </rect>
+           <family>FreeSans</family>
-       </property>
+           <pointsize>8</pointsize>
-       <property name="font">
+          </font>
-        <font>
+         </property>
-         <family>MS Shell Dlg 2</family>
+         <property name="toolTip">
-         <pointsize>8</pointsize>
+          <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;
-        </font>
-       </property>
-       <property name="iconSize">
-        <size>
-         <width>16</width>
-         <height>16</height>
-        </size>
-       </property>
-       <property name="frame">
-        <bool>true</bool>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch3Min">
-       <property name="geometry">
-        <rect>
-         <x>205</x>
-         <y>130</y>
-         <width>36</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>1000</string>
-       </property>
-       <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch7Max">
-       <property name="geometry">
-        <rect>
-         <x>530</x>
-         <y>250</y>
-         <width>36</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>2000</string>
+          <string>2000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch2Cur">
+       </item>
-       <property name="geometry">
+       <item row="5" column="7">
-        <rect>
+        <widget class="QCheckBox" name="ch4Rev">
-         <x>150</x>
+         <property name="toolTip">
-         <y>100</y>
+          <string>Check this to reverse the channel.
-         <width>51</width>
+(Useful for transmitters without channel
-         <height>17</height>
+reversal capabilities).</string>
-        </rect>
+         </property>
-       </property>
+         <property name="text">
-       <property name="font">
+          <string/>
-        <font>
+         </property>
-         <family>FreeSans</family>
+        </widget>
-         <pointsize>10</pointsize>
+       </item>
-         <weight>75</weight>
+       <item row="6" column="0">
-         <bold>true</bold>
+        <widget class="QComboBox" name="ch5Assign">
-        </font>
+         <property name="font">
-       </property>
+          <font>
-       <property name="toolTip">
+           <family>MS Shell Dlg 2</family>
-        <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;
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+        </widget>
+       </item>
+       <item row="6" column="1">
+        <widget class="QLabel" name="ch5Cur">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>10</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch5Cur">
+       </item>
-       <property name="geometry">
+       <item row="6" column="2">
-        <rect>
+        <widget class="QLabel" name="ch5Min">
-         <x>150</x>
+         <property name="font">
-         <y>190</y>
+          <font>
-         <width>51</width>
+           <family>FreeSans</family>
-         <height>17</height>
+           <pointsize>8</pointsize>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+         <property name="toolTip">
-        <font>
+          <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;
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>1000</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch5Min">
-       <property name="geometry">
-        <rect>
-         <x>205</x>
-         <y>190</y>
-         <width>36</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch1Cur">
+       </item>
-       <property name="geometry">
+       <item row="6" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider5">
-         <x>150</x>
+         <property name="mouseTracking">
-         <y>70</y>
+          <bool>true</bool>
-         <width>51</width>
+         </property>
-         <height>17</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="font">
+         <property name="maximum">
-        <font>
+          <number>2000</number>
-         <family>FreeSans</family>
+         </property>
-         <pointsize>10</pointsize>
+         <property name="value">
-         <weight>75</weight>
+          <number>1500</number>
-         <bold>true</bold>
+         </property>
-        </font>
+         <property name="orientation">
-       </property>
+          <enum>Qt::Horizontal</enum>
-       <property name="toolTip">
+         </property>
-        <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;
+        </widget>
-&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;
+       </item>
-p, li { white-space: pre-wrap; }
+       <item row="6" column="6">
-&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
+        <widget class="QLabel" name="ch5Max">
-&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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         <property name="font">
-       </property>
+          <font>
-       <property name="text">
+           <family>FreeSans</family>
-        <string>1000</string>
+           <pointsize>8</pointsize>
-       </property>
+          </font>
-      </widget>
+         </property>
-      <widget class="QLabel" name="ch6Cur">
+         <property name="toolTip">
-       <property name="geometry">
+          <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;
-        <rect>
-         <x>150</x>
-         <y>220</y>
-         <width>51</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>1000</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch3Cur">
-       <property name="geometry">
-        <rect>
-         <x>150</x>
-         <y>130</y>
-         <width>51</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>10</pointsize>
-         <weight>75</weight>
-         <bold>true</bold>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-       <property name="text">
-        <string>1000</string>
-       </property>
-      </widget>
-      <widget class="QLabel" name="ch2Max">
-       <property name="geometry">
-        <rect>
-         <x>530</x>
-         <y>100</y>
-         <width>36</width>
-         <height>17</height>
-        </rect>
-       </property>
-       <property name="font">
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>2000</string>
+          <string>2000</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="ch1Max">
+       </item>
-       <property name="geometry">
+       <item row="6" column="7">
-        <rect>
+        <widget class="QCheckBox" name="ch5Rev">
-         <x>530</x>
+         <property name="toolTip">
-         <y>70</y>
+          <string>Check this to reverse the channel.
-         <width>36</width>
+(Useful for transmitters without channel
-         <height>17</height>
+reversal capabilities).</string>
-        </rect>
+         </property>
-       </property>
+         <property name="text">
-       <property name="font">
+          <string/>
-        <font>
+         </property>
-         <family>FreeSans</family>
+        </widget>
-         <pointsize>8</pointsize>
+       </item>
-        </font>
+       <item row="7" column="0">
-       </property>
+        <widget class="QComboBox" name="ch6Assign">
-       <property name="toolTip">
+         <property name="font">
-        <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;
+          <font>
+           <family>MS Shell Dlg 2</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+        </widget>
+       </item>
+       <item row="7" column="1">
+        <widget class="QLabel" name="ch6Cur">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>10</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; 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;Maximum channel pulse width&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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
-       </property>
+         <property name="text">
-       <property name="text">
+          <string>1000</string>
-        <string>2000</string>
+         </property>
-       </property>
+        </widget>
-      </widget>
+       </item>
-      <widget class="QLabel" name="ch0Min">
+       <item row="7" column="2">
-       <property name="geometry">
+        <widget class="QLabel" name="ch6Min">
-        <rect>
+         <property name="font">
-         <x>205</x>
+          <font>
-         <y>40</y>
+           <family>FreeSans</family>
-         <width>36</width>
+           <pointsize>8</pointsize>
-         <height>17</height>
+          </font>
-        </rect>
+         </property>
-       </property>
+         <property name="toolTip">
-       <property name="font">
+          <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;
-        <font>
-         <family>FreeSans</family>
-         <pointsize>8</pointsize>
-        </font>
-       </property>
-       <property name="toolTip">
-        <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>1000</string>
+          <string>1000</string>
-       </property>
+         </property>
-       <property name="alignment">
+         <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QComboBox" name="ch1Assign">
+       </item>
-       <property name="geometry">
+       <item row="7" column="3" colspan="3">
-        <rect>
+        <widget class="QSlider" name="inSlider6">
-         <x>20</x>
+         <property name="mouseTracking">
-         <y>70</y>
+          <bool>true</bool>
-         <width>121</width>
+         </property>
-         <height>21</height>
+         <property name="minimum">
-        </rect>
+          <number>1000</number>
-       </property>
+         </property>
-       <property name="font">
+         <property name="maximum">
-        <font>
+          <number>2000</number>
-         <family>MS Shell Dlg 2</family>
+         </property>
-         <pointsize>8</pointsize>
+         <property name="value">
-        </font>
+          <number>1500</number>
-       </property>
+         </property>
-      </widget>
+         <property name="orientation">
-      <widget class="QComboBox" name="ch2Assign">
+          <enum>Qt::Horizontal</enum>
-       <property name="geometry">
+         </property>
-        <rect>
+        </widget>
-         <x>20</x>
+       </item>
-         <y>100</y>
+       <item row="7" column="6">
-         <width>121</width>
+        <widget class="QLabel" name="ch6Max">
-         <height>21</height>
+         <property name="font">
-        </rect>
+          <font>
-       </property>
+           <family>FreeSans</family>
-       <property name="font">
+           <pointsize>8</pointsize>
-        <font>
+          </font>
-         <family>MS Shell Dlg 2</family>
+         </property>
-         <pointsize>8</pointsize>
+         <property name="toolTip">
-        </font>
+          <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;
-       </property>
+&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;
-      </widget>
+p, li { white-space: pre-wrap; }
-      <widget class="QComboBox" name="ch3Assign">
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-       <property name="geometry">
+&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;Maximum channel pulse width&lt;/p&gt;
-        <rect>
+&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         <x>20</x>
+         </property>
-         <y>130</y>
+         <property name="text">
-         <width>121</width>
+          <string>2000</string>
-         <height>21</height>
+         </property>
-        </rect>
+        </widget>
-       </property>
+       </item>
-       <property name="font">
+       <item row="7" column="7">
-        <font>
+        <widget class="QCheckBox" name="ch6Rev">
-         <family>MS Shell Dlg 2</family>
+         <property name="toolTip">
-         <pointsize>8</pointsize>
+          <string>Check this to reverse the channel.
-        </font>
+(Useful for transmitters without channel
-       </property>
+reversal capabilities).</string>
-      </widget>
+         </property>
-      <widget class="QComboBox" name="ch4Assign">
+         <property name="text">
-       <property name="geometry">
+          <string/>
-        <rect>
+         </property>
-         <x>20</x>
+        </widget>
-         <y>160</y>
+       </item>
-         <width>121</width>
+       <item row="8" column="0">
-         <height>21</height>
+        <widget class="QComboBox" name="ch7Assign">
-        </rect>
+         <property name="font">
-       </property>
+          <font>
-       <property name="font">
+           <family>MS Shell Dlg 2</family>
-        <font>
+           <pointsize>8</pointsize>
-         <family>MS Shell Dlg 2</family>
+          </font>
-         <pointsize>8</pointsize>
+         </property>
-        </font>
+        </widget>
-       </property>
+       </item>
-      </widget>
+       <item row="8" column="1">
-      <widget class="QComboBox" name="ch5Assign">
+        <widget class="QLabel" name="ch7Cur">
-       <property name="geometry">
+         <property name="font">
-        <rect>
+          <font>
-         <x>20</x>
+           <family>FreeSans</family>
-         <y>190</y>
+           <pointsize>10</pointsize>
-         <width>121</width>
+           <weight>75</weight>
-         <height>21</height>
+           <bold>true</bold>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+         <property name="toolTip">
-        <font>
+          <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;
-         <family>MS Shell Dlg 2</family>
+&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;
-         <pointsize>8</pointsize>
+p, li { white-space: pre-wrap; }
-        </font>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
-       </property>
+&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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-      </widget>
+         </property>
-      <widget class="QComboBox" name="ch6Assign">
+         <property name="text">
-       <property name="geometry">
+          <string>1000</string>
-        <rect>
+         </property>
-         <x>20</x>
+        </widget>
-         <y>220</y>
+       </item>
-         <width>121</width>
+       <item row="8" column="2">
-         <height>21</height>
+        <widget class="QLabel" name="ch7Min">
-        </rect>
+         <property name="font">
-       </property>
+          <font>
-       <property name="font">
+           <family>FreeSans</family>
-        <font>
+           <pointsize>8</pointsize>
-         <family>MS Shell Dlg 2</family>
+          </font>
-         <pointsize>8</pointsize>
+         </property>
-        </font>
+         <property name="toolTip">
-       </property>
+          <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;
-      </widget>
+&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;
-      <widget class="QComboBox" name="ch7Assign">
+p, li { white-space: pre-wrap; }
-       <property name="geometry">
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
-        <rect>
+&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;Minimum channel pulse width&lt;/p&gt;
-         <x>20</x>
+&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-         <y>250</y>
+         </property>
-         <width>121</width>
+         <property name="text">
-         <height>21</height>
+          <string>1000</string>
-        </rect>
+         </property>
-       </property>
+         <property name="alignment">
-       <property name="font">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-        <font>
+         </property>
-         <family>MS Shell Dlg 2</family>
+        </widget>
-         <pointsize>8</pointsize>
+       </item>
-        </font>
+       <item row="8" column="3" colspan="3">
-       </property>
+        <widget class="QSlider" name="inSlider7">
-      </widget>
+         <property name="mouseTracking">
-      <widget class="QCheckBox" name="doRCInputCalibration">
+          <bool>true</bool>
-       <property name="geometry">
+         </property>
-        <rect>
+         <property name="minimum">
-         <x>40</x>
+          <number>1000</number>
-         <y>283</y>
+         </property>
-         <width>181</width>
+         <property name="maximum">
-         <height>22</height>
+          <number>2000</number>
-        </rect>
+         </property>
-       </property>
+         <property name="value">
-       <property name="font">
+          <number>1500</number>
-        <font>
+         </property>
-         <weight>75</weight>
+         <property name="orientation">
-         <bold>true</bold>
+          <enum>Qt::Horizontal</enum>
-        </font>
+         </property>
-       </property>
+        </widget>
-       <property name="toolTip">
+       </item>
-        <string>Start calibrating the RC Inputs.
+       <item row="8" column="6">
+        <widget class="QLabel" name="ch7Max">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="8" column="7">
+        <widget class="QCheckBox" name="ch7Rev">
+         <property name="toolTip">
+          <string>Check this to reverse the channel.
+(Useful for transmitters without channel
+reversal capabilities).</string>
+         </property>
+         <property name="text">
+          <string/>
+         </property>
+        </widget>
+       </item>
+       <item row="9" column="0" colspan="2">
+        <widget class="QCheckBox" name="doRCInputCalibration">
+         <property name="font">
+          <font>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <string>Start calibrating the RC Inputs.
 Uncheck/Check to restart calibration.
 During calibration: move your RC controls over their whole range,
 then leave them on Neutral, uncheck calibration and save.
 Neutral should be put at the bottom of the slider for the throttle.</string>
-       </property>
+         </property>
-       <property name="text">
+         <property name="text">
-        <string>Run Calibration</string>
+          <string>Run Calibration</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="RCInputConnected">
+       </item>
-       <property name="geometry">
+       <item row="10" column="0" colspan="8">
-        <rect>
+        <widget class="QLabel" name="label_20">
-         <x>260</x>
+         <property name="text">
-         <y>0</y>
+          <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;
-         <width>291</width>
+&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;
-         <height>41</height>
+p, li { white-space: pre-wrap; }
-        </rect>
+&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&gt;
-       </property>
+&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:'Ubuntu'; font-size:10pt; font-weight:600; color:#ff0000;&quot;&gt;BEWARE: make sure your engines are not connected when running calibration!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       <property name="font">
+         </property>
-        <font>
+        </widget>
-         <pointsize>11</pointsize>
+       </item>
-         <weight>75</weight>
+       <item row="0" column="7">
-         <bold>true</bold>
+        <widget class="QLabel" name="label">
-        </font>
+         <property name="text">
-       </property>
+          <string>Rev.</string>
-       <property name="toolTip">
+         </property>
-        <string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
+        </widget>
-       </property>
+       </item>
-       <property name="text">
+       <item row="1" column="7">
-        <string>RC Receiver not connected or invalid input configuration (missing channels)</string>
+        <widget class="QCheckBox" name="ch0Rev">
-       </property>
+         <property name="toolTip">
-       <property name="wordWrap">
+          <string>Check this to reverse the channel.
-        <bool>true</bool>
+(Useful for transmitters without channel
-       </property>
+reversal capabilities).</string>
-      </widget>
+         </property>
-      <widget class="QComboBox" name="receiverType">
+         <property name="text">
-       <property name="geometry">
+          <string/>
-        <rect>
+         </property>
-         <x>140</x>
+        </widget>
-         <y>10</y>
+       </item>
-         <width>91</width>
+       <item row="1" column="6">
-         <height>21</height>
+        <widget class="QLabel" name="ch0Max">
-        </rect>
+         <property name="font">
-       </property>
+          <font>
-       <property name="toolTip">
+           <family>FreeSans</family>
-        <string>Select the receiver type here:
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Maximum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>2000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="3" colspan="3">
+        <widget class="QSlider" name="inSlider0">
+         <property name="mouseTracking">
+          <bool>true</bool>
+         </property>
+         <property name="minimum">
+          <number>1000</number>
+         </property>
+         <property name="maximum">
+          <number>2000</number>
+         </property>
+         <property name="value">
+          <number>1500</number>
+         </property>
+         <property name="orientation">
+          <enum>Qt::Horizontal</enum>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="2">
+        <widget class="QLabel" name="ch0Min">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:8pt; 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;Minimum channel pulse width&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;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+         <property name="alignment">
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="1">
+        <widget class="QLabel" name="ch0Cur">
+         <property name="font">
+          <font>
+           <family>FreeSans</family>
+           <pointsize>10</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <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:'FreeSans'; font-size:10pt; 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-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
+         </property>
+         <property name="text">
+          <string>1000</string>
+         </property>
+        </widget>
+       </item>
+       <item row="1" column="0">
+        <widget class="QComboBox" name="ch0Assign">
+         <property name="font">
+          <font>
+           <family>MS Shell Dlg 2</family>
+           <pointsize>8</pointsize>
+          </font>
+         </property>
+         <property name="iconSize">
+          <size>
+           <width>16</width>
+           <height>16</height>
+          </size>
+         </property>
+         <property name="frame">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="3" colspan="4">
+        <widget class="QLabel" name="RCInputConnected">
+         <property name="font">
+          <font>
+           <pointsize>11</pointsize>
+           <weight>75</weight>
+           <bold>true</bold>
+          </font>
+         </property>
+         <property name="toolTip">
+          <string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
+         </property>
+         <property name="text">
+          <string>RC Receiver not connected or invalid input configuration (missing channels)</string>
+         </property>
+         <property name="wordWrap">
+          <bool>true</bool>
+         </property>
+        </widget>
+       </item>
+       <item row="0" column="1" colspan="2">
+        <widget class="QComboBox" name="receiverType">
+         <property name="toolTip">
+          <string>Select the receiver type here:
 - PWM is the most usual type
 - PPM is connected to input XXX 
 - Spektrum is used with Spektrum 'satellite' receivers</string>
-       </property>
+         </property>
-      </widget>
+        </widget>
-      <widget class="QLabel" name="label_2">
+       </item>
-       <property name="geometry">
+       <item row="0" column="0">
-        <rect>
+        <widget class="QLabel" name="label_2">
-         <x>20</x>
+         <property name="font">
-         <y>10</y>
+          <font>
-         <width>111</width>
+           <weight>75</weight>
-         <height>17</height>
+           <bold>true</bold>
-        </rect>
+          </font>
-       </property>
+         </property>
-       <property name="font">
+         <property name="text">
-        <font>
+          <string>Receiver Type:</string>
-         <weight>75</weight>
+         </property>
-         <bold>true</bold>
+         <property name="alignment">
-        </font>
+          <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
+         </property>
-       <property name="text">
+        </widget>
-        <string>Receiver Type:</string>
+       </item>
-       </property>
+      </layout>
-       <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-       </property>
-      </widget>
-      <widget class="QLabel" name="label_20">
-       <property name="geometry">
-        <rect>
-         <x>20</x>
-         <y>310</y>
-         <width>561</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="text">
-        <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:'Ubuntu'; font-size:11pt; font-weight:600; color:#ff0000;&quot;&gt;BEWARE: make sure your engines are not connected when running calibration!&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider0">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>40</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider1">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>70</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider2">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>100</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider3">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>130</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider4">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>160</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider5">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>190</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider6">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>220</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QSlider" name="inSlider7">
-       <property name="geometry">
-        <rect>
-         <x>250</x>
-         <y>250</y>
-         <width>271</width>
-         <height>21</height>
-        </rect>
-       </property>
-       <property name="mouseTracking">
-        <bool>true</bool>
-       </property>
-       <property name="minimum">
-        <number>1000</number>
-       </property>
-       <property name="maximum">
-        <number>2000</number>
-       </property>
-       <property name="value">
-        <number>1500</number>
-       </property>
-       <property name="orientation">
-        <enum>Qt::Horizontal</enum>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch0Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>40</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QLabel" name="label">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>20</y>
-         <width>31</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="text">
-        <string>Rev.</string>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch1Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>70</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch2Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>100</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch3Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>130</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch4Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>160</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch5Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>190</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch6Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>220</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QCheckBox" name="ch7Rev">
-       <property name="geometry">
-        <rect>
-         <x>560</x>
-         <y>250</y>
-         <width>21</width>
-         <height>22</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Check this to reverse the channel.
-(Useful for transmitters without channel
-reversal capabilities).</string>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="commandHelp">
-       <property name="geometry">
-        <rect>
-         <x>230</x>
-         <y>284</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="runCalibrationHelp">
-       <property name="geometry">
-        <rect>
-         <x>10</x>
-         <y>284</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="receiverTypeHelp">
-       <property name="geometry">
-        <rect>
-         <x>10</x>
-         <y>10</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
      </widget>
      <widget class="QWidget" name="tab_3">
       <attribute name="title">
        <string>Flight Mode Switch Settings</string>
       </attribute>
-      <widget class="QPushButton" name="getFmsCurrent">
-       <property name="geometry">
-        <rect>
-         <x>270</x>
-         <y>310</y>
-         <width>93</width>
-         <height>27</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Retrieve settings from OpenPilot</string>
-       </property>
-       <property name="text">
-        <string>Get Current</string>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="saveFmsToRAM">
-       <property name="geometry">
-        <rect>
-         <x>380</x>
-         <y>310</y>
-         <width>93</width>
-         <height>27</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Send to OpenPilot but don't write in SD.
-Be sure to set the Neutral position on all sliders before sending!</string>
-       </property>
-       <property name="text">
-        <string>Apply</string>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="saveFmsToSD">
-       <property name="geometry">
-        <rect>
-         <x>490</x>
-         <y>310</y>
-         <width>93</width>
-         <height>27</height>
-        </rect>
-       </property>
-       <property name="toolTip">
-        <string>Be sure to set the Neutral position on all sliders before sending!
-Applies and Saves all settings to SD</string>
-       </property>
-       <property name="text">
-        <string>Save</string>
-       </property>
-      </widget>
       <widget class="QLabel" name="label_15">
        <property name="geometry">
         <rect>
-         <x>390</x>
+         <x>310</x>
          <y>10</y>
          <width>201</width>
          <height>17</height>
@@ -1518,7 +1009,7 @@ Applies and Saves all settings to SD</string>
       <widget class="QLabel" name="label_16">
        <property name="geometry">
         <rect>
-         <x>390</x>
+         <x>310</x>
          <y>30</y>
          <width>201</width>
          <height>17</height>
@@ -1760,87 +1251,6 @@ if you have not done so already.</string>
         </property>
        </widget>
       </widget>
-      <widget class="QPushButton" name="flightModeSwPosHelp">
-       <property name="geometry">
-        <rect>
-         <x>5</x>
-         <y>0</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="stabilizationModePerAxis">
-       <property name="geometry">
-        <rect>
-         <x>5</x>
-         <y>130</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-      <widget class="QPushButton" name="commandHelp_2">
-       <property name="geometry">
-        <rect>
-         <x>240</x>
-         <y>314</y>
-         <width>20</width>
-         <height>20</height>
-        </rect>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
      </widget>
      <widget class="QWidget" name="tab_4">
       <attribute name="title">
@@ -1849,29 +1259,6 @@ if you have not done so already.</string>
       <layout class="QVBoxLayout" name="verticalLayout_2">
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout">
-         <item>
-          <widget class="QPushButton" name="armPositionHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QLabel" name="label_17">
            <property name="font">
@@ -1909,29 +1296,6 @@ if you have not done so already.</string>
        </item>
        <item>
         <layout class="QHBoxLayout" name="horizontalLayout_2">
-         <item>
-          <widget class="QPushButton" name="armingTimeoutHelp">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
          <item>
           <widget class="QLabel" name="label_18">
            <property name="text">
@@ -1971,6 +1335,13 @@ if you have not done so already.</string>
          </item>
         </layout>
        </item>
+       <item>
+        <widget class="QLabel" name="label_3">
+         <property name="text">
+          <string>Airframe disarm is done by throttle off and opposite of above combination.</string>
+         </property>
+        </widget>
+       </item>
        <item>
         <spacer name="verticalSpacer">
          <property name="orientation">
@@ -1984,71 +1355,91 @@ if you have not done so already.</string>
          </property>
         </spacer>
        </item>
-       <item>
-        <layout class="QHBoxLayout" name="horizontalLayout_3">
-         <item>
-          <spacer name="horizontalSpacer_3">
-           <property name="orientation">
-            <enum>Qt::Horizontal</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>40</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-         <item>
-          <widget class="QPushButton" name="commandHelp_3">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="maximumSize">
-            <size>
-             <width>20</width>
-             <height>20</height>
-            </size>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="icon">
-            <iconset resource="configgadget.qrc">
-             <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="getArmCurrent">
-           <property name="text">
-            <string>Get Current</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="saveArmToRAM">
-           <property name="text">
-            <string>Apply</string>
-           </property>
-          </widget>
-         </item>
-         <item>
-          <widget class="QPushButton" name="saveArmToSD">
-           <property name="text">
-            <string>Save</string>
-           </property>
-          </widget>
-         </item>
-        </layout>
-       </item>
       </layout>
      </widget>
     </widget>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_5">
+     <item>
+      <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>
+      <widget class="QPushButton" name="inputHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </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>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="getRCInputCurrent">
+       <property name="toolTip">
+        <string>Retrieve settings from OpenPilot</string>
+       </property>
+       <property name="text">
+        <string>Get Current</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCInputToRAM">
+       <property name="toolTip">
+        <string>Send to OpenPilot but don't write in SD.
+Be sure to set the Neutral position on all sliders before sending!</string>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveRCInputToSD">
+       <property name="toolTip">
+        <string>Be sure to set the Neutral position on all sliders before sending!
+Applies and Saves all settings to SD</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
   </layout>
  </widget>
  <tabstops>
@@ -2062,9 +1453,6 @@ if you have not done so already.</string>
   <tabstop>ch7Assign</tabstop>
   <tabstop>receiverType</tabstop>
   <tabstop>doRCInputCalibration</tabstop>
-  <tabstop>getRCInputCurrent</tabstop>
-  <tabstop>saveRCInputToRAM</tabstop>
-  <tabstop>saveRCInputToSD</tabstop>
   <tabstop>fmsSlider</tabstop>
   <tabstop>fmsModePos3</tabstop>
   <tabstop>fmsSsPos3Roll</tabstop>
@@ -2078,12 +1466,9 @@ if you have not done so already.</string>
   <tabstop>fmsSsPos1Roll</tabstop>
   <tabstop>fmsSsPos1Pitch</tabstop>
   <tabstop>fmsSsPos1Yaw</tabstop>
-  <tabstop>getFmsCurrent</tabstop>
-  <tabstop>saveFmsToRAM</tabstop>
-  <tabstop>saveFmsToSD</tabstop>
  </tabstops>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
 </ui>

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

@@ -136,29 +136,6 @@ Leave at 50Hz for fixed wing.</string>
       </item>
       <item row="0" column="0">
        <layout class="QHBoxLayout" name="horizontalLayout_6">
-        <item>
-         <widget class="QPushButton" name="channelRateHelp">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>20</width>
-            <height>20</height>
-           </size>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="configgadget.qrc">
-            <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-          </property>
-         </widget>
-        </item>
         <item>
          <spacer name="horizontalSpacer_3">
           <property name="orientation">
@@ -1052,29 +1029,6 @@ p, li { white-space: pre-wrap; }
        </property>
       </widget>
      </item>
-     <item row="0" column="0">
-      <widget class="QPushButton" name="channelValuesHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-     </item>
     </layout>
    </item>
    <item>
@@ -1092,29 +1046,6 @@ p, li { white-space: pre-wrap; }
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QPushButton" name="spinningArmedlHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QCheckBox" name="spinningArmed">
        <property name="text">
@@ -1152,29 +1083,6 @@ p, li { white-space: pre-wrap; }
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
-     <item>
-      <widget class="QPushButton" name="testOutputsHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QCheckBox" name="channelOutTest">
        <property name="enabled">
@@ -1204,7 +1112,7 @@ p, li { white-space: pre-wrap; }
       </spacer>
      </item>
      <item>
-      <widget class="QPushButton" name="commandHelp">
+      <widget class="QPushButton" name="outputHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -1213,16 +1121,25 @@ p, li { white-space: pre-wrap; }
        </property>
        <property name="maximumSize">
         <size>
-         <width>20</width>
+         <width>32</width>
-         <height>20</height>
+         <height>32</height>
         </size>
        </property>
        <property name="text">
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="configgadget.qrc">
+        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
@@ -1313,7 +1230,7 @@ Applies and Saves all settings to SD</string>
   <tabstop>saveRCOutputToSD</tabstop>
  </tabstops>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
 </ui>

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

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>639</width>
-    <height>657</height>
+    <height>461</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -21,29 +21,6 @@
        <layout class="QVBoxLayout" name="verticalLayout">
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout_3">
-          <item>
-           <widget class="QPushButton" name="rateStabiHelp">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>20</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="text">
-             <string/>
-            </property>
-            <property name="icon">
-             <iconset resource="configgadget.qrc">
-              <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-            </property>
-           </widget>
-          </item>
           <item>
            <widget class="QLabel" name="label_8">
             <property name="font">
@@ -272,29 +249,6 @@ value as YawRate Kp.</string>
         </item>
         <item>
          <layout class="QHBoxLayout" name="horizontalLayout">
-          <item>
-           <widget class="QPushButton" name="attitudeStabiHelp">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="maximumSize">
-             <size>
-              <width>20</width>
-              <height>20</height>
-             </size>
-            </property>
-            <property name="text">
-             <string/>
-            </property>
-            <property name="icon">
-             <iconset resource="configgadget.qrc">
-              <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-            </property>
-           </widget>
-          </item>
           <item>
            <widget class="QLabel" name="label_9">
             <property name="font">
@@ -527,29 +481,6 @@ flying style.</string>
       </item>
       <item>
        <layout class="QHBoxLayout" name="horizontalLayout_4">
-        <item>
-         <widget class="QPushButton" name="angleLimitsHelp">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="maximumSize">
-           <size>
-            <width>20</width>
-            <height>20</height>
-           </size>
-          </property>
-          <property name="text">
-           <string/>
-          </property>
-          <property name="icon">
-           <iconset resource="configgadget.qrc">
-            <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-          </property>
-         </widget>
-        </item>
         <item>
          <widget class="QLabel" name="label_5">
           <property name="font">
@@ -651,29 +582,6 @@ flying style.</string>
    </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_2">
-     <item>
-      <widget class="QPushButton" name="updateRealTimeHelp">
-       <property name="sizePolicy">
-        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-         <horstretch>0</horstretch>
-         <verstretch>0</verstretch>
-        </sizepolicy>
-       </property>
-       <property name="maximumSize">
-        <size>
-         <width>20</width>
-         <height>20</height>
-        </size>
-       </property>
-       <property name="text">
-        <string/>
-       </property>
-       <property name="icon">
-        <iconset resource="configgadget.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-       </property>
-      </widget>
-     </item>
      <item>
       <widget class="QCheckBox" name="realTimeUpdates">
        <property name="toolTip">
@@ -699,7 +607,7 @@ automatically every 300ms, which will help for fast tuning.</string>
       </spacer>
      </item>
      <item>
-      <widget class="QPushButton" name="commandHelp">
+      <widget class="QPushButton" name="stabilizationHelp">
        <property name="sizePolicy">
         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
          <horstretch>0</horstretch>
@@ -708,16 +616,25 @@ automatically every 300ms, which will help for fast tuning.</string>
        </property>
        <property name="maximumSize">
         <size>
-         <width>20</width>
+         <width>32</width>
-         <height>20</height>
+         <height>32</height>
         </size>
        </property>
        <property name="text">
         <string/>
        </property>
        <property name="icon">
-        <iconset resource="configgadget.qrc">
+        <iconset resource="../coreplugin/core.qrc">
-         <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>32</width>
+         <height>32</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
        </property>
       </widget>
      </item>
@@ -747,7 +664,7 @@ automatically every 300ms, which will help for fast tuning.</string>
   </layout>
  </widget>
  <resources>
-  <include location="configgadget.qrc"/>
+  <include location="../coreplugin/core.qrc"/>
  </resources>
  <connections/>
 </ui>

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

@@ -6,192 +6,128 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>720</width>
+    <width>505</width>
-    <height>480</height>
+    <height>389</height>
    </rect>
   </property>
   <property name="windowTitle">
    <string>Form</string>
   </property>
-  <widget class="QFrame" name="frame">
+  <layout class="QVBoxLayout" name="verticalLayout">
-   <property name="geometry">
+   <item>
-    <rect>
+    <widget class="QFrame" name="frame">
-     <x>10</x>
+     <property name="frameShape">
-     <y>10</y>
+      <enum>QFrame::StyledPanel</enum>
-     <width>411</width>
+     </property>
-     <height>321</height>
+     <property name="frameShadow">
-    </rect>
+      <enum>QFrame::Raised</enum>
-   </property>
+     </property>
-   <property name="frameShape">
+     <widget class="QTextBrowser" name="textBrowser">
-    <enum>QFrame::StyledPanel</enum>
+      <property name="geometry">
-   </property>
+       <rect>
-   <property name="frameShadow">
+        <x>10</x>
-    <enum>QFrame::Raised</enum>
+        <y>10</y>
-   </property>
+        <width>361</width>
-   <widget class="QTextBrowser" name="textBrowser">
+        <height>151</height>
-    <property name="geometry">
+       </rect>
-     <rect>
+      </property>
-      <x>10</x>
+      <property name="html">
-      <y>10</y>
+       <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;
-      <width>361</width>
-      <height>151</height>
-     </rect>
-    </property>
-    <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:'Ubuntu'; font-size:11pt; 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;/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>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QLabel" name="label">
+     <widget class="QLabel" name="label">
-    <property name="geometry">
+      <property name="geometry">
-     <rect>
+       <rect>
-      <x>70</x>
+        <x>70</x>
-      <y>200</y>
+        <y>200</y>
-      <width>131</width>
+        <width>131</width>
-      <height>17</height>
+        <height>17</height>
-     </rect>
+       </rect>
-    </property>
+      </property>
-    <property name="font">
+      <property name="font">
-     <font>
+       <font>
-      <pointsize>11</pointsize>
+        <pointsize>11</pointsize>
-      <weight>75</weight>
+        <weight>75</weight>
-      <bold>true</bold>
+        <bold>true</bold>
-     </font>
+       </font>
-    </property>
+      </property>
-    <property name="text">
+      <property name="text">
-     <string>Telemetry speed:</string>
+       <string>Telemetry speed:</string>
-    </property>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QComboBox" name="telemetrySpeed">
+     <widget class="QComboBox" name="telemetrySpeed">
-    <property name="geometry">
+      <property name="geometry">
-     <rect>
+       <rect>
-      <x>200</x>
+        <x>200</x>
-      <y>190</y>
+        <y>190</y>
-      <width>141</width>
+        <width>141</width>
-      <height>31</height>
+        <height>31</height>
-     </rect>
+       </rect>
-    </property>
+      </property>
-    <property name="toolTip">
+      <property name="toolTip">
-     <string>Select the speed here.</string>
+       <string>Select the speed here.</string>
-    </property>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QPushButton" name="saveTelemetryToRAM">
+     <widget class="QPushButton" name="saveTelemetryToRAM">
-    <property name="geometry">
+      <property name="geometry">
-     <rect>
+       <rect>
-      <x>190</x>
+        <x>190</x>
-      <y>280</y>
+        <y>280</y>
-      <width>93</width>
+        <width>93</width>
-      <height>27</height>
+        <height>27</height>
-     </rect>
+       </rect>
-    </property>
+      </property>
-    <property name="toolTip">
+      <property name="toolTip">
-     <string>Send to OpenPilot but don't write in SD.
+       <string>Send to OpenPilot but don't write in SD.
 Beware of not locking yourself out!</string>
-    </property>
+      </property>
-    <property name="text">
+      <property name="text">
-     <string>Apply</string>
+       <string>Apply</string>
-    </property>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QPushButton" name="getTelemetryCurrent">
+     <widget class="QPushButton" name="getTelemetryCurrent">
-    <property name="geometry">
+      <property name="geometry">
-     <rect>
+       <rect>
-      <x>80</x>
+        <x>80</x>
-      <y>280</y>
+        <y>280</y>
-      <width>93</width>
+        <width>93</width>
-      <height>27</height>
+        <height>27</height>
-     </rect>
+       </rect>
-    </property>
+      </property>
-    <property name="toolTip">
+      <property name="toolTip">
-     <string>Retrieve settings from OpenPilot</string>
+       <string>Retrieve settings from OpenPilot</string>
-    </property>
+      </property>
-    <property name="text">
+      <property name="text">
-     <string>Get Current</string>
+       <string>Get Current</string>
-    </property>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QPushButton" name="saveTelemetryToSD">
+     <widget class="QPushButton" name="saveTelemetryToSD">
-    <property name="geometry">
+      <property name="geometry">
-     <rect>
+       <rect>
-      <x>300</x>
+        <x>300</x>
-      <y>280</y>
+        <y>280</y>
-      <width>93</width>
+        <width>93</width>
-      <height>27</height>
+        <height>27</height>
-     </rect>
+       </rect>
-    </property>
+      </property>
-    <property name="toolTip">
+      <property name="toolTip">
-     <string>Applies and Saves all settings to SD.
+       <string>Applies and Saves all settings to SD.
 Beware of not locking yourself out!</string>
-    </property>
+      </property>
-    <property name="text">
+      <property name="text">
-     <string>Save</string>
+       <string>Save</string>
-    </property>
+      </property>
-   </widget>
+     </widget>
-   <widget class="QPushButton" name="telemetryHelp">
+    </widget>
-    <property name="geometry">
+   </item>
-     <rect>
+  </layout>
-      <x>45</x>
-      <y>198</y>
-      <width>20</width>
-      <height>20</height>
-     </rect>
-    </property>
-    <property name="sizePolicy">
-     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-      <horstretch>0</horstretch>
-      <verstretch>0</verstretch>
-     </sizepolicy>
-    </property>
-    <property name="maximumSize">
-     <size>
-      <width>20</width>
-      <height>20</height>
-     </size>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="icon">
-     <iconset resource="configgadget.qrc">
-      <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-    </property>
-   </widget>
-   <widget class="QPushButton" name="commandHelp">
-    <property name="geometry">
-     <rect>
-      <x>45</x>
-      <y>284</y>
-      <width>20</width>
-      <height>20</height>
-     </rect>
-    </property>
-    <property name="sizePolicy">
-     <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-      <horstretch>0</horstretch>
-      <verstretch>0</verstretch>
-     </sizepolicy>
-    </property>
-    <property name="maximumSize">
-     <size>
-      <width>20</width>
-      <height>20</height>
-     </size>
-    </property>
-    <property name="text">
-     <string/>
-    </property>
-    <property name="icon">
-     <iconset resource="configgadget.qrc">
-      <normaloff>:/configgadget/images/help2.png</normaloff>:/configgadget/images/help2.png</iconset>
-    </property>
-   </widget>
-  </widget>
  </widget>
- <resources>
+ <resources/>
-  <include location="configgadget.qrc"/>
- </resources>
  <connections/>
 </ui>

ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml

@@ -0,0 +1,2832 @@
+<gcs>
+  <General>
+    <OverrideLanguage>en_AU</OverrideLanguage>
+    <SaveSettingsOnExit>true</SaveSettingsOnExit>
+  </General>
+  <KeyBindings>
+    <size>0</size>
+  </KeyBindings>
+  <MainWindow>
+    <Color>#666666</Color>
+    <FullScreen>false</FullScreen>
+    <Maximized>true</Maximized>
+  </MainWindow>
+  <Plugins>
+    <SoundNotifyPlugin>
+      <configInfo>
+        <locked>false</locked>
+        <version>1.0.0</version>
+      </configInfo>
+      <data>
+        <Current>
+          <arr_1>
+            <CurrentLanguage></CurrentLanguage>
+            <DataObject></DataObject>
+            <ExpireTimeout>0</ExpireTimeout>
+            <ObjectField></ObjectField>
+            <Repeat></Repeat>
+            <SayOrder></SayOrder>
+            <Sound1></Sound1>
+            <Sound2></Sound2>
+            <Sound3></Sound3>
+            <SoundCollectionPath></SoundCollectionPath>
+            <Value></Value>
+            <ValueSpinBox>0</ValueSpinBox>
+          </arr_1>
+          <size>1</size>
+        </Current>
+        <EnableSound>false</EnableSound>
+        <listNotifies>
+          <size>0</size>
+        </listNotifies>
+      </data>
+    </SoundNotifyPlugin>
+  </Plugins>
+  <UAVGadgetConfigurations>
+    <ConfigGadget>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+      </default>
+    </ConfigGadget>
+    <DialGadget>
+      <Attitude>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Roll</needle1ObjectField>
+          <needle2DataObject>AttitudeActual</needle2DataObject>
+          <needle2Factor>75</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Vertical</needle2Move>
+          <needle2ObjectField>Pitch</needle2ObjectField>
+          <needle3DataObject>AttitudeActual</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Roll</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Attitude>
+      <Baro__PCT__20Altimeter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>10</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Altitude</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Baro__PCT__20Altimeter>
+      <Barometer>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>10</needle1Factor>
+          <needle1MaxValue>1120</needle1MaxValue>
+          <needle1MinValue>1000</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Pressure</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Barometer>
+      <Climbrate>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>VelocityActual</needle1DataObject>
+          <needle1Factor>0.01</needle1Factor>
+          <needle1MaxValue>12</needle1MaxValue>
+          <needle1MinValue>-12</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Down</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Climbrate>
+      <Compass>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Yaw</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Compass>
+      <Deluxe__PCT__20Attitude>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Roll</needle1ObjectField>
+          <needle2DataObject>AttitudeActual</needle2DataObject>
+          <needle2Factor>75</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Vertical</needle2Move>
+          <needle2ObjectField>Pitch</needle2ObjectField>
+          <needle3DataObject>AttitudeActual</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Roll</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Attitude>
+      <Deluxe__PCT__20Baro__PCT__20Altimeter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>10</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Altitude</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Baro__PCT__20Altimeter>
+      <Deluxe__PCT__20Barometer>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>10</needle1Factor>
+          <needle1MaxValue>1120</needle1MaxValue>
+          <needle1MinValue>1000</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Pressure</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Barometer>
+      <Deluxe__PCT__20Climbrate>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>VelocityActual</needle1DataObject>
+          <needle1Factor>0.01</needle1Factor>
+          <needle1MaxValue>11.2</needle1MaxValue>
+          <needle1MinValue>-11.2</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Down</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Climbrate>
+      <Deluxe__PCT__20Compass>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Yaw</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Compass>
+      <Deluxe__PCT__20Groundspeed__PCT__20kph>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>GPSPosition</needle1DataObject>
+          <needle1Factor>3.6</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Groundspeed</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Groundspeed__PCT__20kph>
+      <Deluxe__PCT__20Temperature>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Temperature</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Temperature>
+      <Deluxe__PCT__20Turn__PCT__20Coordinator>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle2</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Roll</needle1ObjectField>
+          <needle2DataObject>AttitudeRaw</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>-20</needle2MinValue>
+          <needle2Move>Horizontal</needle2Move>
+          <needle2ObjectField>accels-X</needle2ObjectField>
+          <needle3DataObject>AttitudeRaw</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>accels-X</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Deluxe__PCT__20Turn__PCT__20Coordinator>
+      <Groundspeed__PCT__20kph>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>GPSPosition</needle1DataObject>
+          <needle1Factor>3.6</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Groundspeed</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Groundspeed__PCT__20kph>
+      <HiContrast__PCT__20Attitude>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Roll</needle1ObjectField>
+          <needle2DataObject>AttitudeActual</needle2DataObject>
+          <needle2Factor>75</needle2Factor>
+          <needle2MaxValue>20</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Vertical</needle2Move>
+          <needle2ObjectField>Pitch</needle2ObjectField>
+          <needle3DataObject>AttitudeActual</needle3DataObject>
+          <needle3Factor>-1</needle3Factor>
+          <needle3MaxValue>360</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Roll</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Attitude>
+      <HiContrast__PCT__20Baro__PCT__20Altimeter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>10</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Altitude</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Baro__PCT__20Altimeter>
+      <HiContrast__PCT__20Barometer>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>10</needle1Factor>
+          <needle1MaxValue>1120</needle1MaxValue>
+          <needle1MinValue>1000</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Pressure</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Barometer>
+      <HiContrast__PCT__20Climbrate>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>VelocityActual</needle1DataObject>
+          <needle1Factor>0.01</needle1Factor>
+          <needle1MaxValue>12</needle1MaxValue>
+          <needle1MinValue>-12</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Down</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Climbrate>
+      <HiContrast__PCT__20Compass>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
+          <dialForegroundID>foreground</dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>AttitudeActual</needle1DataObject>
+          <needle1Factor>-1</needle1Factor>
+          <needle1MaxValue>360</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Yaw</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Compass>
+      <HiContrast__PCT__20Groundspeed__PCT__20kph>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2></dialNeedleID2>
+          <dialNeedleID3></dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>GPSPosition</needle1DataObject>
+          <needle1Factor>3.6</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Groundspeed</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Groundspeed__PCT__20kph>
+      <HiContrast__PCT__20Temperature>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Temperature</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </HiContrast__PCT__20Temperature>
+      <Servo__PCT__20Channel__PCT__201>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>ManualControlCommand</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>2000</needle1MaxValue>
+          <needle1MinValue>1000</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Channel-3</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Servo__PCT__20Channel__PCT__201>
+      <Temperature>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialBackgroundID>background</dialBackgroundID>
+          <dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
+          <dialForegroundID></dialForegroundID>
+          <dialNeedleID1>needle</dialNeedleID1>
+          <dialNeedleID2>needle2</dialNeedleID2>
+          <dialNeedleID3>needle3</dialNeedleID3>
+          <font>Ubuntu,11,-1,5,50,0,0,0,0,0</font>
+          <needle1DataObject>BaroAltitude</needle1DataObject>
+          <needle1Factor>1</needle1Factor>
+          <needle1MaxValue>120</needle1MaxValue>
+          <needle1MinValue>0</needle1MinValue>
+          <needle1Move>Rotate</needle1Move>
+          <needle1ObjectField>Temperature</needle1ObjectField>
+          <needle2DataObject>BaroAltitude</needle2DataObject>
+          <needle2Factor>1</needle2Factor>
+          <needle2MaxValue>100</needle2MaxValue>
+          <needle2MinValue>0</needle2MinValue>
+          <needle2Move>Rotate</needle2Move>
+          <needle2ObjectField>Altitude</needle2ObjectField>
+          <needle3DataObject>BaroAltitude</needle3DataObject>
+          <needle3Factor>1</needle3Factor>
+          <needle3MaxValue>1000</needle3MaxValue>
+          <needle3MinValue>0</needle3MinValue>
+          <needle3Move>Rotate</needle3Move>
+          <needle3ObjectField>Altitude</needle3ObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </Temperature>
+    </DialGadget>
+    <GCSControlGadget>
+      <MS__PCT__20Sidewinder>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <button0Action>0</button0Action>
+          <button0Amount>0</button0Amount>
+          <button0Function>0</button0Function>
+          <button1Action>0</button1Action>
+          <button1Amount>0</button1Amount>
+          <button1Function>0</button1Function>
+          <button2Action>0</button2Action>
+          <button2Amount>0.1</button2Amount>
+          <button2Function>3</button2Function>
+          <button3Action>0</button3Action>
+          <button3Amount>0.1</button3Amount>
+          <button3Function>3</button3Function>
+          <button4Action>0</button4Action>
+          <button4Amount>0</button4Amount>
+          <button4Function>0</button4Function>
+          <button5Action>0</button5Action>
+          <button5Amount>0</button5Amount>
+          <button5Function>0</button5Function>
+          <button6Action>0</button6Action>
+          <button6Amount>0</button6Amount>
+          <button6Function>0</button6Function>
+          <button7Action>0</button7Action>
+          <button7Amount>0</button7Amount>
+          <button7Function>0</button7Function>
+          <channel0Reverse>false</channel0Reverse>
+          <channel1Reverse>false</channel1Reverse>
+          <channel2Reverse>true</channel2Reverse>
+          <channel3Reverse>false</channel3Reverse>
+          <channel4Reverse>false</channel4Reverse>
+          <channel5Reverse>false</channel5Reverse>
+          <channel6Reverse>false</channel6Reverse>
+          <channel7Reverse>false</channel7Reverse>
+          <controlsMode>2</controlsMode>
+          <pitchChannel>1</pitchChannel>
+          <rollChannel>0</rollChannel>
+          <throttleChannel>2</throttleChannel>
+          <yawChannel>3</yawChannel>
+        </data>
+      </MS__PCT__20Sidewinder>
+    </GCSControlGadget>
+    <GpsDisplayGadget>
+      <Flight__PCT__20GPS>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <connectionMode>Telemetry</connectionMode>
+          <defaultDataBits>3</defaultDataBits>
+          <defaultFlow>0</defaultFlow>
+          <defaultParity>0</defaultParity>
+          <defaultPort>Serial port 0</defaultPort>
+          <defaultSpeed>11</defaultSpeed>
+          <defaultStopBits>0</defaultStopBits>
+        </data>
+      </Flight__PCT__20GPS>
+      <GPS__PCT__20Mouse>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <connectionMode>Serial</connectionMode>
+          <defaultDataBits>3</defaultDataBits>
+          <defaultFlow>0</defaultFlow>
+          <defaultParity>0</defaultParity>
+          <defaultPort>Serial port 0</defaultPort>
+          <defaultSpeed>17</defaultSpeed>
+          <defaultStopBits>0</defaultStopBits>
+        </data>
+      </GPS__PCT__20Mouse>
+    </GpsDisplayGadget>
+    <HITL>
+      <Flightgear__PCT__20HITL>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <binPath>\usr\games\fgfs</binPath>
+          <dataPath>\usr\share\games\FlightGear</dataPath>
+          <hostAddress>127.0.0.1</hostAddress>
+          <inPort>9009</inPort>
+          <latitude></latitude>
+          <longitude></longitude>
+          <manual>false</manual>
+          <outPort>9010</outPort>
+          <remoteHostAddress>127.0.0.1</remoteHostAddress>
+          <simulatorId>FG</simulatorId>
+          <startSim>true</startSim>
+        </data>
+      </Flightgear__PCT__20HITL>
+      <XPlane__PCT__20HITL>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <binPath>\home\lafargue\X-Plane 9\X-Plane-i686</binPath>
+          <dataPath>\usr\share\games\FlightGear</dataPath>
+          <hostAddress>127.0.0.3</hostAddress>
+          <inPort>6756</inPort>
+          <latitude></latitude>
+          <longitude></longitude>
+          <manual>false</manual>
+          <outPort>49000</outPort>
+          <remoteHostAddress>127.0.0.1</remoteHostAddress>
+          <simulatorId>X-Plane</simulatorId>
+          <startSim>false</startSim>
+        </data>
+      </XPlane__PCT__20HITL>
+    </HITL>
+    <ImportExportGadget>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>1.0.1</version>
+        </configInfo>
+        <data>
+          <iniFile>gcs.ini</iniFile>
+        </data>
+      </default>
+    </ImportExportGadget>
+    <LineardialGadget>
+      <AHRS__PCT__20CPU>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>50</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>100</redMax>
+          <redMin>80</redMin>
+          <sourceDataObject>AhrsStatus</sourceDataObject>
+          <sourceObjectField>CPULoad</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>80</yellowMax>
+          <yellowMin>50</yellowMin>
+        </data>
+      </AHRS__PCT__20CPU>
+      <Accel__PCT__20Horizontal__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
+          <greenMax>-9</greenMax>
+          <greenMin>-10</greenMin>
+          <maxValue>11</maxValue>
+          <minValue>-11</minValue>
+          <redMax>11</redMax>
+          <redMin>-11</redMin>
+          <sourceDataObject>AttitudeRaw</sourceDataObject>
+          <sourceObjectField>accels-X</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>-5</yellowMax>
+          <yellowMin>-11</yellowMin>
+        </data>
+      </Accel__PCT__20Horizontal__PCT__20X>
+      <Accel__PCT__20Horizontal__PCT__20Y>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
+          <greenMax>-9</greenMax>
+          <greenMin>-10</greenMin>
+          <maxValue>11</maxValue>
+          <minValue>-11</minValue>
+          <redMax>11</redMax>
+          <redMin>-11</redMin>
+          <sourceDataObject>AttitudeRaw</sourceDataObject>
+          <sourceObjectField>accels-Y</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>-5</yellowMax>
+          <yellowMin>-11</yellowMin>
+        </data>
+      </Accel__PCT__20Horizontal__PCT__20Y>
+      <Accel__PCT__20Horizontal__PCT__20Z>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
+          <greenMax>-9</greenMax>
+          <greenMin>-10</greenMin>
+          <maxValue>11</maxValue>
+          <minValue>-11</minValue>
+          <redMax>11</redMax>
+          <redMin>-11</redMin>
+          <sourceDataObject>AttitudeRaw</sourceDataObject>
+          <sourceObjectField>accels-Z</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>-5</yellowMax>
+          <yellowMin>-11</yellowMin>
+        </data>
+      </Accel__PCT__20Horizontal__PCT__20Z>
+      <Arm__PCT__20Status>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>,12,-1,5,50,0,0,0,0,0</font>
+          <greenMax>100</greenMax>
+          <greenMin>66</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>33</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>FlightStatus</sourceDataObject>
+          <sourceObjectField>Armed</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>66</yellowMax>
+          <yellowMin>33</yellowMin>
+        </data>
+      </Arm__PCT__20Status>
+      <Flight__PCT__20Time>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>0.001</factor>
+          <font>,12,-1,5,50,0,0,0,0,0</font>
+          <greenMax>100</greenMax>
+          <greenMin>66</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>33</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>SystemStats</sourceDataObject>
+          <sourceObjectField>FlightTime</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>66</yellowMax>
+          <yellowMin>33</yellowMin>
+        </data>
+      </Flight__PCT__20Time>
+      <Flight__PCT__20mode>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>,12,-1,5,50,0,0,0,0,0</font>
+          <greenMax>100</greenMax>
+          <greenMin>66</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>33</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>FlightStatus</sourceDataObject>
+          <sourceObjectField>FlightMode</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>66</yellowMax>
+          <yellowMin>33</yellowMin>
+        </data>
+      </Flight__PCT__20mode>
+      <GPS__PCT__20Sats>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>,12,-1,5,50,0,0,0,0,0</font>
+          <greenMax>0</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>12</maxValue>
+          <minValue>0</minValue>
+          <redMax>0</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>GPSPosition</sourceDataObject>
+          <sourceObjectField>Satellites</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0</yellowMax>
+          <yellowMin>0</yellowMin>
+        </data>
+      </GPS__PCT__20Sats>
+      <GPS__PCT__20Status>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>,12,-1,5,50,0,0,0,0,0</font>
+          <greenMax>100</greenMax>
+          <greenMin>66</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>33</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>GPSPosition</sourceDataObject>
+          <sourceObjectField>Status</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>66</yellowMax>
+          <yellowMin>33</yellowMin>
+        </data>
+      </GPS__PCT__20Status>
+      <Mainboard__PCT__20CPU>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>50</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>100</maxValue>
+          <minValue>0</minValue>
+          <redMax>100</redMax>
+          <redMin>80</redMin>
+          <sourceDataObject>SystemStats</sourceDataObject>
+          <sourceObjectField>CPULoad</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>80</yellowMax>
+          <yellowMin>50</yellowMin>
+        </data>
+      </Mainboard__PCT__20CPU>
+      <Pitch__PCT__20Desired>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ActuatorDesired</sourceDataObject>
+          <sourceObjectField>Pitch</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Pitch__PCT__20Desired>
+      <Pitch>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ManualControlCommand</sourceDataObject>
+          <sourceObjectField>Pitch</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Pitch>
+      <PitchActual>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.8</greenMax>
+          <greenMin>0.3</greenMin>
+          <maxValue>90</maxValue>
+          <minValue>-90</minValue>
+          <redMax>1</redMax>
+          <redMin>0</redMin>
+          <sourceDataObject>AttitudeActual</sourceDataObject>
+          <sourceObjectField>Pitch</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.9</yellowMax>
+          <yellowMin>0.1</yellowMin>
+        </data>
+      </PitchActual>
+      <Roll__PCT__20Desired>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ActuatorDesired</sourceDataObject>
+          <sourceObjectField>Roll</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Roll__PCT__20Desired>
+      <Roll>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ManualControlCommand</sourceDataObject>
+          <sourceObjectField>Roll</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Roll>
+      <Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>650</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>1200</maxValue>
+          <minValue>0</minValue>
+          <redMax>1200</redMax>
+          <redMin>900</redMin>
+          <sourceDataObject>GCSTelemetryStats</sourceDataObject>
+          <sourceObjectField>RxDataRate</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>900</yellowMax>
+          <yellowMin>650</yellowMin>
+        </data>
+      </Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
+      <Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-horizontal.svg</dFile>
+          <decimalPlaces>0</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>650</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>1200</maxValue>
+          <minValue>0</minValue>
+          <redMax>1200</redMax>
+          <redMin>900</redMin>
+          <sourceDataObject>GCSTelemetryStats</sourceDataObject>
+          <sourceObjectField>TxDataRate</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>900</yellowMax>
+          <yellowMin>650</yellowMin>
+        </data>
+      </Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
+      <Throttle>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>0</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>0</minValue>
+          <redMax>1</redMax>
+          <redMin>0.75</redMin>
+          <sourceDataObject>ManualControlCommand</sourceDataObject>
+          <sourceObjectField>Throttle</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.75</yellowMax>
+          <yellowMin>0.5</yellowMin>
+        </data>
+      </Throttle>
+      <Yaw__PCT__20Desired>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ActuatorDesired</sourceDataObject>
+          <sourceObjectField>Yaw</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Yaw__PCT__20Desired>
+      <Yaw>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <dFile>%%DATAPATH%%dials/default/lineardial-vertical.svg</dFile>
+          <decimalPlaces>2</decimalPlaces>
+          <factor>1</factor>
+          <font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
+          <greenMax>0.5</greenMax>
+          <greenMin>-0.5</greenMin>
+          <maxValue>1</maxValue>
+          <minValue>-1</minValue>
+          <redMax>1</redMax>
+          <redMin>-1</redMin>
+          <sourceDataObject>ManualControlCommand</sourceDataObject>
+          <sourceObjectField>Yaw</sourceObjectField>
+          <useOpenGLFlag>false</useOpenGLFlag>
+          <yellowMax>0.8</yellowMax>
+          <yellowMin>-0.8</yellowMin>
+        </data>
+      </Yaw>
+    </LineardialGadget>
+    <ModelViewGadget>
+      <Aeroquad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Aeroquad__PCT__20__PCT__2B>
+      <Easyquad__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Easyquad__PCT__20X>
+      <Easystar>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Easystar>
+      <Firecracker>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Firecracker>
+      <Funjet>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Funjet>
+      <Gaui__PCT__20330X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Gaui__PCT__20330X>
+      <Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
+      <Hexacopter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Hexacopter>
+      <Quadcopter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Quadcopter>
+      <Scorpion__PCT__20Tricopter>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Scorpion__PCT__20Tricopter>
+      <Test__PCT__20Quad__PCT__20__PCT__2B>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Test__PCT__20Quad__PCT__20__PCT__2B>
+      <Test__PCT__20Quad__PCT__20X>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
+          <bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
+          <enableVbo>false</enableVbo>
+        </data>
+      </Test__PCT__20Quad__PCT__20X>
+    </ModelViewGadget>
+    <OPMapGadget>
+      <Google__PCT__20Sat>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <accessMode>ServerAndCache</accessMode>
+          <cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
+          <defaultLatitude>0</defaultLatitude>
+          <defaultLongitude>0</defaultLongitude>
+          <defaultZoom>2</defaultZoom>
+          <mapProvider>GoogleSatellite</mapProvider>
+          <maxUpdateRate>2000</maxUpdateRate>
+          <showTileGridLines>false</showTileGridLines>
+          <uavSymbol>mapquad.png</uavSymbol>
+          <useMemoryCache>true</useMemoryCache>
+          <useOpenGL>false</useOpenGL>
+        </data>
+      </Google__PCT__20Sat>
+      <Memory__PCT__20Only>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <accessMode>CacheOnly</accessMode>
+          <cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
+          <defaultLatitude>0</defaultLatitude>
+          <defaultLongitude>0</defaultLongitude>
+          <defaultZoom>2</defaultZoom>
+          <mapProvider>GoogleMap</mapProvider>
+          <maxUpdateRate>2000</maxUpdateRate>
+          <showTileGridLines>false</showTileGridLines>
+          <uavSymbol>airplanepip.png</uavSymbol>
+          <useMemoryCache>true</useMemoryCache>
+          <useOpenGL>false</useOpenGL>
+        </data>
+      </Memory__PCT__20Only>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <accessMode>ServerAndCache</accessMode>
+          <cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
+          <defaultLatitude>0</defaultLatitude>
+          <defaultLongitude>0</defaultLongitude>
+          <defaultZoom>2</defaultZoom>
+          <mapProvider>GoogleMap</mapProvider>
+          <maxUpdateRate>2000</maxUpdateRate>
+          <showTileGridLines>false</showTileGridLines>
+          <uavSymbol>mapquad.png</uavSymbol>
+          <useMemoryCache>true</useMemoryCache>
+          <useOpenGL>false</useOpenGL>
+        </data>
+      </default>
+    </OPMapGadget>
+    <PFDGadget>
+      <raw>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>false</beSmooth>
+          <dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
+          <hqFonts>false</hqFonts>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </raw>
+      <smooth>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <beSmooth>true</beSmooth>
+          <dialFile>%%DATAPATH%%pfd/default/pfd.svg</dialFile>
+          <hqFonts>false</hqFonts>
+          <useOpenGLFlag>false</useOpenGLFlag>
+        </data>
+      </smooth>
+    </PFDGadget>
+    <PipXtreme>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+      </default>
+    </PipXtreme>
+    <ScopeGadget>
+      <Accel>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4294901760</color>
+            <uavField>accels-X</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <uavField>accels-Y</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <uavField>accels-Z</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>100</refreshInterval>
+        </data>
+      </Accel>
+      <Actuators>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>20</dataSize>
+          <plotCurve0>
+            <color>4294901760</color>
+            <uavField>Channel-4</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <uavField>Channel-5</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4289374847</color>
+            <uavField>Channel-6</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4289374847</color>
+            <uavField>Channel-7</uavField>
+            <uavObject>ActuatorCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurveCount>4</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>100</refreshInterval>
+        </data>
+      </Actuators>
+      <Attitude>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4283760895</color>
+            <uavField>Roll</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4278233600</color>
+            <uavField>Yaw</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <uavField>Pitch</uavField>
+            <uavObject>AttitudeActual</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>100</refreshInterval>
+        </data>
+      </Attitude>
+      <Barometer>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4278190080</color>
+            <uavField>Pressure</uavField>
+            <uavObject>BaroAltitude</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurveCount>1</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>1000</refreshInterval>
+        </data>
+      </Barometer>
+      <Inputs>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>40</dataSize>
+          <plotCurve0>
+            <color>4278190207</color>
+            <uavField>Channel-1</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294901760</color>
+            <uavField>Channel-4</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <uavField>Channel-5</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294901760</color>
+            <uavField>Channel-6</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294901760</color>
+            <uavField>Channel-7</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4283825920</color>
+            <uavField>Channel-2</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294923520</color>
+            <uavField>Channel-3</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294967040</color>
+            <uavField>Channel-0</uavField>
+            <uavObject>ManualControlCommand</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve7>
+          <plotCurveCount>8</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>200</refreshInterval>
+        </data>
+      </Inputs>
+      <Raw__PCT__20Accels>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4294901760</color>
+            <uavField>accels-X</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <uavField>accels-Y</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <uavField>accels-Z</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>500</refreshInterval>
+        </data>
+      </Raw__PCT__20Accels>
+      <Raw__PCT__20Gyros>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4283804160</color>
+            <uavField>gyros-Z</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <uavField>gyros-Y</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <uavField>gyros-X</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>500</refreshInterval>
+        </data>
+      </Raw__PCT__20Gyros>
+      <Raw__PCT__20magnetometers>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>60</dataSize>
+          <plotCurve0>
+            <color>4294901760</color>
+            <uavField>magnetometers-X</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <uavField>magnetometers-Y</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4283804160</color>
+            <uavField>magnetometers-Z</uavField>
+            <uavObject>AttitudeRaw</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>500</refreshInterval>
+        </data>
+      </Raw__PCT__20magnetometers>
+      <Stacks__PCT__20monitor>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>240</dataSize>
+          <plotCurve0>
+            <color>4294945280</color>
+            <uavField>StackRemaining-System</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294945280</color>
+            <uavField>StackRemaining-Actuator</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve10>
+            <color>4294945280</color>
+            <uavField>StackRemaining-Guidance</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve10>
+          <plotCurve11>
+            <color>4294945280</color>
+            <uavField>StackRemaining-Watchdog</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve11>
+          <plotCurve2>
+            <color>4294945280</color>
+            <uavField>StackRemaining-TelemetryTx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurve3>
+            <color>4294945280</color>
+            <uavField>StackRemaining-TelemetryTxPri</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve3>
+          <plotCurve4>
+            <color>4294945280</color>
+            <uavField>StackRemaining-TelemetryRx</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve4>
+          <plotCurve5>
+            <color>4294945280</color>
+            <uavField>StackRemaining-GPS</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve5>
+          <plotCurve6>
+            <color>4294945280</color>
+            <uavField>StackRemaining-ManualControl</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve6>
+          <plotCurve7>
+            <color>4294945280</color>
+            <uavField>StackRemaining-Altitude</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve7>
+          <plotCurve8>
+            <color>4294945280</color>
+            <uavField>StackRemaining-AHRSComms</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve8>
+          <plotCurve9>
+            <color>4294945280</color>
+            <uavField>StackRemaining-Stabilization</uavField>
+            <uavObject>TaskInfo</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve9>
+          <plotCurveCount>12</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>1000</refreshInterval>
+        </data>
+      </Stacks__PCT__20monitor>
+      <Telemetry__PCT__20quality>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>20</dataSize>
+          <plotCurve0>
+            <color>4289374847</color>
+            <uavField>TxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4283782655</color>
+            <uavField>RxFailures</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurve2>
+            <color>4294901760</color>
+            <uavField>TxRetries</uavField>
+            <uavObject>GCSTelemetryStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve2>
+          <plotCurveCount>3</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>100</refreshInterval>
+        </data>
+      </Telemetry__PCT__20quality>
+      <Uptimes>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <LoggingEnabled>false</LoggingEnabled>
+          <LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
+          <LoggingPath></LoggingPath>
+          <configurationStreamVersion>1000</configurationStreamVersion>
+          <dataSize>240</dataSize>
+          <plotCurve0>
+            <color>4289374847</color>
+            <uavField>RunningTime</uavField>
+            <uavObject>AhrsStatus</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve0>
+          <plotCurve1>
+            <color>4294945407</color>
+            <uavField>FlightTime</uavField>
+            <uavObject>SystemStats</uavObject>
+            <yMaximum>0</yMaximum>
+            <yMinimum>0</yMinimum>
+            <yScalePower>0</yScalePower>
+          </plotCurve1>
+          <plotCurveCount>2</plotCurveCount>
+          <plotType>1</plotType>
+          <refreshInterval>800</refreshInterval>
+        </data>
+      </Uptimes>
+    </ScopeGadget>
+    <SystemHealthGadget>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <diagram>%%DATAPATH%%diagrams/default/system-health.svg</diagram>
+        </data>
+      </default>
+    </SystemHealthGadget>
+    <UAVObjectBrowser>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <manuallyChangedColor>#5baa56</manuallyChangedColor>
+          <recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
+          <recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
+        </data>
+      </default>
+    </UAVObjectBrowser>
+    <Uploader>
+      <default>
+        <configInfo>
+          <locked>false</locked>
+          <version>0.0.0</version>
+        </configInfo>
+        <data>
+          <defaultDataBits>3</defaultDataBits>
+          <defaultFlow>0</defaultFlow>
+          <defaultParity>0</defaultParity>
+          <defaultPort>/dev/ttyS0</defaultPort>
+          <defaultSpeed>14</defaultSpeed>
+          <defaultStopBits>0</defaultStopBits>
+        </data>
+      </default>
+    </Uploader>
+    <configInfo>
+      <locked>false</locked>
+      <version>1.2.0</version>
+    </configInfo>
+  </UAVGadgetConfigurations>
+  <UAVGadgetManager>
+    <Mode1>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <side0>
+              <side0>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Flight Time</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>GPS Sats</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>2</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <type>splitter</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Flight mode</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Arm Status</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>2</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>2</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAA1wAAAAIAAADt)</splitterSizes>
+              <type>splitter</type>
+            </side0>
+            <side1>
+              <classId>PFDGadget</classId>
+              <gadget>
+                <activeConfiguration>raw</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAkAAAAAIAAAJg)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>ModelViewGadget</classId>
+              <gadget>
+                <activeConfiguration>Test Quad X</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <side0>
+                <side0>
+                  <classId>SystemHealthGadget</classId>
+                  <gadget>
+                    <activeConfiguration>default</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <side0>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Mainboard CPU</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side0>
+                  <side1>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>AHRS CPU</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side1>
+                  <splitterOrientation>1</splitterOrientation>
+                  <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAABA)</splitterSizes>
+                  <type>splitter</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIwAAAAIAAACN)</splitterSizes>
+                <type>splitter</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Telemetry RX Rate Horizontal</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Telemetry TX Rate Horizontal</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>2</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABJQAAAAIAAABA)</splitterSizes>
+              <type>splitter</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABMAAAAAIAAAGx)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABxQAAAAIAAAFH)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>OPMapGadget</classId>
+            <gadget>
+              <activeConfiguration>Google Sat</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <side0>
+              <side0>
+                <side0>
+                  <side0>
+                    <classId>DialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Deluxe Groundspeed kph</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side0>
+                  <side1>
+                    <classId>DialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Deluxe Barometer</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side1>
+                  <splitterOrientation>2</splitterOrientation>
+                  <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                  <type>splitter</type>
+                </side0>
+                <side1>
+                  <side0>
+                    <classId>DialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Deluxe Attitude</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side0>
+                  <side1>
+                    <classId>DialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Deluxe Compass</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side1>
+                  <splitterOrientation>2</splitterOrientation>
+                  <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                  <type>splitter</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAgwAAAAIAAACK)</splitterSizes>
+                <type>splitter</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>DialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Deluxe Baro Altimeter</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>DialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Deluxe Climbrate</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>2</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABFQAAAAIAAACH)</splitterSizes>
+              <type>splitter</type>
+            </side0>
+            <side1>
+              <side0>
+                <classId>LineardialGadget</classId>
+                <gadget>
+                  <activeConfiguration>Throttle</activeConfiguration>
+                </gadget>
+                <type>uavGadget</type>
+              </side0>
+              <side1>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Roll Desired</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <side0>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Pitch Desired</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side0>
+                  <side1>
+                    <classId>LineardialGadget</classId>
+                    <gadget>
+                      <activeConfiguration>Yaw Desired</activeConfiguration>
+                    </gadget>
+                    <type>uavGadget</type>
+                  </side1>
+                  <splitterOrientation>1</splitterOrientation>
+                  <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAE3)</splitterSizes>
+                  <type>splitter</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAF4)</splitterSizes>
+                <type>splitter</type>
+              </side1>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG5)</splitterSizes>
+              <type>splitter</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABuQAAAAIAAAED)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7AAAAAIAAAEg)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAC4gAAAAIAAAK9)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode1>
+    <Mode2>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>ConfigGadget</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>LineardialGadget</classId>
+              <gadget>
+                <activeConfiguration>Telemetry RX Rate Horizontal</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>LineardialGadget</classId>
+              <gadget>
+                <activeConfiguration>Telemetry TX Rate Horizontal</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACNQAAAAIAAABC)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>UAVObjectBrowser</classId>
+            <gadget>
+              <activeConfiguration>default</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>GCSControlGadget</classId>
+            <gadget>
+              <activeConfiguration>MS Sidewinder</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABqgAAAAIAAAFi)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAC3gAAAAIAAAJ3)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode2>
+    <Mode3>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <classId>OPMapGadget</classId>
+          <gadget>
+            <activeConfiguration>default</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side0>
+        <side1>
+          <side0>
+            <classId>ModelViewGadget</classId>
+            <gadget>
+              <activeConfiguration>Test Quad X</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>DialGadget</classId>
+              <gadget>
+                <activeConfiguration>Attitude</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>DialGadget</classId>
+              <gadget>
+                <activeConfiguration>Compass</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABiwAAAAIAAADs)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAD1AAAAAIAAAGB)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode3>
+    <Mode4>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>ScopeGadget</classId>
+            <gadget>
+              <activeConfiguration>Accel</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <classId>ScopeGadget</classId>
+            <gadget>
+              <activeConfiguration>Raw Gyros</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <side0>
+            <side0>
+              <classId>ScopeGadget</classId>
+              <gadget>
+                <activeConfiguration>Attitude</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>ScopeGadget</classId>
+              <gadget>
+                <activeConfiguration>Uptimes</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>2</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABhgAAAAIAAAEO)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <classId>LoggingGadget</classId>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAACjQAAAAIAAAKU)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode4>
+    <Mode5>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <side0>
+            <classId>HITL</classId>
+            <gadget>
+              <activeConfiguration>XPlane HITL</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side0>
+          <side1>
+            <side0>
+              <classId>GCSControlGadget</classId>
+              <gadget>
+                <activeConfiguration>MS Sidewinder</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <side0>
+                <side0>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>Pitch Desired</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side0>
+                <side1>
+                  <classId>LineardialGadget</classId>
+                  <gadget>
+                    <activeConfiguration>PitchActual</activeConfiguration>
+                  </gadget>
+                  <type>uavGadget</type>
+                </side1>
+                <splitterOrientation>1</splitterOrientation>
+                <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+                <type>splitter</type>
+              </side0>
+              <side1>
+                <classId>LineardialGadget</classId>
+                <gadget>
+                  <activeConfiguration>Pitch</activeConfiguration>
+                </gadget>
+                <type>uavGadget</type>
+              </side1>
+              <splitterOrientation>1</splitterOrientation>
+              <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABFAAAAAIAAABA)</splitterSizes>
+              <type>splitter</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
+            <type>splitter</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABaQAAAAIAAAEO)</splitterSizes>
+          <type>splitter</type>
+        </side0>
+        <side1>
+          <classId>UAVObjectBrowser</classId>
+          <gadget>
+            <activeConfiguration>default</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode5>
+    <Mode6>
+      <showToolbars>false</showToolbars>
+      <splitter>
+        <side0>
+          <classId>Uploader</classId>
+          <gadget>
+            <activeConfiguration>default</activeConfiguration>
+          </gadget>
+          <type>uavGadget</type>
+        </side0>
+        <side1>
+          <side0>
+            <side0>
+              <classId>SystemHealthGadget</classId>
+              <gadget>
+                <activeConfiguration>default</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side0>
+            <side1>
+              <classId>PFDGadget</classId>
+              <gadget>
+                <activeConfiguration>raw</activeConfiguration>
+              </gadget>
+              <type>uavGadget</type>
+            </side1>
+            <splitterOrientation>1</splitterOrientation>
+            <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
+            <type>splitter</type>
+          </side0>
+          <side1>
+            <classId>ScopeGadget</classId>
+            <gadget>
+              <activeConfiguration>Uptimes</activeConfiguration>
+            </gadget>
+            <type>uavGadget</type>
+          </side1>
+          <splitterOrientation>2</splitterOrientation>
+          <splitterSizes>@Variant(AAAACQAAAAIAAAACAAABEgAAAAIAAAH6)</splitterSizes>
+          <type>splitter</type>
+        </side1>
+        <splitterOrientation>1</splitterOrientation>
+        <splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
+        <type>splitter</type>
+      </splitter>
+      <version>UAVGadgetManagerV1</version>
+    </Mode6>
+  </UAVGadgetManager>
+  <ViewGroup_Default>@ByteArray(AAAA/wAAAAD9AAAAAAAABQAAAALCAAAABAAAAAQAAAABAAAACPwAAAAA)</ViewGroup_Default>
+  <Workspace>
+    <Icon1>:/core/images/ah.png</Icon1>
+    <Icon10>:/core/images/openpilot_logo_64.png</Icon10>
+    <Icon2>:/core/images/config.png</Icon2>
+    <Icon3>:/core/images/world.png</Icon3>
+    <Icon4>:/core/images/scopes.png</Icon4>
+    <Icon5>:/core/images/joystick.png</Icon5>
+    <Icon6>:/core/images/cog.png</Icon6>
+    <Icon7>:/core/images/openpilot_logo_64.png</Icon7>
+    <Icon8>:/core/images/openpilot_logo_64.png</Icon8>
+    <Icon9>:/core/images/openpilot_logo_64.png</Icon9>
+    <NumberOfWorkspaces>6</NumberOfWorkspaces>
+    <Workspace1>Flight data</Workspace1>
+    <Workspace10>Workspace10</Workspace10>
+    <Workspace2>Configuration</Workspace2>
+    <Workspace3>Flight Planner</Workspace3>
+    <Workspace4>Scopes</Workspace4>
+    <Workspace5>HITL</Workspace5>
+    <Workspace6>Firmware</Workspace6>
+    <Workspace7>Workspace7</Workspace7>
+    <Workspace8>Workspace8</Workspace8>
+    <Workspace9>Workspace9</Workspace9>
+  </Workspace>
+</gcs>

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

@@ -50,7 +50,6 @@
         <file>images/optionsicon.png</file>
         <file>images/helpicon.png</file>
         <file>images/openpiloticon.png</file>
-        <file>OpenPilotGCS.ini</file>
         <file>CREDITS.html</file>
         <file>images/ah.png</file>
         <file>images/config.png</file>
@@ -60,5 +59,7 @@
         <file>images/scopes.png</file>
         <file>images/world.png</file>
         <file>images/cog.png</file>
+        <file>OpenPilotGCS.xml</file>
+        <file>images/helpicon.svg</file>
     </qresource>
 </RCC>

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

@@ -141,3 +141,5 @@ unix:!macx {
     INSTALLS += images
 }
 OTHER_FILES += Core.pluginspec
+
+include(gcsversioninfo.pri)

ground/openpilotgcs/src/plugins/coreplugin/dialogs/ioptionspage.h

@@ -32,6 +32,7 @@
 #include <coreplugin/core_global.h>
 
 #include <QtCore/QObject>
+#include <QtGui/QIcon>
 
 QT_BEGIN_NAMESPACE
 class QWidget;
@@ -43,9 +44,14 @@ class CORE_EXPORT IOptionsPage : public QObject
 {
     Q_OBJECT
 public:
-    IOptionsPage(QObject *parent = 0) : QObject(parent) {}
+    IOptionsPage(QObject *parent = 0) :
+        QObject(parent),
+        m_icon(QIcon()) {}
     virtual ~IOptionsPage() {}
 
+    void setIcon(QIcon icon) { m_icon = icon; }
+    QIcon icon() { return m_icon; }
+
     /*  gadget options pages can leave these 4 functions as is,
         since they are decorated by UAVGadgetOptionsPageDecorator,
         all other options pages must override these */
@@ -57,6 +63,8 @@ public:
     virtual QWidget *createPage(QWidget *parent) = 0;
     virtual void apply() = 0;
     virtual void finish() = 0;
+private:
+    QIcon m_icon;
 };
 
 } // namespace Core

ground/openpilotgcs/src/plugins/coreplugin/dialogs/settingsdialog.cpp

@@ -59,10 +59,13 @@ bool optionsPageLessThan(const IOptionsPage *p1, const IOptionsPage *p2)
     const UAVGadgetOptionsPageDecorator *gp2 = qobject_cast<const UAVGadgetOptionsPageDecorator*>(p2);
     if (gp1 && (gp2 == NULL))
         return false;
+
     if (gp2 && (gp1 == NULL))
         return true;
+
     if (const int cc = QString::localeAwareCompare(p1->trCategory(), p2->trCategory()))
         return cc < 0;
+
     return QString::localeAwareCompare(p1->trName(), p2->trName()) < 0;
 }
 
@@ -97,6 +100,7 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
     }
     if (m_windowWidth > 0 && m_windowHeight > 0)
         resize(m_windowWidth, m_windowHeight);
+
     buttonBox->button(QDialogButtonBox::Ok)->setDefault(true);
 
     connect(buttonBox->button(QDialogButtonBox::Apply), SIGNAL(clicked()), this, SLOT(apply()));
@@ -105,10 +109,12 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
     
     connect(this, SIGNAL(settingsDialogShown(Core::Internal::SettingsDialog*)), m_instanceManager, SLOT(settingsDialogShown(Core::Internal::SettingsDialog*)));
     connect(this, SIGNAL(settingsDialogRemoved()), m_instanceManager, SLOT(settingsDialogRemoved()));
+    connect(this, SIGNAL(categoryItemSelected()), this, SLOT(categoryItemSelectedShowChildInstead()), Qt::QueuedConnection);
 
     splitter->setCollapsible(0, false);
     splitter->setCollapsible(1, false);
     pageTree->header()->setVisible(false);
+//    pageTree->setIconSize(QSize(24, 24));
 
     connect(pageTree, SIGNAL(currentItemChanged(QTreeWidgetItem *, QTreeWidgetItem *)),
         this, SLOT(pageSelected()));
@@ -129,44 +135,34 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
         item->setText(0, page->trName());
         item->setData(0, Qt::UserRole, qVariantFromValue(pageData));
 
-        QStringList categoriesId = page->category().split(QLatin1Char('|'));
+        QString trCategories = page->trCategory();
-        QStringList trCategories = page->trCategory().split(QLatin1Char('|'));
+        QString currentCategory = page->category();
-        QString currentCategory = categoriesId.at(0);
 
-        QTreeWidgetItem *treeitem;
+        QTreeWidgetItem *categoryItem;
         if (!categories.contains(currentCategory)) {
-            if (!firstUavGadgetOptionsPageFound)
+            // Above the first gadget option we insert a separator
-            {
+            if (!firstUavGadgetOptionsPageFound) {
                 UAVGadgetOptionsPageDecorator *pd = qobject_cast<UAVGadgetOptionsPageDecorator*>(page);
-                if (pd)
+                if (pd) {
-                {
                     firstUavGadgetOptionsPageFound = true;
                     QTreeWidgetItem *separator = new QTreeWidgetItem(pageTree);
-                    separator->setFlags(item->flags() & ~Qt::ItemIsSelectable & ~Qt::ItemIsEnabled);
+                    separator->setFlags(separator->flags() & ~Qt::ItemIsSelectable & ~Qt::ItemIsEnabled);
                     separator->setText(0, QString(30, 0xB7));
                 }
             }
-            treeitem = new QTreeWidgetItem(pageTree);
+            categoryItem = new QTreeWidgetItem(pageTree);
-            treeitem->setText(0, trCategories.at(0));
+            categoryItem->setIcon(0, page->icon());
-            treeitem->setData(0, Qt::UserRole, qVariantFromValue(pageData));
+            categoryItem->setText(0, trCategories);
-            categories.insert(currentCategory, treeitem);
+            categoryItem->setData(0, Qt::UserRole, qVariantFromValue(pageData));
+            categories.insert(currentCategory, categoryItem);
         }
 
-        int catCount = 1;
+        QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(currentCategory);
-        while (catCount < categoriesId.count()) {
+        if (!categoryItemList) {
-            if (!categories.contains(currentCategory + QLatin1Char('|') + categoriesId.at(catCount))) {
+             categoryItemList = new QList<QTreeWidgetItem *>();
-                treeitem = new QTreeWidgetItem(categories.value(currentCategory));
+             m_categoryItemsMap.insert(currentCategory, categoryItemList);
-                currentCategory +=  QLatin1Char('|') + categoriesId.at(catCount);
-                treeitem->setText(0, trCategories.at(catCount));
-                treeitem->setData(0, Qt::UserRole, qVariantFromValue(pageData));
-                categories.insert(currentCategory, treeitem);
-            } else {
-                currentCategory +=  QLatin1Char('|') + categoriesId.at(catCount);
-            }
-            ++catCount;
         }
-
+        categoryItemList->append(item);
-        categories.value(currentCategory)->addChild(item);
 
         m_pages.append(page);
         stackedPages->addWidget(page->createPage(stackedPages));
@@ -179,6 +175,16 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
         index++;
     }
 
+    foreach(QString category, m_categoryItemsMap.keys()) {
+        QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(category);
+        if (categoryItemList->size() > 1) {
+            foreach (QTreeWidgetItem *item, *categoryItemList) {
+                QTreeWidgetItem *categoryItem = categories.value(category);
+                categoryItem->addChild(item);
+            }
+        }
+    }
+
     QList<int> sizes;
     sizes << 150 << 300;
     splitter->setSizes(sizes);
@@ -189,22 +195,49 @@ SettingsDialog::SettingsDialog(QWidget *parent, const QString &categoryId,
 
 SettingsDialog::~SettingsDialog()
 {
+    foreach(QString category, m_categoryItemsMap.keys()) {
+        QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(category);
+        delete categoryItemList;
+    }
 }
 
 void SettingsDialog::pageSelected()
 {
     QTreeWidgetItem *item = pageTree->currentItem();
+    if (!item)
+        return;
+
     PageData data = item->data(0, Qt::UserRole).value<PageData>();
     int index = data.index;
     m_currentCategory = data.category;
     m_currentPage = data.id;
     stackedPages->setCurrentIndex(index);
+    // If user selects a toplevel item, select the first child for them
+    // I.e. Top level items are not really selectable
+    if ((pageTree->indexOfTopLevelItem(item) >= 0) && (item->childCount() > 0)) {
+        emit categoryItemSelected();
+    }
+}
+
+void SettingsDialog::categoryItemSelectedShowChildInstead()
+{
+    QTreeWidgetItem *item = pageTree->currentItem();
+    item->setExpanded(true);
+    pageTree->setCurrentItem(item->child(0), 0, QItemSelectionModel::SelectCurrent);
 }
 
 void SettingsDialog::deletePage()
 {
     QTreeWidgetItem *item = pageTree->currentItem();
-    item->parent()->removeChild(item);
+    PageData data = item->data(0, Qt::UserRole).value<PageData>();
+    QString category = data.category;
+    QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(category);
+    QTreeWidgetItem *parentItem = item->parent();
+    parentItem->removeChild(item);
+    categoryItemList->removeOne(item);
+    if (parentItem->childCount() == 1) {
+        parentItem->removeChild(parentItem->child(0));
+    }
     pageSelected();
 }
 
@@ -227,11 +260,20 @@ void SettingsDialog::insertPage(IOptionsPage* page)
     if (!categoryItem)
         return;
 
+    // If this category has no child right now
+    // we need to add the "default child"
+    QList<QTreeWidgetItem *> *categoryItemList = m_categoryItemsMap.value(page->category());
+    if (categoryItem->childCount() == 0) {
+        QTreeWidgetItem *defaultItem = categoryItemList->at(0);
+        categoryItem->addChild(defaultItem);
+    }
+
     QTreeWidgetItem *item = new QTreeWidgetItem;
     item->setText(0, page->trName());
     item->setData(0, Qt::UserRole, qVariantFromValue(pageData));
 
     categoryItem->addChild(item);
+    categoryItemList->append(item);
 
     m_pages.append(page);
     stackedPages->addWidget(page->createPage(stackedPages));
@@ -256,7 +298,7 @@ void SettingsDialog::accept()
 {
     m_applied = true;
     foreach (IOptionsPage *page, m_pages) {
-            page->apply();
+        page->apply();
         page->finish();
     }
     done(QDialog::Accepted);
@@ -266,14 +308,15 @@ void SettingsDialog::reject()
 {
     foreach (IOptionsPage *page, m_pages)
         page->finish();
+
     done(QDialog::Rejected);
 }
 
 void SettingsDialog::apply()
 {
-    foreach (IOptionsPage *page, m_pages) {
+    foreach (IOptionsPage *page, m_pages)
-            page->apply();
+        page->apply();
-    }
+
     m_applied = true;
 }
 

ground/openpilotgcs/src/plugins/coreplugin/dialogs/settingsdialog.h

@@ -62,6 +62,7 @@ public:
 signals:
     void settingsDialogShown(Core::Internal::SettingsDialog*);
     void settingsDialogRemoved();
+    void categoryItemSelected();
 
 public slots:
     void done(int);
@@ -71,9 +72,13 @@ private slots:
     void accept();
     void reject();
     void apply();
+    void categoryItemSelectedShowChildInstead();
+
 
 private:
+
     QList<Core::IOptionsPage*> m_pages;
+    QMap<QString, QList<QTreeWidgetItem *> *> m_categoryItemsMap;
     UAVGadgetInstanceManager *m_instanceManager;
     bool m_applied;
     QString m_currentCategory;

ground/openpilotgcs/src/plugins/coreplugin/gcsversioninfo.pri

@@ -0,0 +1,35 @@
+#
+# This qmake file generates a header with the GCS version info string.
+#
+# This is a bit tricky since the script should be run always and before
+# the other dependencies evaluation.
+#
+
+# Since debug_and_release option is set, we need this
+!debug_and_release|build_pass {
+    ROOT_DIR              = $$GCS_SOURCE_TREE/../..
+    VERSION_INFO_HEADER   = $$GCS_BUILD_TREE/gcsversioninfo.h
+    VERSION_INFO_SCRIPT   = $$ROOT_DIR/make/scripts/version-info.py
+    VERSION_INFO_TEMPLATE = $$ROOT_DIR/make/templates/gcsversioninfotemplate.h
+    VERSION_INFO_COMMAND  = python \"$$VERSION_INFO_SCRIPT\"
+
+    # Create custom version_info target which generates a header
+    version_info.target   = $$VERSION_INFO_HEADER
+    version_info.commands = $$VERSION_INFO_COMMAND \
+                                    --path=\"$$GCS_SOURCE_TREE\" \
+                                    --template=\"$$VERSION_INFO_TEMPLATE\" \
+                                    --outfile=\"$$VERSION_INFO_HEADER\"
+    version_info.depends = FORCE
+    QMAKE_EXTRA_TARGETS += version_info
+
+    # Hook version_info target in between qmake's Makefile update and
+    # the actual project target
+    version_info_hook.depends = version_info
+    debug_and_release {
+        CONFIG(debug,debug|release):version_info_hook.target = Makefile.Debug
+        CONFIG(release,debug|release):version_info_hook.target = Makefile.Release
+    } else {
+        version_info_hook.target = Makefile
+    }
+    QMAKE_EXTRA_TARGETS += version_info_hook
+}

ground/openpilotgcs/src/plugins/coreplugin/images/helpicon.svg

@@ -0,0 +1,37 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+<svg id="svg3675" xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#" xmlns="http://www.w3.org/2000/svg" height="48" width="48" version="1.0" xmlns:cc="http://creativecommons.org/ns#" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:dc="http://purl.org/dc/elements/1.1/">
+ <metadata id="metadata29">
+  <rdf:RDF>
+   <cc:Work rdf:about="">
+    <dc:format>image/svg+xml</dc:format>
+    <dc:type rdf:resource="http://purl.org/dc/dcmitype/StillImage"/>
+   </cc:Work>
+  </rdf:RDF>
+ </metadata>
+ <defs id="defs3677">
+  <linearGradient id="linearGradient2407" y2="5.4676" gradientUnits="userSpaceOnUse" x2="63.397" gradientTransform="matrix(2.1154 0 0 2.1153 -107.58 32.427)" y1="-12.489" x1="63.397">
+   <stop id="stop4875" style="stop-color:#fff" offset="0"/>
+   <stop id="stop4877" style="stop-color:#fff;stop-opacity:0" offset="1"/>
+  </linearGradient>
+  <radialGradient id="radialGradient2410" gradientUnits="userSpaceOnUse" cy="3.99" cx="23.896" gradientTransform="matrix(0 2.2875 -3.0194 0 36.047 -50.63)" r="20.397">
+   <stop id="stop2778" style="stop-color:#8badea" offset="0"/>
+   <stop id="stop2780" style="stop-color:#6396cd" offset=".26238"/>
+   <stop id="stop2782" style="stop-color:#3b7caf" offset=".66094"/>
+   <stop id="stop2784" style="stop-color:#194c70" offset="1"/>
+  </radialGradient>
+  <linearGradient id="linearGradient2412" y2="3.0816" gradientUnits="userSpaceOnUse" x2="18.379" gradientTransform="matrix(.95844 0 0 .95844 .99752 1.9975)" y1="44.98" x1="18.379">
+   <stop id="stop2788" style="stop-color:#1f4b6a" offset="0"/>
+   <stop id="stop2790" style="stop-color:#4083c2" offset="1"/>
+  </linearGradient>
+  <radialGradient id="radialGradient2415" gradientUnits="userSpaceOnUse" cy="4.625" cx="62.625" gradientTransform="matrix(2.1647 0 0 .75294 -111.56 36.518)" r="10.625">
+   <stop id="stop8840" offset="0"/>
+   <stop id="stop8842" style="stop-opacity:0" offset="1"/>
+  </radialGradient>
+ </defs>
+ <path id="path8836" style="opacity:.3;fill-rule:evenodd;fill:url(#radialGradient2415)" d="m47 40c0 4.418-10.297 8-23 8s-23-3.582-23-8 10.297-8 23-8 23 3.582 23 8z"/>
+ <path id="path2555" style="stroke-linejoin:round;stroke:url(#linearGradient2412);stroke-linecap:round;stroke-width:1.0037;fill:url(#radialGradient2410)" d="m24 5.5018c-10.758 0-19.498 8.7402-19.498 19.498-0.0002 10.758 8.74 19.498 19.498 19.498s19.498-8.74 19.498-19.498-8.74-19.498-19.498-19.498z"/>
+ <path id="path8655" style="opacity:.4;stroke:url(#linearGradient2407);fill:none" d="m42.5 24.999c0 10.218-8.283 18.501-18.5 18.501s-18.5-8.283-18.5-18.501c0-10.217 8.283-18.499 18.5-18.499s18.5 8.282 18.5 18.499z"/>
+ <path id="path9053" style="opacity:.2" d="m24.91 30.164c-0.066-2.359 0.463-4.649 2.691-6.271 2.354-1.834 4.621-4.129 4.382-6.835-0.053-2.609-3.093-4.653-6.368-4.947-3.684-0.511-8.142 0.751-9.377 3.629-0.626 1.399-0.045 3.91 2.056 3.91 1.229 0 1.794-0.794 1.887-1.521 0.07-0.549-0.156-1.04-0.289-1.494-0.152-0.517 0.496-1.519 1.202-1.928 0.59-0.341 1.207-0.455 1.298-0.477 2.118-0.509 4.229 0.615 5.11 1.984 0.881 1.368-0.088 3.444-1.482 5.463-1.395 2.018-2.891 4.311-2.885 6.746 0 0.928-0.082 1.243-0.024 1.618 0.047 0.299 1.039 0.263 1.799 0.123zm-0.966 3.174c-2.025-0.11-3.427 2.186-2.211 3.649 1.087 1.615 4.133 1.217 4.656-0.612 0.542-1.423-0.764-3.06-2.445-3.037z"/>
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+</svg>